EP7041-2002 | Stepper motor module 48 V DC, 5 A, with incremental encoder, 2 digital inputs, 1 digital output
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
1 | +24 V DC Us
2 | Input B
3 | GND
4 | Input A
5 | Output
1 | GND
2 | V Enc
3 | A Enc
4 | B Enc
5 | C Enc
1 | Tx+
2 | Rx+
3 | Rx-
4 | Tx-
1 | + 24 V DC Us
2 | + 24 V DC UP
3 | GND
4 | GND
signal input 
signal output 
Stepper Motor
Motor supply
Digital inputs
extended temperature range

EP7041-2002 | Stepper motor module 48 V DC, 5 A, with incremental encoder, 2 digital inputs, 1 digital output

The EP7041-2002 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 EP7041-2002 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 external motor is fed via an integrated plug.

Technical data EP7041-2002
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…48 V DC
Distributed clocks yes
Protocol EtherCAT
Output current 2 x 3.5 A, 2 x 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, depending on motor and encoder type)
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 120 mA
Special features travel distance control, encoder input, 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/markings CE, ATEX
Ex marking II 3 G Ex nA IIC T4 Gc
ZK4000-6261-0xxx Motor cable for AS1000, assembled at both ends, (4 x 0.5 mm²), 4 million bending cycles, bending radius = (10 x OD)
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)
ZK4000-5151-0xxx AS2000 encoder cable, drag chain suitable, (5 x 0.25 mm²), shielded, for EP704x/EJ704x
ZK1090-3xxx-xxxx Cables for EtherCAT signal in- and -output
ZK2000-6xxx-xxxx Cables for M12 I/O connection sockets
ZK2020-3xxx-xxxx Cables for M8 power supply
Further information Internet  
EP7041-3002 EtherCAT Box, industrial housing, Stepper Motor module 48 V DC, 5 A, 2 phases, with incremental encoder, 2 digital inputs 24 V DC, 1 digital output 24 V DC, for high speed applications
EP7041-0002 stepper motor EtherCAT Box (industrial housing), IMAX = 5 A, 48 V, IP 67
EP7041-1002 EtherCAT Box, industrial housing, Stepper motor module, 48 V DC, 1.5 A, with incremental encoder, 2 digital inputs, 1 digital output
EL7041 stepper motor EtherCAT Terminal, Imax = 5.0 A, 48 V, IP 20
EL7031 stepper motor EtherCAT Terminal, 24 V DC, Imax = 1.5 A