VIC-P procesor module, Power supply 220B AC, 16 input signals, 16 output transistor signals (eight of them with a pulse output with a frequency of up to 200 kHz, and eight with a pulse output with a frequency of up to 200 kHz), 2 serial communication ports, 1 port CANOpen, 1 port Ethernet, 1 USB, 1 port EtherCAT, up to 32 axes with powerful motion control