For basic step/dir servos, a 7I76EU should do (by itself)
The 7I76EU has:
5 axis of step/dir outputs
32 digital inputs (5 to 24V)
16 digital outputs (5 to 24V)
Isolated analog 0..10V output for VFD spindle speed control
encoder input for spindle synchronized motion
2 parallel expansion ports (for additional step/dir or encoder channels)
1 serial expansion port (for more digital I/O
