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I/O points8 sets of high-speed inputs, 4 sets of high-speed outputs)CommunicationUp to 16 axes synchronous control through CANopen communicationSynchronization time4 axes in 2ms / 8 axes in 4msProgram capacity20 MBData capacity20 MBEncoder2 incremental encoder interfaces 1 SSI absolute encoder interfacePorts2 Ethernet ports ,1 SD card slot ,1 RS-232 port and 1 RS-485 portExtensionLeft-side: Supports up to 8 DVP-S Series modules (master / slave / load cell modules) , Right-side: Compatible with DVP-S Series modules (240 I/O, 8 special modules)