Beckhoff EtherCAT Terminals - EL5101-0010 | Incremental encoder interface
Incremental encoder interface EL5101-0010
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 
XFC – eXtreme Fast Control
extended temperature range
extended shock and vibration range

EL5101-0010 | Incremental encoder interface

The EL5101-0010 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.

EL5101-0010 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 EL5101-0010
Technology incremental encoder interface RS422
Encoder type Incremental, differential (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. 20 million increments/s (with 4-fold evaluation)
Quadrature decoder 4-fold evaluation
Zero-pulse latch 32 or 16 bits
Commands read, set, enable
Oversampling factor
Input signal difference signal (RS422)
Supply voltage 24 V DC (-15 %/+20 %)
Nominal voltage 24 V DC at power contact
Conversion time
Current consumption power contacts typ. 100 mA + load
Current consumption E-bus typ. 130 mA
Distributed clocks yes
Special features wire breakage detection, latch and gate function, period duration and frequency measurement, timestamping of edges, filters, no single-ended operation
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
Approvals CE, UL, Ex
Related products
EL5101 Incremental encoder interface with differential input, 16/32 bit
EL5101-0011 Incremental encoder interface with oversampling
EL5101-0090 incremental encoder interface with differential input, 16 bit, TwinSAFE SC