5361N16 | Stepper Servomotor with Integrated Drive

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Shaft Diameter

Motor Frame Size

Voltage

Component

Mounting Position

Shaft Type

Motor Type

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With Brake

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Direction of Operation

Overall Length

Input Voltage

Maximum Holding Torque

Environment

Voltage Type

Rotation Speed

Less than 1,000 rpm

1,000 rpm to 1,999 rpm

2,000 rpm to 2,999 rpm

3,000 rpm to 3,999 rpm

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Maximum Torque

Less than 25 in·lbf

25 in·lbf to 49 in·lbf

50 in·lbf to 74 in·lbf

75 in·lbf to 99 in·lbf

100 in·lbf or greater

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97 Products

DC Servomotors

Often used for small automation applications, such as pick-and-place machines, these servomotors deliver lots of power in a small package. With accurate positioning and fine motor control, they create rotary motion based on signals from a drive (sold separately). The commands for speed and positioning are the same as those used for stepper motors, so you can upgrade your system without the hassle of reprogramming it. As these servomotors move, their encoder relays the shaft’s distance, direction, and speed back to the drive. The drive increases your system’s efficiency by taking the electrical signal from the encoder and dynamically adapting the motor’s movements, also accounting for inconsistent loads and unexpected forces.

Maximum Torque—Torque generally decreases as speed increases. Use a torque-speed curve to confirm which motor will work for your application. Click on a part number and select "Product Detail" to view the curve for a motor.

	Servomotors														Servomotor Encoder Cords		Servomotor Power Cords
									Shaft
	Motor Frame Size	Max. Torque, in·lbf	Continuous Torque, in·lbf	Max. Rotation Speed, rpm	Current, amp	Max. Current, amp	Wattage, W	Voltage, V DC	Dia.	Lg.	No. of Counts per Rev.	Enclosure Rating		Each		Each		Each
Without Brake



		NEMA 23	10	3.1	4,960	2.1	6.6	180	340	3/8"	1.2"	20,000	—	5082N11	000000000	5082N104	0000000	5082N103	0000000


		NEMA 23	18	5.5	4,960	1.8	5.8	320	340	3/8"	1.2"	20,000	—	5082N13	00000000	5082N104	000000	5082N103	000000
		NEMA 23	29.6	8.8	4,960	1.8	5.9	500	340	3/8"	1.2"	20,000	—	5082N15	00000000	5082N104	000000	5082N103	000000
		NEMA 23	38.8	11.8	3,740	1.6	5.3	520	340	3/8"	1.2"	20,000	—	5082N17	00000000	5082N104	000000	5082N103	000000
		NEMA 34	45	12.8	4,960	3.2	10.9	750	340	1/2"	1.1"	20,000	—	5082N19	00000000	5082N104	000000	5082N105	000000
		NEMA 34	75.9	20.7	4,960	4.1	14.5	1,210	340	1/2"	1.1"	20,000	—	5082N22	00000000	5082N104	000000	5082N105	000000
		NEMA 34	106.7	27.3	4,960	5.5	21.1	1,600	340	1/2"	1.1"	20,000	—	5082N24	00000000	5082N104	000000	5082N105	000000
		NEMA 34	129.5	38.3	2,980	5.8	19.2	1,350	340	1/2"	1.1"	20,000	—	5082N26	00000000	5082N104	000000	5082N105	000000
		40 mm	8.5	2.8	2,900	5.2	15.6	100	24	8 mm	22.5 mm	10,000	IP65	5082N28	000000	5082N102	000000	5082N101	000000
		60 mm	16.8	5.7	3,000	5.2	15.6	200	48	14 mm	27 mm	10,000	IP65	5082N29	000000	5082N102	000000	5082N101	000000
		60 mm	33.6	11.2	2,500	6.9	20.7	400	60	14 mm	27 mm	10,000	IP65	5082N32	000000	5082N102	000000	5082N106	00000


		60 mm	33.6	11.2	3,000	12	36	400	48	14 mm	27 mm	10,000	IP65	5082N31	000000	5082N102	000000	5082N106	00000
		80 mm	61.1	21.2	3,000	22.5	56	750	48	19 mm	37 mm	10,000	IP65	5082N33	000000	5082N102	000000	5082N106	00000


		With Brake



				NEMA 23	10	3.1	4,960	2.1	6.6	180	340	3/8"	1.2"	20,000	—	5082N12	00000000	5082N104	000000	5082N103	000000


				NEMA 23	18	5.5	4,960	1.8	5.8	320	340	3/8"	1.2"	20,000	—	5082N14	00000000	5082N104	000000	5082N103	000000
				NEMA 23	29.6	8.8	4,960	1.8	5.9	500	340	3/8"	1.2"	20,000	—	5082N16	00000000	5082N104	000000	5082N103	000000
				NEMA 23	38.8	11.8	3,740	1.6	5.3	520	340	3/8"	1.2"	20,000	—	5082N18	00000000	5082N104	000000	5082N103	000000
				NEMA 34	45	12.8	4,960	3.2	10.9	750	340	1/2"	1.1"	20,000	—	5082N21	00000000	5082N104	000000	5082N105	000000
				NEMA 34	75.9	20.7	4,960	4.1	14.5	1,210	340	1/2"	1.1"	20,000	—	5082N23	00000000	5082N104	000000	5082N105	000000
				NEMA 34	106.7	27.3	4,960	5.5	21.1	1,600	340	1/2"	1.1"	20,000	—	5082N25	00000000	5082N104	000000	5082N105	000000
				NEMA 34	129.5	38.3	2,980	5.8	19.2	1,350	340	1/2"	1.1"	20,000	—	5082N27	00000000	5082N104	000000	5082N105	000000

Servomotor Drives

Drives have several control modes that power the motor—step and direction, position, speed, or torque. Use a computer to set motion parameters and calibrate the servomotor to your system. After initial setup, you can use a separate controller, such as a programmable logic controller (PLC), microcontroller, or indexer. A brake resistor protects the drive from regenerated electricity as the motor slows or stops.

						Overall			No. of Inputs/Outputs
	For Motor Frame Size	Communication Protocol	For Max. Motor Torque	Current, amp	Operating Voltage	Lg.	Wd.	Ht.	Digital Inputs	Analog Inputs	Outputs		Each
For 340V DC Motor Voltage



		NEMA 23	Modbus RTU	10 in·lbf to 29.6 in·lbf	2.8	100V AC to 120V AC, 230V AC	6.8"	1.5"	6.7"	—	—	2	5082N38	0000000


		NEMA 23, NEMA 34	Modbus RTU	38.8 in·lbf to 75.9 in·lbf	6	230V AC	7.8"	2.3"	6.7"	—	—	2	5082N39	00000000
		NEMA 34	Modbus RTU	106.7 in·lbf to 129.5 in·lbf	13	230V AC	7.8"	3.5"	6.7"	—	—	2	5082N4	00000000


		For 24V, 48V, and 60V DC Motor Voltage



				40 mm, 60 mm, 80 mm	—	8.5 in·lbf to 61.1 in·lbf	12	24V DC to 60V DC	97 mm	41 mm	150 mm	12	2	6	5082N35	000000


				40 mm, 60 mm, 80 mm	Modbus RTU	8.5 in·lbf to 61.1 in·lbf	12	24V DC to 60V DC	97 mm	41 mm	150 mm	12	2	6	5082N37	000000
				40 mm, 60 mm, 80 mm	Modbus TCP/IP	8.5 in·lbf to 61.1 in·lbf	12	24V DC to 60V DC	97 mm	41 mm	150 mm	12	2	6	5082N36	000000
				40 mm, 60 mm, 80 mm	EtherNet/IP	8.5 in·lbf to 61.1 in·lbf	12	24V DC to 60V DC	97 mm	41 mm	150 mm	12	2	6	5082N34	000000

DC Servomotors with Integrated Drive

A built-in drive simplifies your servomotor setup, removing the need for cable between the motor and drive. DC servomotors are often used for small automation applications, such as pick-and-place machines, because they deliver lots of power in a small package. This system includes a motor, encoder, and drive for accurate positioning and fine control over speed and position.

These servomotors use the same step and direction commands as a stepper motor, so you can upgrade your current stepper motor system with this system. Use a computer to set up and calibrate the motor to your system. After initial setup, use a separate controller, such as a programmable logic controller (PLC), microcontroller, or indexer. The encoder relays distance, direction, and speed back to the servomotor. Based on this feedback, the servomotor dynamically adapts its movements to increase system efficiency.

	Servomotors															Servomotor Input/Output Cords		Servomotor Power Cords
						Overall			Shaft
	Max. Torque, in·lbf	Continuous Torque, in·lbf	Max. Rotation Speed, rpm	Wattage, W	Voltage, V DC	Lg.	Wd.	Ht.	Dia.	Lg.	No. of Counts per Rev.	Driver Control Mode	Enclosure Rating		Each		Each		Each
NEMA 23 Frame Size



		18.1	3.6	4,000	120	75	4.1"	2.3"	3.2"	1/4"	3/4"	6,400	Step and Direction	IP53	5151N111	0000000	5151N102	000000	5151N103	000000


		30.8	6.1	3,170	173	75	4.9"	2.3"	3.2"	1/4"	3/4"	6,400	Step and Direction	IP53	5151N121	000000	5151N102	00000	5151N103	00000
		38.8	7.8	2,520	193	75	5.6"	2.3"	3.2"	3/8"	3/4"	6,400	Step and Direction	IP53	5151N131	000000	5151N102	00000	5151N103	00000
		51.8	10.4	1,860	213	75	6.4"	2.3"	3.2"	3/8"	3/4"	6,400	Step and Direction	IP53	5151N141	000000	5151N102	00000	5151N103	00000


		NEMA 34 Frame Size



				39.9	9.4	2,320	220	75	4.4"	3.4"	4.3"	1/2"	1 3/16"	6,400	Step and Direction	IP53	5151N151	000000	5151N102	00000	5151N103	00000


				68.4	18.1	1,410	227	75	5.1"	3.4"	4.3"	1/2"	1 3/16"	6,400	Step and Direction	IP53	5151N161	000000	5151N102	00000	5151N103	00000
				87.3	24.5	1,130	267	75	5.9"	3.4"	4.3"	1/2"	1 3/16"	6,400	Step and Direction	IP53	5151N171	000000	5151N102	00000	5151N103	00000
				115.3	30	840	280	75	6.6"	3.4"	4.3"	1/2"	1 3/16"	6,400	Step and Direction	IP53	5151N181	000000	5151N102	00000	5151N103	00000

Servomotor Power Supplies

Power supplies are designed to power servomotors, so they have tightly controlled voltage and high peak current output to support high performance motor control. They are capable of handling or dissipating regenerated energy as the motor slows or stops.

		Overall
For Motor Voltage, V DC	Operating Voltage, V AC	Lg.	Wd.	Ht.	Cord Lg., ft.		Each
75	120	5.2"	2.3"	7.2"	6	5151N21	0000000

Stepper Servomotors with Integrated Drive

Simplify your servomotor setup—these servomotors have a built-in drive, removing the need for cable between the motor and drive. They create high torque at low speeds like traditional stepper motors but with greater torque performance and positioning reliability.

These servomotors accept step and direction, position, speed, torque, or sequencing commands. Use a computer to set up and calibrate the motor to your system. After initial setup, use a separate controller, such as a programmable logic controller (PLC), microcontroller, or indexer. You can also store target positions with speeds and accelerations in the drive and then trigger each sequence with minimal input from a controller. The encoder relays distance, direction, and speed back to the servomotor. Based on this feedback, the servomotor dynamically adapts its movements to increase system efficiency.

Maximum Holding Torque—Holding torque is the force needed to move the shaft out of position when it is stationary. Torque generally decreases as speed increases. Use a torque-speed curve to confirm which motor will work for your application. Click on a part number and select "Product Detail" to view the curve for a motor.

							Overall			Shaft				No. of Inputs/Outputs
	Max. Holding Torque, in·ozf	Max. Rotation Speed, rpm	Voltage, V DC	Current, amp	Step Resolution	Full Step Increment	Lg.	Wd.	Ht.	Dia.	Lg.	Ctr.-to-Base Lg.	Communication Protocol	Digital Inputs	Analog Inputs	Digital Outputs	Enclosure Rating		Each
NEMA 11 Frame Size



		9.2	3,000	15 to 30	0.9	1 to 1/256	1.8°	2.7"	1.1"	1.5"	5 mm	13 mm	0.57"	Modbus RTU	4	—	2	IP20	5361N11	0000000


		11.3	3,000	15 to 30	1	1 to 1/256	1.8°	3"	1.1"	1.5"	5 mm	13 mm	0.57"	Modbus RTU	4	—	2	IP20	5361N12	000000
		17.7	3,000	15 to 30	1	1 to 1/256	1.8°	3.5"	1.1"	1.5"	5 mm	13 mm	0.57"	Modbus RTU	4	—	2	IP20	5361N13	000000


		NEMA 17 Frame Size



				40	3,000	12 to 48	1.3	1 to 1/256	1.8°	3.5"	1.7"	3"	6 mm	18 mm	0.83"	Modbus RTU	8	1	4	IP20	5361N14	000000


				59	3,000	12 to 48	1.4	1 to 1/256	1.8°	3.7"	1.7"	3"	6 mm	18 mm	0.83"	Modbus RTU	8	1	4	IP20	5361N15	000000
				73	3,000	12 to 48	1.3	1 to 1/256	1.8°	4.1"	1.7"	3"	6 mm	18 mm	0.83"	Modbus RTU	8	1	4	IP20	5361N16	000000
				Stepper Servomotor with Integrated Drive, NEMA 17, 73 in.-oz. Maximum Holding Torque Product Detail QuantityEachShips in 4-5 weeks Select a compatible file type: Parasolid


				NEMA 23 Frame Size



						142	3,000	12 to 70	3	1 to 1/256	1.8°	4.4"	2.3"	3.2"	1/4"	3/4"	1.1"	Modbus TCP/IP, EtherNet/IP	3	1	1	IP20	5361N17	000000


						212	3,000	12 to 70	3	1 to 1/256	1.8°	5.3"	2.3"	3.2"	1/4"	3/4"	1.1"	Modbus TCP/IP, EtherNet/IP	3	1	1	IP20	5361N18	000000
						212	3,000	12 to 70	3	1 to 1/256	1.8°	5.6"	2.3"	3"	8 mm	22.4 mm	1.1"	Modbus RTU	8	1	4	IP20	5361N22	000000
						340	3,000	12 to 70	4	1 to 1/256	1.8°	5.6"	2.3"	3.2"	8 mm	18 mm	1.1"	Modbus TCP/IP, EtherNet/IP	3	1	1	IP20	5361N19	000000
						340	3,000	12 to 70	4.3	1 to 1/256	1.8°	5.7"	2.3"	3"	8 mm	22.4 mm	1.1"	Modbus RTU	8	1	4	IP20	5361N23	000000


						NEMA 34 Frame Size



								382	3,000	24 to 70	5.1	1 to 1/256	1.8°	5.9"	3.4"	5"	14 mm	35 mm	1.7"	Modbus RTU	8	1	4	IP20	5361N24	000000


								736	3,000	24 to 70	5.1	1 to 1/256	1.8°	7"	3.4"	5"	14 mm	35 mm	1.7"	Modbus RTU	8	1	4	IP20	5361N25	000000
								949	3,000	24 to 70	5.1	1 to 1/256	1.8°	8.2"	3.4"	5"	14 mm	35 mm	1.7"	Modbus RTU	8	1	4	IP20	5361N26	00000000
								1,161	3,000	48 to 70	5.2	1 to 1/256	1.8°	9.4"	3.4"	5"	14 mm	35 mm	1.7"	Modbus RTU	8	1	4	IP20	5361N27	00000000

AC Servomotors

Good for high speeds with fast accelerations, these servomotors are often used in automated assembly, material handling, and packaging applications. These motors require a low amount of force to stop or start, commonly referred to as low inertia, so they respond to position commands quickly and can rapidly accelerate and decelerate.

Pair a servomotor and drive (sold separately) for accurate speed and position control. The absolute encoder built into the motor knows the exact position of the shaft at startup and relays distance, direction, and speed back to the drive. Based on this feedback, the drive dynamically adapts the motor’s movements and increases system efficiency. A brake resistor protects the drive from regenerated electricity as the motor slows or stops.

	Servomotors															Servomotor Power and Encoder Cords
									Shaft, mm
	Motor Frame Size	Max. Torque, in·lbf	Continuous Torque, in·lbf	Max. Rotation Speed, rpm	Current, amp	Max. Current, amp	Power, hp	Wattage, W	Dia.	Lg.	Ctr.-to-Base Lg.	No. of Counts per Rev.	Enclosure Rating		Each		Each
230V AC, Three Phase



		73 mm	35.5	10.7	4,500	2.29	13.8	1/2	400	11	23	36.5	4,096	IP65	5391N101	000000000	5391N141	0000000


		73 mm	65.5	17.7	4,500	4.03	24	1	680	11	23	36.5	4,096	IP65	5391N102	00000000	5391N141	000000
		88 mm	80	22.2	4,500	5.25	31.5	1	850	14	30	44	4,096	IP65	5391N103	00000000	5391N141	000000
		88 mm	132.7	39.2	4,500	9.78	59	2	1,500	14	30	44	4,096	IP65	5391N104	00000000	5391N142	000000


		400V AC, Three Phase



				73 mm	35.9	10.7	4,500	1.32	7	1/2	400	11	23	36.5	4,096	IP65	5391N105	00000000	5391N141	000000


				73 mm	67.3	17.7	4,500	2.3	13.1	1	680	11	23	36.5	4,096	IP65	5391N106	00000000	5391N141	000000
				88 mm	87.4	22.2	4,500	3.05	18.3	1	850	14	30	44	4,096	IP65	5391N107	00000000	5391N141	000000
				88 mm	138.9	39.2	4,500	5.4	32.5	2	1,500	14	30	44	4,096	IP65	5391N108	00000000	5391N142	000000
				116 mm	156.6	51.9	3,000	4.9	25	2	1,800	24	50	58	4,096	IP65	5391N109	00000000	5391N142	000000
				116 mm	218.6	72.7	3,000	7.5	39	3 1/2	2,600	24	50	58	4,096	IP65	5391N111	00000000	5391N142	000000

Accessories for Servomotors

Servomotor Drives


Drive	Keypad

Drives can be quickly set up and programmed to control position, speed, and torque from a computer or programmable logic controller (PLC). These drives only require one cord to connect to the motor and encoder. Once connected, the drive recognizes the motor and automatically begins startup. Use the keypad to start the motor, run diagnostics, and edit motion parameters directly from the drive. Drives also include safe torque off (STO) functionality, which prevents power from going to the motor during an emergency stop or maintenance.

						Overall, mm			No. of Inputs/Outputs
	Communication Protocol	For Max. Motor Torque	Current, amp	Operating Voltage, V AC	Electrical Phase	Lg.	Wd.	Ht.	Digital Inputs	Digital Inputs/Outputs	Analog Inputs	Analog Inputs/Outputs	Enclosure Rating		Each
For 230V AC Motor Voltage



		Modbus TCP/IP, EtherNet/IP	35.5 in·lbf	5	200 to 240	Three	170	80	303	6	2	1	1	IP20	5391N131	000000000


		Modbus TCP/IP, EtherNet/IP	65.5 in·lbf	8.4	200 to 240	Three	180	80	392	6	2	1	1	IP20	5391N132	00000000
		Modbus TCP/IP, EtherNet/IP	80 in·lbf	12.6	200 to 240	Three	180	80	392	6	2	1	1	IP20	5391N133	00000000
		Modbus TCP/IP, EtherNet/IP	132.7 in·lbf	19.2	200 to 240	Three	225	105	445	6	2	1	1	IP20	5391N134	00000000


		For 400V AC Motor Voltage



				Modbus TCP/IP, EtherNet/IP	35.9 in·lbf	2.9	380 to 500	Three	170	80	303	6	2	1	1	IP20	5391N135	00000000


				Modbus TCP/IP, EtherNet/IP	67.3 in·lbf	5	380 to 500	Three	170	80	303	6	2	1	1	IP20	5391N136	00000000
				Modbus TCP/IP, EtherNet/IP	87.4 in·lbf	8.6	380 to 500	Three	180	80	392	6	2	1	1	IP20	5391N137	00000000
				Modbus TCP/IP, EtherNet/IP	138.9 in·lbf to 156.6 in·lbf	11.3	380 to 500	Three	180	80	392	6	2	1	1	IP20	5391N138	00000000
				Modbus TCP/IP, EtherNet/IP	218.6 in·lbf	14.4	380 to 500	Three	180	80	392	6	2	1	1	IP20	5391N139	00000000

Servomotor Gear Boxes

Gear boxes reduce the speed and increase the torque output of your motor. These planetary gear boxes have low backlash, which allows them to maintain a high-level of precision when transmitting motion from your servomotor. They also have hardened steel gears that withstand fast accelerations in dynamic applications. They come permanently lubricated, so there is no need to add or maintain oil or grease.

		Output						Output Shaft, mm		Overall, mm
	For Motor Frame Size	Max. Torque, in·lbf	Continuous Torque, in·lbf	Max. Speed, rpm	Max. Input Speed, rpm	Backlash Angle	For Input Shaft Dia., mm	Dia.	Lg.	Lg.	Wd.	Ht.		Each
5:1 Speed Ratio



		73 mm	584.1	247.8	1,500	7,500	0.067°	11	16	28	141.6	73	73	5391N121	000000000


		88 mm	584.1	247.8	1,500	7,500	0.067°	14	16	28	144.5	88	88	5391N122	00000000
		116 mm	1,221.4	752.3	1,500	7,500	0.067°	24	22	36	183.8	120	120	5391N123	00000000


		10:1 Speed Ratio



				73 mm	371.7	247.8	750	7,500	0.067°	11	16	28	141.6	73	73	5391N124	00000000


				88 mm	371.7	247.8	750	7,500	0.067°	14	16	28	144.5	88	88	5391N125	00000000
				116 mm	1,053.2	752.3	750	7,500	0.067°	24	22	36	183.8	120	120	5391N126	00000000

Stepper Servomotors

Combine the high torque at low speeds that traditional stepper motors are known for with the greater torque performance and positioning reliability of a servomotor. They create rotary motion based on signals from a drive (sold separately). As these servomotors move, their encoder relays the shaft’s distance, direction, and speed back to the drive. The drive increases your system’s efficiency by taking the electrical signal from the encoder and dynamically adapting the motor’s movements, also accounting for inconsistent loads and unexpected forces.

	Servomotors													Servomotor Encoder Cords		Servomotor Power Cords
					Overall			Shaft
	Max. Holding Torque, in·ozf	Max. Rotation Speed, rpm	Voltage, V DC	Full Step Increment	Lg.	Wd.	Ht.	Dia.	Lg.	Ctr.-to-Base Lg.	Enclosure Rating		Each		Each		Each
NEMA 17 Frame Size



		70.8	1,740	48	1.8°	4.6"	1.7"	2.2"	5 mm	22 mm	0.83"	IP54	5203N11	0000000	5203N103	0000000	5203N101	0000000


		NEMA 23 Frame Size



				113.3	2,720	48	1.8°	4.8"	2.3"	2.7"	1/4"	3/4"	1.11"	IP54	5203N12	000000	5203N103	000000	5203N101	000000


				198.3	1,940	48	1.8°	5.7"	2.3"	2.7"	1/4"	3/4"	1.11"	IP54	5203N13	000000	5203N103	000000	5203N101	000000


				NEMA 34 Frame Size



						354	2,130	48	1.8°	5.5"	3.4"	3.9"	11 mm	25 mm	1.69"	IP54	5203N14	000000	5203N103	000000	5203N102	000000


						835.5	550	48	1.8°	6.8"	3.4"	3.9"	11 mm	25 mm	1.69"	IP54	5203N15	00000000	5203N103	000000	5203N102	000000
						1,317	430	48	1.8°	8"	3.4"	3.9"	11 mm	25 mm	1.69"	IP54	5203N16	00000000	5203N103	000000	5203N102	000000

Servomotor Drives

Drives have several control modes that power the motor—sequencing, position, speed, or torque. You can program target positions with speeds and accelerations in the drive to trigger sequences with minimal input from a controller. You can also use a computer, programmable logic controller (PLC), microcontroller, or indexer to set motion parameters, tune the motor to your mechanical system, and stream multiple commands to the driver to carry out complex motion sequences.

				Overall			No. of Inputs/Outputs
	Max. Current per Phase, amp	Communication Protocol	Operating Voltage, V DC	Lg.	Wd.	Ht.	Inputs	Outputs	Enclosure Rating		Each
For 48V DC Motor Voltage



		20	EtherCAT, Modbus TCP/IP, EtherNet/IP, Profinet	24 to 48	5.2"	1.1"	6.7"	2	2	IP20	5203N201	0000000