Power supply voltage 12 [Vcc] ÷ 48 [Vcc]
Separated logic power supply 12 [Vcc] ÷ 48 [Vcc]
Output current 0.0 [A/ph rms] ÷ 4.2 [A/ph rms] 0.0 [A/ph peak] ÷ 6.0 [A/ph peak]
Control mode EtherCAT CoE (DS402)
Feedback Interface not isolated input for incremental encoder 5V differential RS422 or 5V single ended (TTL/CMOS)
Mounting Wall mounting
Digital inputs 4 optocoupled digital inputs 2-24 Vdc NPN, PNP or Line Driver 2 Mhz
Digital outputs 2 optocoupled digital outputs PNP, 24 Vdc - 100 mA
Open or Close loop Open loop or Closed loop
Step resolution Stepless Control Technology (65536 positions per turn)
Safety protections Over/UnderVoltage, OverCurrent, OverTemperature,Phase/Phase and Phase/Ground Short
Operative temperature 5 [°C]÷ 40 [°C]
Storage temperature -25 [°C] ÷ 55 [°C]
Humidity 5 [%] ÷ 85 [%]
Protection class IP20
Dimensions H x L x W 121 [mm] x 74 [mm] x 26 [mm]
Weight 0.28 [Kg]
Software settings and connections Service SCI interface for configuration and real time debug


● EtherCAT (DS402) control mode: supported profile: profile position mode, velocity mode, profile velocity mode, homing mode, cyclic synchronous position mode, cyclic synchronous velocity mode

● Multiple supported homing modes: 1, 2, 17, 18, 19, 20, 21, 22, 35, 37

● Synchronization mode: free run, synchronous con SM event, distributed clocks

● Diagnostic service: EMCY, Diagnostics

● Minimum cycle time: 500 microseconds

● Conformity with Beckhoff ET9400 Conformance Test Tool V2.1.0, master Robox and Omron

● Autonomous management of the firmware for the execution of the homing, of the target movement with relative or absolute quota and for generation of the ramp profiles● 'Torque mode' for operation with torque limitation

● Speed control thanks to digital inputs, analogue inputs or fieldbus

● 'Electronic CAM' with advanced programming of internal profiles inside the drive

● 'Electric shaft' with encoder or analogue input with variable tracking ratio (Electric Gear)

● Fast inputs and outputs for motor' start & stop and event synchronization for high speed response applications such as labeling, nick finder, Flying saw etc.

● Possibility to synchronize the movements in multi-axis systems, even without fieldbus

● Enabling and on-the-fly changing of the motion control modes

● Closed loop of torque, speed and position with encoder

Main Features

● EtherCAT (CoE) with DS402 functionalities

● Service serial for real time programming and debugging

● Compliance with the most common PLC Masters on the market

● Integrated oscilloscope

● Vectorial control, for smooth and silent movements

● Closed loop of speed, torque and position


 Code       Description                     
 SW4D2KIT-C1                                          Connectors kit for cabling                               


 Code       Description                     
 SW4_SERV00-SL      Kit software for drive configuration with Ever Studio + 200 cm service serial cable and serial/USB converter

Stepper drives > Two phases > Fieldbus > Titanio > SW4D2042H241-00c0680

EtherCAT is a fieldbus which meet the need of a standard high performance industrial communication protocol based on an Ethernet network. EtherCAT is currently considered the fastest industrial Ethernet solution.


Drive control through commands by master controller. Suitable for multi axes systems, built in powerfull Motion Module functionality assures perfect synchronization among axes and reduces master controller workload.


Connection for the parameters configuration is made through SCI service serial interface and the software tool Ever Studio that allow easy and quick configuration, a real time debug and a supervision of each system.

Stepper drives > Two phases > Fieldbus > Titanio > SW4D2042H241-00c0680

Mechanical drawing

Dimensions in mm

Stepper drives > Two phases > Fieldbus > Titanio > SW4D2042H241-00c0680

Related product to SW4D2042H241-00c0680
Universal environment for the configuration and diagnostics of all drives of the Titanio line with fieldbus.

Universal environment for the configuration and diagnostics of all drives of the Titanio line with fieldbus.

Typical Applications of SW4D2042H241-00c0680
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