EPP7041-1002 | Stepper motor module 50 V DC, 1.5 A, with incremental encoder
M12 I/O
connection sockets 
Signal status display
Labelling areas 
1 | A1
2 | A2
3 | B1
4 | B2
5 | n. c.
1, 2 | V Motor
3, 4 | GND Motor
5 | n. c.
1 | GND
2 | V Enc
3 | A Enc
4 | B Enc
5 | C Enc
1 | +24 V DC Us
2 | Input B
3 | GND
4 | Input A
5 | Output
1 | TX+/GNDS
2 | Rx+/GNDP
3 | Rx-/UP
4 | Tx-/US
EtherCAT P
signal input 
EtherCAT P
signal output 
Stepper Motor
Motor supply
Digital inputs
Power supply
status display:
Box supply (US
Auxiliary voltage (UP
extended temperature range

EPP7041-1002 | Stepper motor module 50 V DC, 1.5 A, with incremental encoder

The EPP7041-1002 EtherCAT P Box is intended for the direct connection of different Stepper Motors. The PWM output stages for two motor coils with compact design are located in the module together with two inputs for limit switches and cover a wide voltage and current range. The EPP7041-1002 can be adjusted to the motor and the application by changing just a few parameters. 64-fold micro-stepping ensures particularly quiet and precise motor operation. Connection of an incremental encoder enables a simple servo axis to be realised. Two digital inputs and a digital 0.5 A output enable connection of end switches and a motor brake.

Technical data EPP7041-1002
Number of outputs 1 stepper motor, 1 digital 24 V DC output
Number of inputs 2 digital inputs, encoder system (24 V DC encoder)
Connection method M12, screw type
Load type 2-phase stepper motor (uni-/bipolar)
Nominal voltage 8…50 V DC
Distributed clocks yes
Protocol EtherCAT
Bus interface 2 x M8 socket, shielded, screw type, EtherCAT-P-coded
Output current 2 x 1 A, 2 x 1.5 A peak current (overload- and short-circuit proof)
Step frequency configurable up to 8000 full steps/s
Step pattern 64-fold micro stepping
Current controller frequency approx. 30 kHz
Diagnostics LED error phase A and B, loss of step/stagnation, power, enable
Resolution approx. 5000 positions (per revolution)
Power supply connection not necessary
Bit width in the process image input/output: 2 x 16 bit data + 1 x 16 bit control/status
Current consumption from US typ. 100 mA
Special features travel distance control, encoder input
Weight approx. 165 g
Operating/storage temperature -25…+60 °C/-40…+85 °C
Vibration/shock resistance conforms to EN 60068-2-6/EN 60068-2-27
EMC immunity/emission conforms to EN 61000-6-2/EN 61000-6-4
Protect. class/installation pos. IP 65/66/67 (conforms to EN 60529)/variable
Approvals CE, UL in preparation
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