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AS1xxx | Stepper Motors


Stepper Motors are synchronous motors with a high number of poles, which can therefore be regarded as direct drives. Advantages include high holding torque and very good positioning capability. Individual steps or partial steps can be approached directly (i.e. without return system) through intelligent control of the stator windings in full step or microstep mode. This distinguishes Stepper Motors from servomotors and makes them a cost-effective alternative. Excessive acceleration and fast load cycles can result in the Stepper Motors no longer being able to follow the rotary field and “losing steps”. The encoder option can improve matters in this situation.

Stepper Motors have their maximum torque in the lower speed range and an overriding holding torque at standstill. In many applications this makes a holding brake unnecessary. The stepper motor terminals from the Beckhoff I/O system can store suitable current curves for any speed or load profile, for optimum adjustment of the thermal motor load.

Beckhoff Stepper Motors are used as actuators or auxiliary axes in machine construction and automation applications. In conjunction with the KL2531 and KL2541 stepper motor terminals, the EL7031 and EL7041 EtherCAT stepper motor terminals or the EP7041 stepper motor module and the TwinCAT automation software, cost-effective axes can easily be integrated into the overall application.

In order to simplify the electrical connection, the Stepper Motors are equipped with pre-assembled plug connectors. Planetary gear units, incremental encoders and pre-assembled connection cables are available as accessories.

Dimensions a b d k l m o r
AS1010 22 mm 5 mm 24 mm 39 mm 31 mm 42 mm
AS1020 22 mm 5 mm 24 mm 48 mm 31 mm 33 mm 24 mm 42 mm
AS1030 38.1 mm 6.35 mm 20.6 mm 54 mm 47.14 mm 56 mm
AS1050 38.1 mm 6.35 mm 20.6 mm 75.8 mm 47.14 mm 33 mm 24 mm 56 mm
AS1060 73 mm 14 mm 30 mm 96.5 mm 69.6 mm 33 mm 24 mm 85.5 mm


Technical data AS1010-0000 AS1020-0xyz AS1030-0000
Rated supply voltage 24…50 V DC
Rated current (per phase) 1.0 A 1.0 A 1.5 A
Standstill torque 0.38 Nm 0.5 Nm 0.6 Nm
Winding resistance (per phase) 4.10 Ω 4.80 Ω 0.80 Ω
Winding inductance (per phase) 9.50 mH 9.50 mH 3.80 mH
Rotor moment of inertia 0.056 kg cm² 0.074 kg cm² 0.21 kg cm²
Resolution 1.8°/200 full steps
Dimensions (r x length) 42 mm x 39 mm 42 mm x 48 mm 56 mm x 53 mm
Weight 0.31 kg 0.39 kg 0.68 kg
Bus Terminal KL2531/EL7031 EL7031/EP7041 KL2531/EL7031


Technical data AS1050-0xyz AS1060-wxyz
Rated supply voltage 24…50 V DC
Rated current (per phase) 5.0 A
Standstill torque 1.2 Nm 5.0 Nm
Winding resistance (per phase) 0.28 Ω 0.36 Ω
Winding inductance (per phase) 0.86 mH 2.80 mH
Rotor moment of inertia 0.36 kg cm² 3.0 kg cm²
Resolution 1.8°/200 full steps
Dimensions (r x length) 56 mm x 75 mm 86 mm x 97 mm
Weight 1.00 kg 2.85 kg
Bus Terminal KL2541/EL7041

Option w = 0: smooth shaft with 2 flats (AS1030/AS1050 only smooth shaft); w = 1: shaft with groove and feather key according to DIN 6885 (only AS1060)

Option x = 0: single shaft, x = 1; second shaft (only AS1020/AS1050/AS1060)

Option y = 0: no incremental encoder; y = 1: incremental encoder 24 V DC, 200 inc/rev; y = 2: 1,024 inc/rev

Option z = 0: standard; z = 1: customer-specific