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| Axis and I/O count | up to 4 axes with limits, 4 inputs, and 4 outputs with software selectable pin layout; software velocity and acceleration calibration for different axes. |
| Position range | -2,147,483,647 to 2,147,483,647 steps. |
| Maximum velocity | 20,000 steps per second. |
| Acceleration | trapezoidal, 0 to 2,147,483,647 steps per second per second. |
| Motion mode | rapid (as rapidly as possible according to main axis peak velocity), linear (using linear interpolation), and circular/helical (using helical interpolation). |
| Contouring mode | exact path (auto stop), exact stop (nudge), and continuous travel. |
| Positioning mode | relative (incremental) and absolute distance. |
| Inputs (limit switches, emergency, state) |
TTL input levels, internally pulled up, only external switchclosure to ground required; software selactable input sense (low or high true). |
| Outputs (step, direction, misc) |
TTL level signal; pulse width ~ 25 microseconds; polarity of step, direction and other outputs can be changed (inverted) by software. |
| Special features | positive and negative limits may share the same input pin with ability to be checked separately according to related axis direction value; in similar way positive and negative limits may be shared with the related axis step pin. |
| Interface to host | virtual standard COM port through USB bridge @ auto-baud up to 1 Mbps (and embedded serial TTL option @ auto-baud up to 4 Mbps). |
| Interface to drivers | DB25 plug (female) with standard LPT port-like pinout. |
| Language interface | G-code-friendly and G-code-transparent command set. |
| Applications: | robotics, CNC, pan/tilt/zoom systems - industrial, educational and hobbyist projects |
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