The MC9Z-PA2A is an integrated motion controller from Idec Corp. It is a 5-axis, programmable motion controller capable of controlling up to 128 axes of motion. It features an integrated I/O interface and supports EtherCAT and RS-485 communication protocols. It provides system integration, multi-axis synchronous motion control, and a variety of additional features such as auto-tuning, Fuzzy Logic, and spline interpolation. In addition, it supports various programming languages such as PLCopen, IEC61131-3, Visual Basic, C/C++ and Python.