Both I/O devices and axes can be connected to both channels supplied. The protocol used is CANOpen DS301, inclusive of the main motion functions of device profile DSP402v2.0. Since 2 self-contained channels are available, the devices can be distributed correctly to suit both the sampling times required and the length of the ring itself. Problems typical of applications with integrated drive motors (CAN), such as Esautomotion’s ED Series servomotors, for example.