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Zenith CM-2041 是机架模块 EtherCAT 主机，集成有 EtherCAT I/O 模块。控制模块通过以太网并利用PMP软件的API进行控制。此工业计算机是我们的 Multi Axes Motion Control Rack（多轴运动控制机架）概念和 Prodrive Motion Platform（PMP，浦卓运动平台）的一部分。与电机和传感器的外部连接可完全按照客户需求定制。
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| Suitable for multi-axes control | |
| Centralized control | mechanical systems with complex cross-coupling between axes |
| Distributed contol | for shortest I/O delay (<20µs) or bandwith reduction (>1000 slaves) |
| Hybrid control | optimal balance between coupling requirements, I/O delay and bandwith |
| Standard control | Sequential PI control with 5x bi-quad filter |
| Generated control | Prepared for future extension with Simulink generated control loops |
| Custom control possibilities | eg PD-control with I/O linearizing high gain observer for optimized setting performance |
| 3th or 4th order trajectory generation | |
| Full compatible to IEC 61800-7 standard (CiA402) |
| Third party EtherCAT slave support |
| Quad core 1.2GHz CPU |
| Dual EtherCAT connectivity for rack modules and external slaves |
| Cable redundancy supported on the front interface |
| Emergency input |
| Interlock output |