The SM-I/O Lite has the following terminals:

0V
±10V / 4-20mA Analogue input
0-10V / 4-20mA Analogue output
+24V
Digital input
Digital input
Digital input / Encoder B
Encoder B
Encoder A
Encoder A
0V
Encoder +5V
Relay
Relay
If Encoder feedback is required, there are only 2 digital inputs available, otherwise 3 digital inputs are available. One digital output as relay terminals.

Update Rate: 4ms ~ 18ms