Ethernet 10 Base-T and (1) 19. 2 kb RS232 port; Available in 1 through 8 axis formats; optional plug-in amplifier boards for driving stepper, brush or brushless servo motors up to 500 W; Ethernet supports multiple masters and multiple slaves allowing communication with multiple computers and I/O devices. Supports Modbus protocol for communication with I/O devices; Accepts encoder frequencies up to 12 MHz for servos and outputs 3 MHz pulses for steppers; Advanced PID compensation with velocity and acceleration feed forward, integration limits, notch filter and low-pass filter. Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ECAM; Multitasking for concurrent execution of up to eight application programs; Non-volatile memory for application programs, variables and arrays; Dual encoders, home input and forward and reverse limits accepted for every axis; 8 TTL uncommitted inputs and 8 outputs for 1-through-4-axis models; 16 inputs and 16 outputs for 5-through-8-axis models; Add optically isolated I/O with ICM-20105; Add 8 analogue inputs and 40 digital I/O with optional DB-28040; DB-28104 provides sinusoidal interpolation for Sin/Cos encoders.