Motion
ER7041-1002
 
ER7041-1002 | Stepper motor module 50 V DC, 1.5 A, with incremental encoder
ER7041-1002
Connector
assignment
I/O
connection
M12 I/O
connection sockets 
Signal status display 
Labelling areas 
Power supply
status display:
Box supply (US
Auxiliary voltage (UP
Power supply feed 
Power supply down- 
stream connection
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+
2 | Rx+
3 | Rx-
4 | Tx-
1 | + 24 V DC Us
2 | + 24 V DC UP
3 | GND
4 | GND
EtherCAT
signal input 
EtherCAT
signal output 
Stepper Motor
Motor supply
Digital inputs
Encoder
extended temperature range

ER7041-1002 | Stepper motor module 50 V DC, 1.5 A, with incremental encoder

The ER7041-1002 EtherCAT 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 ER7041-1002 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.

The EtherCAT Box modules with zinc die-cast housing are ready for use in harsh industrial and process environments. With the fully sealed design and metal surfaces the ER series is ideal for applications requiring enhanced load capacity and protection against weld spatter, for example.

Technical data ER7041-1002
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 uni- or bipolar stepper motors
Nominal voltage 8…50 V DC
Distributed clocks yes
Protocol EtherCAT
Output current 2 x 1 A, 2 x 1.5 A peak current (overload- and short-circuit-proof)
Maximum step frequency 1000, 2000, 4000 or 8000 full steps/s (configurable)
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)
Bit width in the process image input/output: 2 x 16 bit data + 1 x 16 bit control/status
Electrical isolation control voltage/fieldbus: yes
Current consumption from US 120 mA
Special features travel distance control, encoder input
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
Accessories  
ZK1090-3xxx-xxxx Cables for EtherCAT signal in- and -output
ZK2020-3xxx-xxxx Cables for M8 power supply
AS2021-wCy0 stepper motor, 50 V DC, 0.83 Nm standstill torque, 2.0 A standstill current
Cables, gears and couplings accessories for AS2000 stepper motors
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