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The IC694APU305 for the Rx3i is an I/O Processor high speed counter for Gray Code Encoder or A QUAD B Encoder. 30 kHz Abolute Encoder or 200 kHz A QUAD B Encoder.
The IC694DSM314 for the Rx3i is a Motion Controller Module, 1-2 axis Digital Servo or 1-4 Axis Analog Servo
The IC694DSM324 for the Rx3i is a Motion Controller Module, Digital /Analog Servo