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)
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)
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 programming and real time debug


Certifications CE


● EtherCAT 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)

● 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

● Easily programmable with e3PLC programming environment


 Code       Description                     
 SW4D2KIT-C1                                          Connectors kit for cabling                               


 Code       Description                     
 SW4_SERV00-EE      Kit for programming the drive with e3PLC Studio software + 200 cm service serial cable and serial/USB converter

Stepper drives > Two phases > Programmables > Titanio > SW4D2042H241-00c0690

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.


Fieldbus drives with autonomous functioning that, by integrating advanced PLC and motion controller functions in one single device, programmable by the user with the IDE for Windows PC and e3PLC, allows to reduce the traditional machine control solution.


Connection for programming the unit and parameters configuration is made through SCI service serial interface and the IDE e3PLC Studio that allow easy and quick programming, a real time debug and a supervision of each system.

Stepper drives > Two phases > Programmables > Titanio > SW4D2042H241-00c0690

Mechanical drawing

Dimensions in mm

Stepper drives > Two phases > Programmables > Titanio > SW4D2042H241-00c0690

Related product to SW4D2042H241-00c0690
IDE environment for the Linea Titanio drives programming.

IDE environment for the Linea Titanio drives programming.

Typical Applications of SW4D2042H241-00c0690
Contacts Newsletter