EPIC and SNAP Serial Module

Can we use the EPIC to control the serial modules on a SNAP-PAC controller or the PAC Brain?

No to the SNAP-PAC Controller because it is a local serial port on that controller.
Yes to the PAC Brain because the serial ports are accessed via Ethernet.

Just configure your PAC Brain as IO off the EPIC and configure the serial ports like you normally would.

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Of course if you are using modules on a controller, those would work too.