All i-Motors have 7 ports of I/O that each can be a digital input, digital output, certain functions like encoder input (refer to i-Series Manual for specifics) and Analog input.
The Analog signal is 0 to 5 VDC Only. This voltage can be used in Torque Mode (TM) to make the controller act like a torque drive, but the resolution is approximately 8 bit and is not recommended.
This analog input voltage can also be used for positioning, commanded velocity or general variable manipulation, but the user must program these functions into the i-Motor. When using the analog input for these functions it had a 10 bit resolution.
Finally, the analog value of all digital I/O can be used at all time in a program.