Position measurement
ER5101-0002 | Incremental encoder interface with differential inputs
M12 I/O
connection sockets 
Signal status display 
Power supply
status display:
Box supply (US
Auxiliary voltage (UP
Power supply feed 
Power supply down- 
stream connection
1 | GND
2 | VCC
3 | A
4 | /A
5 | B
6 | /B
7 | C
8 | /C
1 | Tx+
2 | Rx+
3 | Rx-
4 | Tx-
1 | + 24 V DC Us
2 | + 24 V DC UP
3 | GND
4 | GND
signal input 
signal output 

ER5101-x002 | Incremental encoder interface with differential inputs

The ER5101 EtherCAT Box is an interface for the direct connection of incremental encoders with differential inputs (RS485). 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 ER5101 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.

The EtherCAT Box modules with zinc die-cast housing are ready for use in harsh industrial and process environments. With the fully sealed design and metal surfaces the ER series is ideal for applications requiring enhanced load capacity and protection against weld spatter, for example.

Technical data ER5101-0002 ER5101-1002
Number of channels 1
Nominal voltage 24 V DC (-15 %/+20 %)
Signal type differential
Sensor supply +5 V DC, 150 mA each (VCC) 24 V DC, 500 mA (VCC)
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 feed: 1 x M8 male socket, 4-pin; downstream connection: 1 x M8 female socket, 4-pin
Current consumption from US (without sensor current) typ. 130 mA + load
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
Related products  
EP5101 EtherCAT Box (industrial housing), incremental encoder interface