EPP7041-3002 | Stepper motor module 50 V DC, 5 A, with incremental encoder, for high-speed applications
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
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

EPP7041-3002 | Stepper motor module 50 V DC, 5 A, with incremental encoder, for high-speed applications

The EPP7041-3002 EtherCAT P Box is intended for the direct connection of different stepper motors. The PWM output stages for two motor coils cover a wide voltage and current range. The EPP7041-3002 can be adjusted to the motor and the application by changing just a few parameters. 256-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.

The hardware- and software-based configuration make the stepper motor module particularly suitable for applications that are subject to unsteady motor operation due to natural resonance of the motor and the moved mass.

Technical data EPP7041-3002
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 uni- or bipolar stepper motors
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 3.5 A, 2 x 5 A peak current (overload- and short-circuit-proof)
Max. step frequency 1000, 2000, 4000 or 8000 full steps/s (configurable)
Step pattern 256-fold micro stepping
Current controller frequency dynamic
Diagnostics LED error phase A and B, loss of step/stagnation, power, enable
Resolution approx. 5000 positions (per revolution, depending on motor and encoder type)
Power supply connection not necessary
Bit width in the process image input/output: 2 x 16 bit data + 1 x 16 bit control/status
Electrical isolation 500 V
Current consumption from US typ. 100 mA
Special features for high-speed applications, travel distance control, encoder input, load indication, motor supply via plug
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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