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Hi, I am trying to do a merge move on 1S Servo. The condition are as follows: Task: Move 2 in(absolute value) and then Move back to 1 in (absolute value). I have to do this move 10 times in a row.  The application is material leveling after dumping in the mold. The only question i have is if I use just MC_MoveAbsolute command, the only buffer mode for transition available is velocity. Is there a way i can do it with position. I dont want to stop when I can go from 1 to 2 and 2 to 1 again and again. Its time consuming. But rather a nice oscillation motion without stopping to mimic leveling. Can anybody please help me out with this problem.   Thanks

Hi,  I'm new to TwinCAT 2 and i'm upgrading a long time design (hence the TwinCAT 2 reference), to read a more sensitive torque signal.  I'm using a Beckhoff CX1030 as my PLC Controller.  I needed to add 'homing' to my motor sequence and confirmed with Maxon, im using the function blocks correctly and in the correct sequence to establish my 'absolute zero'/'home' position.  The motor has an output to write to:  ControlWord, which tells the motor that the position it is sitting in is '0.'  My program compiles, it runs, it writes each function block, but it's not seeming to get back to the test run opMode, even though i tell it to and the function block performs the 'Write' function.  it's stuck at zero and not reading an analog input signal from my torque sensor.  so im getting an artificial torque reading through every test.   i think this is related to my tare motion.  I start the program, home the motor, get into profile velocity mode, tare my sensor, enter profile position mode, go back to position 0, then back to profile velocity mode, run a test, sample data, go back to 'home' or '0.'  I wonder 1st, is my variable not linked properly through the system manager?  2nd, i set a boolean variable to set the 4th bit to 1 in my control word write (setting the 4th bit high will set my current position to absolute zero), but did i not connect the program to the main sequence properly?  looking to read a valid signal again and see that my motor moves back to 'home' each time.  Do i not need to home the motor after the tare, since the tare nulls out the torque value after the tare? after this i need to program my sample period, instead of it being fixed, as it is currently written and then use my home position as my trigger to start sampling.... Beckhoff applications department is overloaded, currently and can't help and this is all beyond the knowledge of the general support line.  I've gotten fairly far, on my own, but of course, the project is under a time crunch.   Does anyone know twincat well enough to help guide me?

Hello i'm new in all things about plc, i do a project for school and i use a festo fc 34 plc. The plc is programmed via serial port RS232 my pc not support a serial interface and i use a RS232 to usb adapter. when a try to download the program to plc give me a error: "ERROR: Cannot access controller".  What i do wrong.  Thank you in advance and sorry for my English. Have a nice day.

Hi Guys! I have a problem with Motion axis move (MAM) command. There is an Allen bradley servo motor what is working well. But I need to add a new program section, wich is in  a specified moment, the axis should move a certain distance. I think I need to use the mam command, just I dont know how can I configure the motion control part. I need to make a new tag ? or what ? I need to use a user define ? PLS help me.   

All, I am using Keyence CV-X422A vision controller for my application. It is interfaced with Siemens S7-1500 PLC on PROFINET. I am able to communicate with Vision controller through PLC logic command and status IOs. There is some communication issue in updating the o/p values from Camera Controller. I have tried with & w/o Handshake Mode with these settings. The camera display shows the reject but camera never turns ON the NG Status o/p. I tried different things told by Keyence Tech support but none of them worked.  He told me to have you enable the “Result ACK Flag” in the bit allocation area and send  a signal to it. Then trigger it again with a no good part and see if that fixes the issue. I tried setting the “Result ACK Flag” to 1 after I get the “Command Complete Flag” for the trigger signal that I sent. Sometimes this works but still it is not reliable. Do I need to send only a pulse to “Result ACK Flag”? Anyone here has ever faced similar issue?  Thanks for your help. AP

  Hello, I want to regulate the temperature by a thermocouple type T with an OMRON control module TC001 / 2/3 and a CJ2M CPU14 series PLC using CX-Programmer as a programming environment. Could you provide me with an example project? Thank you for your help.

Hello, is there a way, to edit E5CC-T temperature controller internal program, using CP1L-EM PLC, connected to temperature controller via rs-485 communication? I can't find any information about doing it. I know that i cat change these programs, using CX-Thermo, but that is not an option. I need to do that, using only PLC..

I'm making this thread, continuing from my previous one (Newbie Screwed Up) where I received tremendous help from those on this forum.    I now have the AB 5/04 working, but the Panel Mate 1700 doesn't seem to communicate with the 504.  The HMI connected to this brick is a Cutler Hammer Panel Mate Pro 1700.  It lights up,  the touch-screen buttons somewhat react to touching (might take a few strokes to react), but the functions do not react with the 5/04.  I called the equipment manufacturer, and they basically said it is all obsolete equipment, no longer supported, etc. and we are SOL. But, for a mere $100K, we can send the unit back, and they'll install all "modern" control units !! Not an option.   I get it that the unit is 10+ years old, but has very low cycle times on it.  (maybe 400 hrs)   It's my understanding that the  HMIs are just that....a means of the operators telling the PLC what you want it to do. So, my question .... is there an off the shelf software package that would emulate the Panel Mate 1700?  All I need to "control"  is to advance or retard two sets of heat seal rollers (via PacSci stepper motors), actuate two separate hole punch solenoids, and an air solenoid for a knife....it's basically a packaging machine.  I do have a program called PMConfig , but I don't see any communications buttons or icons in that software, just screen shots of what shows up on the HMI, icon selection, change fonts / colors, etc.  So, I'm looking for a resolution to make new(er) HMI (or even just a cheap a$$ laptop)  with affordable software, and easy interface to communicate with the now functioning 5/04.  Thanks for the input.

Looking for some servo application help. Software: I have GX works 2, GT Designer, and GX Developer.  Hardware: PLC L06CPU-P, GOT2000 HMI, MR-J4-350B servo amps, HG-JR35JK motors, LD77MS2 Pulser I have (2) AC servos that will simply move an aluminum frame backwards and forwards using a FESTO belt mover and I have a servo gear reducer 20:1. I have a "simple motion module"and all of this hardware and software, plenty of time, and would really like to finish this project off. But this is my first servo and my first hmi project. I have some experience with Omron, Mitsubishi, and Allen-Bradley plc's, and consider myself novice at best. Any sample programs or help getting me started would be greatly appreciated!  

Hi everyone, Recently, I started working with the Micro820 Controller Embedded I/O. My project is simple : when the output _IO_EM_DO_00 is set to true, an LED light turns on. But, even though it's super simple, I can't make it work. Here's my setup. If you need more information, feel free to ask anything !

Hi Here's a question I'm about to ask Omron.. as soon as I can figure out who to ask.. It's complicated asking support.. their web email form doesn't make complex questions easy. Here's the question: Can the NJ CPU program a LinMot linear motor to make the "Random Sea"? The NJ has a mixed protocol.. Ethernet/IP and EtherCAT (CoE),  and claims to be a "Motion Controller".    I doubt Motion Control is available on it's Ethernet/IP line.. but the EtherCAT might be another story.   Certainly The Omron NJ is a Motion Controller for Omron NJ series drives.. However, how well does it work with LinMot? Here's the curve.  Imagine a LinMot Linear motor continuously moving, never really stopping, following a real-time, mathematically generated curve, moving positive then negative, at random frequencies and random amplitudes. Almost never repeating a motion sequence. looks something like this: Yet, after a while the motion history fully represents the spectral distribution of energy on the surface of the ocean. Spectrum analyzers can display it, and mathematics can define it..  I just have to make that sea in a model scale…    (Time scales by the square root of the scale factor) And keep the water in the tank: https://www.youtube.com/watch?v=SQd6YzBWVvI The big question is: Can the Omron NJ get a LinMot Linear Motor to do this? … LinMot thinks YES.. but, isn’t sure. Yes there are ways to “connect" LinMot to The NJ.. EtherCAT (CoE), Ethernert/IP but… there is nothing in the LinMot drive that can create or store a predesigned Random Sea .. Only a Motion Controller, generating real time motion commands, by running  mathematical equations, "on the fly” can do that.   If the NJ is a true “Motion Controller”, and the LinMot C1250-DS-XC is implemented as an “axis” by Symac Studio, which it is…       Then, there may be hope. Closed loop, PID feedback remains with the LinMot drive, with special settings in LinMot Talk … Homing might have to be done with the NJ .. or by Digital I/O’s What do the Omron experts out there think?  Can this be done? Thanks much, Regards, Michael

Hi everyone ! I have a little project wich involves communication between two Micro820 controllers via TCP/IP. To do that, I started to work with TCP/IP socket. Within CCW (Connected Components Workbench), I tried to create a new socket instance using the instruction SOCKET_CREATE and set the socket address to 127.0.0.1:21. Basically, my computer through the FTP port. The problem was that it couldn't create a new socket instance (error variable is set to TRUE and status is set to 4, wich I don't know the meaning) because I didn't have a server-side application that listens to TCP/IP socket requests. That said, I found an open source application called SocketTest that listens for TCP/IP socket requests on a specified IP address and port. So, I started a listener on the following address : 127.0.0.1:21, but the error variable is still set to TRUE and status is still set to 4. So, my questions are : Is my IP address OK ? Is my port number OK ? What means the status code 4 ? Is SocketTest doing what I think it does ? Do I need to do something else before using the SOCKET_CREATE instruction ? Thank you in advance for your help !

Hi everybody, Recently, I started working on a project. I want to develop a program for a Micro820 controller (2080-LC20-20AWB) using CCW (Connected Components Workbench). I built a little motor circuit for testing purpose. However, after building the program and downloading it to the controller, I tried to connect to my controller via CCW, but I can't. When I click the button "Connect", CWW crashes OR a window saying : "The controller has unnacepted changes" appears and asks me if I want to "Download current project to the controller" (wich I already did) or "Upload the project in the controller to overwrite current project content" (wich is grayed out). When I choose to "Download current project to the controller", CCW starts downloading the resource, but fails. In the "Output" window, there's a line saying : "Download failed for Device:Micro820: An error occured while reading from GETACTIVERESOURCELIST.". The problem is that there's no documentation at all concerning this error. I even tried to reinstall CCW, but it didn't fix the problem. I joined some images so you guys can see what I'm talking about. Don't mind asking for more details !

I want to run MR J3 A type 10 nos servo without using network, I'm to run servo using hardwired.please name motion controller to run 10 servo on hardwired..  

I. Developed new application   TCP_IP_Connection 1. App TCP_IP_Connection     applies the technology of IoT, Smart Home, Remote control.    It allows to carry out: - remote control and monitoring of control systems; - remote diagnostics of  the object; - turn on/off sensors and devices, including electrical circuits,   hydraulics, pneumatics, etc.; - transfer  information, files and images between smartphones and computers   implemented the application. For communication between the respective devices (smartphones or computers) are required only stable connection to the Internet  !!! The application is developed according to the technology MQTT and use free  Internet broker. As a broker use the HiveMQ broker. The application consists of   3 parts : - TCP_IP_connection.apk - works on the smartphone and is intended for control and      monitoring of equipments; - Server_Send_Receive.exe - the management server located  on the computer and   execution  action on the transfer of  information from the smartphone to the   controller and   back; - Server_controller.exe - located on the  same computer and execution tasks   of  controller. Communication is linked directly with the controller via Ethernet or     Ethernet/IP. As the controller for management purposesused controller family   OMRON (CS1,CJ1,CJ2,CP1H,CP1L...). Note. As a controller you can use the other type of controllers, for example, Yaskawa, Siemens, ABB and  other. They require rework program Server_controller.exe only to  interface of exchange with controller. So for Yaskawa controller family 2300Siec this interface already developed and used in industrial conditions. 2. The application includes the following controls: A. Smartphone – computer - controller. - modes  read/write of memory cells and  bits of the controller OMRON      (DM,W,EM,CIO,HR); - continuous cyclic polling of the memory areas; - the formation of Alarms in the event of errors of control system; - Display Gauges for 6 variables in real time; - Display Scopes for 6 variables in real time; - formation of statistical data on the operation of the equipment. B. Smartphone - computer. - sending  and receiving text  messages; - sending and receiving  picture image; - transfer photos from a smartphone;  - transfer images from built-in Web camera of the laptop; - reading the contents of a directory on the computer or laptop; - reading contents of a text file. С. Smartphone -smartphone / computer - computer. - sending and receiving text messages; - sending and receiving of picture image; - transfer photos from smartphone to smartphone (from computer to computer); - send the image with the built in webcam of a laptop to another laptop; - reading the contents of a directory on the computer or laptop; - reading contents of a text file. 3. Work application Server_Send_Receive.exe and Server_Controller.exe tested on computers running the Windows 7 operating system. Work application TCP_IP_Connection.apk was tested on smartphones Samsung, Phillips  running the operating system Android 5.0, Android 6.0. It requires the use of a smartphone with a display diagonal of 5 inches and more. 4. App TCP_IP_Connection.the apk  paid, the cost per user is $ 5 USA. Distributed through Google Play. The Internet address for downloading of  programs Server_Send_Receive.exe and Server_Controller.exe is on screen Help  application TCP_IP_Connection.apk.  OMRON_Communication has the manual in Russian and  English languages. The Internet address for downloading the full manual   https://yadi.sk/i/F_EJOQEd3G5sXc. Looking for partners for the execution of similar works.      

KUKA: KRC4 NA UL Operating Instructions View File KUKA: KRC4 NA UL Operating Instructions Submitter panic mode Submitted 02/16/17 Category Robots and Servos

hI.. I've asked for this in the past and, so far, haven't been very lucky.  Most of the projects I run into have 4 or 5 axis, lots of analog and sensor input.. or don't have the HMI part of the "Machine" I have a nice NJ 101-1000 with the NA 7 inch HMI.. along with a R88BD-KNA5L-ECT servo and a 50W  G5 motor.. type  R88M-K05030H-S2.  All On a nice rack with power supplies and some EtherCAT I/O  (It all functions .. even "MC Test Run" gets the motor to jog ..    But.. no way to "home" it.... The motor is in "rotary mode"   but... it's NOT got an Absolute encoder.. it's a incremental... sniff!     I just want it to stop on zero ..Or anywhere, and call it zero ... and make moves plus an' minus in degrees, that's all....  I assume I have to send it some signal (push button) while it's spinning that tells it it's in "Proximity" to home and it then it does something which makes it end up on zero.    I've homed a lot of linear motors (LinMot) an' they are very easy to work with.    But, Omron has 10 different homing modes .. and they aren't very well explained.  Well, they aren't explained at all in that 502 page user manual... you have to already know how to do it, in order to understand the explanation... Example:  Take the "Home Proximity Input Signal"  .. I can imagine what it might do, to help control a move to home.  I can even imagine what's making the signal .. and that somewhere there is a place where the homing parameters are set... like the "axis setting table"  .. but, it's not a Global Variable, or a Data Type .. I could imagine it gets into the system from the CN1 I/O connector? or some I/O somewhere? But.. I grow weary of imagining how this system actually works..  Building a simple working project, from a tutorial, or even downloading a simple working project (.smc2 file) and making the minor adjustments to fit my equipment ... would make all the difference in the world.   I've searched Omron's Libraries of .smc2 files.  Haven't found any yet that aren't on the level of "Top Gun" (a seriously complicated project for a 1-week training class) ... Oh there are several.. related to IAG object files .. but those Library files are not "working projects" intended to serve as a Tutorial.. they are limited projects, ready to be configured with IAG Object files, and "your" programming ... So that you can write the programs you need "faster"... which is nice... but, no help here. Somewhere out there.. is a nice simple .smc2 project file where you get to control a simple motor from the HMI  ..Preferably using an NJ CPU and a NA HMI .. home the motor.. jog the motor and input a few "go-to" positions... sigh!..   Like you would do in a One or Two Day class...   This kind of thing should be already be available in the Sysmac Library ... Thanks much for listening..  sorry about the rant.  

I am trying to learn the logic of a process at my new job. There are tag names that I can't make sense of because they end with _xva, _xvb, _xvu, _xvd, _xvo, _xvc, _zsm, _zsu, _zsc, _zso, _zsd and so on and so forth. I know they are associated with motion, but I need to make better sense of them. There are no descriptors. What do they mean and is there a resource available that I can reference?

i need a example code for position control of MR-J3-20A with QD75D4 as intelligence module. and i want to see the parameter if possible  

Just wondering if I need to set up two Motion Groups to specify the direction of travel along 1 AXIS? (Forward and Reverse) If not, how do I specify direction when using motion instructions (specifically MAM) with incremental motion. 

Hello guys, I sell cheaply Omron SYSMAC Programmable Controller - CJ1M-CPU12, CJ1W-PA202, CJ1W-ID232, CJ1W-ID211, CJ1W-OD232, CJ1W-AD081-V1, CJ1W-NC113, CJ1W-TER01, + cables: CS1W-CIF31 and CS1W-CN626 - Actual price is 290$ - more info+photos - > here < details: CPU:  CJ1M-CPU12 (ver 3.0) Small! Fast! Flexible! These machine controllers provide flexible control for all kinds of applications.  Compact 90 × 65 mm (H × D) dimensions are first class in the industry. Provides excellent high-speed control performance, with high-speed processing of 0.1 μs for LD instructions and 13.3 μs for floating-point calculations.     PSU: CJ1W-PA202 Used to provide power to CJ1M CPUs and I/O units; AC and DC supply versions available; Clips to the left of the CPU; Also used to power expansion I/O assembly Note: The output currents stated are maximum figures. The combined 5Vdc and 24Vdc outputs must not exceed the maximum output power.   Basic I/O Units: CJ1W-ID232 CJ1W-ID211(SL) (ID211 without terminal block) A wide range of CJ series input units are available featuring high-speed input and suitability for various applications.   CJ1W-OD232 A Wide Range of Basic Output. Units for High Speed Output and Different Applications. These Output Units receive the results of output instructions from the CPU Unit and perform ON/OFF control for external devices.   Special I/O Units: CJ1W-NC113 Axis position control unit. Open-collector output. Point-to-point positioning controller withpulse train output.   CJ1W-AD081-V1(SL) Analog Input Module to convert varying input signals     OTHERS: CJ1W-TER01 End Cover CJ1W-TER01 (necessary to be mounted at the right end of CPU Rack)     Cables:   CS1W-CIF31 ↓ (length - 0,5m; used)   CS1W-CN626 ↓ (length - 6m; used)         Current status of each part: About a year used in a clean environment. Our creation of PLC Programmes have been deleted - PLC is ready for your creation. All parts have been tested and are fully functional. Personally, I guarantee the operation of all components. A part of this purchase is a PLC / USB cable (CS1W-CIF31; CS1W-CN626), allowing you yourself will be able to check the status of functionality. A part of the sale is not subject documentation neither software. (CX-Programmer can be obtain from the Internet.) Sale due to dissolution of company.               Product Description OMRON + Web links to specifications   CJ1M-CPU12 (ver 3.0) Compact 90 × 65 mm (H × D) dimensions are first class in the industry. Provides excellent high-speed control performance, with high-speed processing of 0.1 μs for LD instructions and 13.3 μs for floating-point calculations. Other models are available with special functions such as the CJ1M-CPU2[], which provides positioning functions and built-in I/O, and the CJ1G-CPU4[]P. High-capacity Memory Cards up to 128 MB can be installed, and used to backup the program and system settings, or log customer data. The large instruction set can support diverse applications. Four types of programming are supported (ladder, structured text, sequential function charts, and instruction lists), with approximately 400 instructions and 800 instruction variations. These CJ-series CPU Units support structured programming using function blocks, which can improve the customer's program development resources. The various protection functions provide improved security to protect valuable software resources and property. The CPU Units are compatible with the CX-One Integrated Tool Package. Information for each component can be linked, and the system's data can be integrated into one database. The software can provide total support from PLC settings to network startup.   Specification: > here < Datasheet: > here <     CJ1W-PA202 Omron CJ1M CPU's, PSU's and Expansion Control/Interface Modules The CJ1M is a powerful and compact PLC family, covering applications requiring up to 640 I/O. CPU models are available with built in pulse outputs for stepper or servo control, and all CPUs in the CJ1M family enjoy optional modules for many types of I/O and communications. The CJ1M is the next generation of PLC from the earlier CQM1 series, and program compatibility eases migration between them.As with other Omron PLCs, the CJ1M series is programmed with CX-Programmer (RS stock no. 400-6440), designed for compliance with IEC61131-3. The backplane-less construction of the CJ1M series makes selection and installation simple; choose the CPU and power supply unit, then the I/O modules to suit the application. These items are simply plugged together end to end and then mounted on DIN rail.   Specification:  > here <   CJ1W-ID232 CJ1W-ID211(SL) (ID211 without terminal block) High-speed input models are available, meeting versatile applications. ON Response Time: 15μs, OFF Response Time: 90μs Use 24-VDC, 100-VAC, and 200-VAC models to connect to devices with different types of outputs. The 24-VDC models can be connected to devices with either NPN or PNP outputs. There is no need to select the polarity. A digital filter in the Unit can be set from 0 to 32 ms to reduce the influence of external noise. Either a Fujitsu or MIL connector interface can be used. *2 Several models of Terminal Block Conversion Units are available, making it easy to connect to external devices. Specification:  > here <   CJ1W-OD232 High-speed output models are available, meeting versatile applications. ON Response Time: 15μs, OFF Response Time: 80μs Output Units are available with any of three output types: relay contact outputs, triac outputs, or transistor outputs. For transistor outputs, select from sinking outputs or sourcing outputs. Output Units with load short-circuit protection are also available. *1 Select the best interface for each application: Fujitsu connectors or MIL connectors. A wide variety of Connector-Terminal Block Conversion Units are available to allow you to easily wire external output devices. Unit have load short-circuit protection.   Specification: > here <   CJ1W-AD081-V1(SL) • Wire burnout detection • Peak-hold function • Mean function • Offset gain setting Use the Analog Input Module to convert varying input signals, such as 1 to 5 V or 4 to 20 mA, to binary values between 0000 and 1F40 Hex and store the results in the allocated memory at each cycle. The ladder diagram can be used to transfer the data to the DM Area, or the SCALING instructions can be used to scale the data to the desired range.   Note: Analog Input Terminals are also available as DeviceNet Slaves and as Multiple I/O Terminals. You will find further information on these in the Industrial Networking and   Specification: > here <   CJ1W-NC113 These position control units support positioning control via pulse-train outputs. Positioning is performed using trapezoid al orS-curve acceleration and deceleration. Models are available with 1, 2, or 4 axes control, and can be used in combination withservo drives or stepping motors what accept pulse-train control.   Specification: > here <         Payment Method 1.     I accept PayPal only. We ship within 3 business days of receiving payment. 2.     Serious bidders only, please. Orders will be cancelled and an unpaid item dispute filed if payment is not received within 16 days of purchase. Therefore, please make sure it is you need before buy the product.   Shipping 1.     Free Shipping 2.     Method : EMS or FedEx. 3.     Winning Bidder can receive the item in 2 days or 1 week from receipt of payment.  

Hello, I'm new to this forum and PLC world in general (especially to Mistubishi PLCs). I have a task in which I need to synchronize servomotor with another motor that runs conveyer (servomotor needs to stamp a label on a foil on a conveyer), in GX Works3. Servo motor is run by Simple Motion module. I need general tips on how to make pulses from encoder into something useful that can be used to send data to Simple Motion module. I need high speed counter to count pulses (never actually did this, I got this from manuals), how would I, for example, get speed out of it? Number n pulses, divide it with time it took to get to n pulses? How would I make Simple Motion to make servomotor on his Axis #1 to rotate at same speed?    

Hi guys, been using this site for a long time, it has come in handy alot. However I have recently taken on my first servo project, heres an overview of the project We have a filling machine that has a separate dosing system to the filler head. It used to keep the dosing in time by adjusting a 0-10v signal to an inverter to make sure that a flag makes a sensor in a set window. I have installed an encoder on the filling head and an mpl servo to the dosing. I have then used an MAPC instruction to follow the encoder, the cam is 0-360 and it follows a straight linear line. I have installed of this as a temporary set up on one of the filling machines (we have 2) and it is working perfectly. I have now installed this on the second machine as a permanent set up with a panelview plus 7, L71 cpu. However it is giving a very strange problem on first power up, the encoder is giving the exact same position as before it was powered down. however as soon as the MAPC executes the servo axis  faults, giving an overspeed fault. the servo doesnt even look like its attempting to move (however it is through a 10-1 gearbox). if i then home the encoder it then runs absolutely perfectly until it is powered down again. I am beginning to think it may be to do with the master lock and cam lock position, as the cycle stop position of the two machines are different. however I just cant seem to get my head around i the difference between them.   Hopefully that makes sense any help would be greatly appreciated Thanks Rhys   c1_dosing.ACD

The ICP DAS WP-9421-CE7 has just been released. It is a compact (3U), rugged PAC that provides AM3354 ARM CPU, dual Gigabit Ethernet, two USB ports, VGA ports, SD card slot and redundant power input. Learn more: http://www.icpdas-usa.com/wp_9421_ce7.html?r=dora