Stepnet SP4 is a four-axis, high-performance, DC-powered drive for position and velocity control of stepper motors via CANopen. Using advanced FPGA technology, the SP4 provides a significant reduction in the cost per node in multi-axis CANopen systems. Each of the four axes in the SP4 operate as CANopen nodes under DS-402 for motion control devices. Supported modes include: Profile Position-Velocity, Interpolated Position Mode (PVT), and Homing. Servo mode allows position, velocity, and torque control. Servo mode allows CANopen or digital PWM control of position,velocity, and torque. In microstepping mode, stepper command pulses and master encoder for camming or gearing is supported. Twenty-four high-speed digital inputs with programmable functions are provided. There are eight mosfet outputs that are 24V compatible.