I/O map and diagnostics
16 bytes of input, 12 bytes of output (4 of those reserved for motion control). Supports 2-wire sensors, pulse encoders, and can be parameterized as source/sink input. Capture and counter functions are built in. The module can handle wire-break detection (lower limit 48 Ω, upper 12 kΩ) and short-circuit protection on outputs. Diagnostic alarm and isochronous mode are present for time-critical loops. RUN/ERROR/MAINT LEDs give on-module status; I&M data is supported for asset tracking. Software gate and gate start/stop allow controlled counting.