Freely programmable controllers can be programmed independently with programming languages C or CoDeSys or (ESX-3XL) with Matlab/Simulink 

 32 bit 

 ESX-3XL: a highly adaptable, scalable, powerful controller supporting up to 124 I/O 

16 bit 

ESX: A rugged standardized controller designed especially for harsh environmental conditions supporting up to 48 I/O

ESX-LT: A lighter version of the ESX supporting up to 28 I/O 

ESX- LTPlus: A small, lightweight controller, perfect for situations where digital I/O dominates

ESX-Micro: A small and highly configurable controller supporting up to 10 I/O

ESX-IOXP:  A programmable version of the IOX. (see below)  A smaller, less expensive controller with a durable plastic housing 

ESX – PCU: A freely programmable Power Control Unit for vehicles and machines with CANbus