can an Allen Bradley SLC 5/05 Revision B be swapped for a Revision C or D?

Physically, for certain yes. And it will be compatible with every I/O module ever made for the platform.

In theory a Series B controller might have been firmware updated to a later firmware revision than a Series C or D, but it's unlikely. The Series C or D will have a 10/100MB higher performance Ethernet daughtercard, but it will support all the functions and features of the older controller.
 

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