Galil's EDD-3701x can both control a motor and also has 8 digital inputs, 4 digital outputs, 2 analog inputs, and 2 analog outputs.
Galil’s EDD-3701x EtherCAT slave drive is a motor amplifier that operates in an EtherCAT distributed system where there are up to 32 slave drives and one master. It has a daisy chain topology using standard CAT5 Ethernet cables. The EDD-3701x can interface with Galil masters (DMC-500×0 and DMC-52xx0) for sophisticated applications or with TwinCAT for very simple applications. The EDD-3701x series has the ability to control brushed, brushless, steppers, and microstepping motors. The EDD-3701x can both control a motor and also has 8 digital inputs, 4 digital outputs, 2 analog inputs, and 2 analog outputs. All I/O information from these drives are accessible by the EtherCAT master. This capability can eliminate the need for separate EtherCAT I/O devices.