Incremental encoder interface EL5101
Power 5 V
Latch, gate 
Run LED 
Input C, 1 
Input A, B 
Power contact
+24 V
Power contact 0 V
Input A, A
Input B, B
Input C, C
Latch, gate
Encoder
supply UE, U0
+24 V (2x)
0 V (2x)
Input 1, Shield
Top view 
Contact assembly 
extended temperature range
extended shock and vibration range

EL5101 | Incremental encoder interface

The EL5101 EtherCAT Terminal is an interface for the direct connection of incremental encoders with differential inputs (RS422). 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. Incremental encoders with alarm outputs can be connected at the interface’s status input. Interval measurement with a resolution of up to 100 ns is possible. The gate input allows the counter to be halted. The counter state is taken over with a rising edge at the latch input.

Due to the optional interpolating microincrement function, the EL5101 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).

Technical data EL5101 | ES5101
Technology incremental encoder interface RS422
Number of channels 1
Encoder connection A, A (inv), B, B (inv), C,C (inv), differential inputs (RS422); status input 5 V DC; gate/latch input 24 V DC
Encoder operating voltage 5 V DC/max. 0.5 A
Encoder output current 0.5 A
Counter 1 x 16/32 bit switchable
Input frequency max. 4 million increments/s (with 4-fold evaluation)
Quadrature decoder 4-fold evaluation
Zero-pulse latch 32 or 16 bits
Commands read, set, enable
Distributed clocks yes
Input signal difference signal (RS422), single-ended possible
Supply voltage 24 V DC (-15 %/+20 %)
Nominal voltage 24 V DC at power contact
Current consumption power contacts typ. 100 mA + load
Resolution 1/256 bit microincrements
Current consumption E-bus typ. 130 mA
Bit width in the process image 1 x 32 bit input, 1 x 16 bit output, 8 bit control, 8 bit status
Special features wire breakage detection, latch and gate function, period duration and frequency measurement, microincrements, timestamping of edges, filters
Weight approx. 100 g
Operating/storage temperature -25…+60 °C/-40…+85 °C
Relative humidity 95 %, no condensation
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 20/variable
Pluggable wiring for all ESxxxx terminals
Approvals CE, UL, Ex
Related products
EL5101-0010 incremental encoder interface, 20 million increments/s (with 4-fold evaluation), no single-ended operation
EL5101-0011 Incremental encoder interface with oversampling
EL5101-0090 Incremental encoder interface with differential input, 16 bit, TwinSAFE SC