CompactLogix Controller / Dual EtherNet w/DLR Capability / 1MB Memory / 4 I/O Expansion / 16 EtherNet I/O IP Nodes / 16 DC Inputs / 16 DC Outputs / 4 Universal Analog Inputs / 2 Analog Outputs / 4 High-Speed Counters / 4 Axis CIP Motion with Kinematics Function