... /direction or CW/CCW signal output, forward/reverse limit, home and alarm input for each axis, acceleration-deceleration control ... compare output (500mA max)Home, deceleration, limit, alarm and more switches inputs8 general-purpose inputs20 general-purpose outputs, ... multi-axis simultaneous motion, multi-axis linear interpolation, and types of stop-motionMotion Control FunctionsSingle-axis motion, multi ...