The first generation of the BMW 7 Series, known as the E23, was introduced for the 1978 model year. The genesis of what would become one of BMW's most well known cars, the E23 began the 7 Series' tradition of innovation. The E23 featured many firsts for the company such as anti-lock brakes, a warning light panel, and an on-board computer. E23 cars were offered with a variety of inline 6 engines. Variants for the E23 included the 728, 728i, 733i, 735i, L7, and the 745i. Another notable variant was the sporty South African exclusive 745i SA. While the second generation E32 7 Series was introduced in late 1986, production of the E23 continued until mid 1987 for the North American market.