Stepper motor terminal 50 V DC, 5 A, with incremental encoder EL7041
Error A, B
Enable, Warning
Turn CW, CCW
Driver, Power
E1, E2 
C, Latch 
A, B 
Run LED, Encoder 
Power contact
+24 V
Power contact 0 V
A, B
C, Latch
Power supply
E1, E2
A1, A2
B1, B2
Motor supply
50 V, 0 V
Motor supply
50 V, 0 V
Top view 
Contact assembly 
extended shock and vibration range 25g
Stepper motor terminal 50 V DC, 5 A, with incremental encoder EL7041-1000
Error A, B
Enable, Warning
Turn CW, CCW
Driver, Power
E1, E2 
C, Latch 
A, B 
Run LED, Encoder 
Power contact
+24 V
Power contact 0 V
A, B
C, Latch
Power supply
E1, E2
A1, A2
B1, B2
Sense A, B
Motor supply
50 V, 0 V
Top view 
Contact assembly 

EL7041 | Stepper motor terminal 50 V DC, 5 A, with incremental encoder

The EL7041 EtherCAT Terminal is intended for stepper motors with medium performance range. The PWM output stages cover a wide range of voltages and currents. Together with two inputs for limit switches, they are located in the EtherCAT Terminal. The EL7041 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. Together with a stepper motor, the EL7041 represents an inexpensive small servo axis.

Technical data EL7041 | ES7041 EL7041-1000
Technology compact Drive Technology
Load type 2-phase stepper motor (uni-/bipolar)
Number of channels 1
Number of outputs 1 x stepper motor
Number of inputs 2 x end position, 1 x encoder
Connection method direct motor connection + feedback
Supply voltage electronics 24 V DC (via power contacts)
Supply voltage power 8…50 V DC (external)
Output current max. 5.0 A
Step frequency configurable up to 8000 full steps/s
Step pattern 64-fold micro stepping
Current controller frequency approx. 30 kHz
Resolution approx. 5000 positions in typ. applications (per revolution)
Encoder input signal 5…24 V DC, typ. 5 mA, single-ended
Encoder connection A, B, C, gate/latch
Input frequency max. 400,000 increments/s (with 4-fold evaluation)
Current consumption power contacts typ. 50 mA
Current consumption E-bus typ. 140 mA
Distributed clocks yes
Special features travel distance control, encoder input for resonance-critical applications, encoder input
Electrical isolation 500 V (E-bus/field potential)
Weight approx. 90 g
Operating/storage temperature 0…+55 °C/-25…+85 °C
Relative humidity 95 %, no condensation
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 20/see documentation
Pluggable wiring for all ESxxxx terminals
Approvals/markings CE, UL
Accessories  
EL9576 brake chopper terminal, 72 V, 155 µF
AS20xx | AS10xx product overview stepper motors
ZK4000-6200-2xxx motor cable for AS1000, assembled at both ends, 4 x 0.5 mm², 4 million bending cycles, bending radius = 55 mm (10 x OD)
ZK4000-6700-2xxx motor cable for AS1000, assembled at both ends, (4 x 0.5 mm²), shielded, 4 million bending cycles, bending radius = 55 mm (10 x OD)
ZK4000-5100-2xxx AS2000 encoder cable, drag-chain suitable, (5 x 0.25 mm²), shielded, for EL703x/EL704x/KL253x/KL254x
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