Digital inputs from the onboard I/Os
Fast counters in the onboard I/Os
A/B Encoder in the onboard I/Os
Configuration of interrupt inputs
Creating an interrupt task
Configuration of digital outputs
Configuration of outputs as limit switch
Operating the limit switch output with user program
Configuration of PWM outputs (Pulse Width Modulation)
Operating the PWM output with user program
Configuration of PTO outputs (HW fast outputs for Pulse Train Output)
Operating the PTO hardware output with user program
Configuration of SW PTO (PWM) outputs (HW fast outputs and standard outputs with software
dedicated function block)
Operating the software PTO output channels with user program
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