Control Modes Indexer, Point-to-Point, PVT Camming, Gearing Position, Velocity, Torque Command Interface CANopen ASCII Discrete I/O Stepper commands ±10V position/velocity/torque PWM velocity/torque Master encoder Communications CANopen/Devicenet RS-232 Feedback Digital quad A/B encoder Aux. encoder / encoder out Analog sin/cos encoder option Resolver option Digital Halls I/O - Digital 12 inputs, 4 outputs Dimensions: mm Stepnet AC: 146 x 119 x 55 Dimensions: in Stepnet AC: 5.7 X 4.7 X 2.2