The C6 I/O EtherCAT stepper module is a remote I/O system that is expandable with snap-in modules. It communicates via an EtherCAT backbone to allow for real-time communication. Used as a remote terminal, the stepper module is designed to actuate a stepper or brushless dc motor with incremental encoder. It features five digital inputs to be used with limit stops, reference switch or similar signals. A digital output also is available for a holding brake or similar device. Like other C6 devices, it can be commissioned using Combivis 6 studio software and libraries. The drive module is compliant to the CiA 402 standard and is cULus-listed.