100-240 VAC control supply inputs Section 2.1.1.

l 0-240 VAC motor supply inputs (producing 340 VDC) Section 2.1.2.

l Line driver square wave quadrature encoder input for position and velocity feedback Section 2.3.1.

l Absolute Encoder support Section 2.3.1.2.

l One fail-safe brake Section 2.3.6.

l Two STO sense inputs Section 2.4.

l Line driver square wave auxiliary quadrature encoder input or output for PSO Section 2.5.1.

l Four digital user outputs Section 2.5.3.

l Six digital user inputs

n Four Digital Inputs Section 2.5.4.

n Two High-Speed Inputs Section 2.5.5.

l One 16-bit analog output (±10 V) Section 2.5.6.

l One 16-bit differential analog input (± 10 V)