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. Used as a remote terminal, the 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 is available for a holding brake or similar device. The drive module is compliant to the CiA 402 standard and allows the following drive modes: stepper motor, brushless dc motor, profile position, velocity, profile velocity, profile torque, homing and cyclic synchronous.