Each node mates with an individual EPOS 2 36/2 drive/controller and provides connection points. Two digital inputs and one digital output are mapped on the board with an additional I/O expansion module as an option. USB and RS-232 communication modules are available for users that don’t want to use CAN. Functions include speed and position feed forward control; EPOS supported motion controlled acceleration and speed; PVT interpolated position mode; step and direction; point to point motor position control; torque control; electronic gearing; motor holding brake control; and position compare and position mark.