Position measurement
EPP5151-0002 | Incremental encoder interface with single-ended inputs
M12 I/O
connection sockets 
Signal status display
1 | GND
2 | Enc_Supply
3 | A
4 | /Error
5 | B
6 | Latch
7 | C
8 | Gate
1 | TX+/GNDS
2 | Rx+/GNDP
3 | Rx-/UP
4 | Tx-/US
EtherCAT P
signal input 
EtherCAT P
signal output 
Power supply
status display:
Box supply (US
Auxiliary voltage (UP

EPP5151-0002 | Incremental encoder interface with single-ended inputs

The EPP5151-0002 EtherCAT P Box is an interface for the direct connection of incremental encoders with 24 V DC inputs. A 32/16 bit counter with a quadrature decoder and a 32/16 bit latch for the zero pulse can be read, set or enabled. Interval measurement with a resolution of up to 100 ns is possible.

Due to the optional interpolating microincrement function, the EPP5151-0002 can supply even more precise axis positions for dynamic axes. In addition, it supports the synchronous reading of the encoder value together with other input data in the EtherCAT system via high-precision EtherCAT distributed clocks (DC). The encoder is connected via an 8-pin M12 socket.

Technical data EPP5151-0002
Connection technology M12, 8-pin
Number of channels 1
Connection encoder/sensor M12, screw type, 8-pin
Encoder operating voltage 24 V DC, single ended
Encoder output current 0.5 A
Nominal voltage 24 V DC (-15 %/+20 %)
Bus interface 2 x M8 socket, shielded, screw type, EtherCAT-P-coded
Signal type single-ended
Sensor supply 24 V DC/500 mA (Enc_Supply)
Counter 32 or 16 bit, binary
Limit frequency 4 million increments/s (with 4-fold evaluation)
Quadrature decoder 4-fold evaluation
Zero-pulse latch 16/32 bit
Commands read, set, enable
Distributed clocks yes
Power supply connection not necessary
Current consumption from US typ. 100 mA
Bit width in the process image 1 x 32 bit input, 1 x 16 bit output, 8 bit control, 8 bit status
Electrical isolation 500 V
Operating/storage temperature 0…+55 °C/-25…+85 °C
Vibration/shock resistance conforms to EN 60068-2-6/EN 60068-2-27
EMC immunity/emission conforms to EN 61000-6-2/EN 61000-6-4
Protect. class/installation pos. IP 65/66/67 (conforms to EN 60529)/variable
Approvals CE, UL in preparation
ZK700x-010x-0xxx Cables for EtherCAT P: Ultra-fast Communication and Power in One Cable
M23, D-Sub Other field assembly connectors