# Configuring the stepper motor module

1. ##

   When using the stepper motor module UR20-1SM-50W-6DI2DO-P, please also observe the Stepper motor module UR20-1SM-50W-6DI2DO-P manual.

2. Start editing the real-time application.
3. Add a UR20-1SM-50W-6DI2DO-P I/O module to your configuration.
4. Parameterise the UR20-1SM-50W-6DI2DO-P I/O module consistent with the connected drive system.
5. Create new global variables for every channel of the UR20-1SM-50W-6DI2DO-P you want to use.
6. Change the data type of the global variable to the appropriate data type.
7. Change the I/O mapping of the global variable to the desired channel.

1. Create programs for controlling the drive system using these global variables.

Adding a u-remote I/O module

Parameterising a u-remote I/O module

Creating a global variable

Changing the data type of a global variable

Changing the I/O mapping of a global variable

Channels of the stepper motor module