2-channel incremental encoder interface, 5 V (RS422, TTL, Open Collector) EL5102
A1, Run
B1, Diag
Status input 1
PowerEnc.Ch 1
Latch1, Gate1
Status input 2
PowerEnc.Ch 2
Latch2, Gate2
Input A1, A
Input B1, B
Input C1, C
Status input 1 
supply +UE1 (2x) 
supply -U01 (2x) 
Latch 1, Gate/Latch 1 
Input A2, A2
Input B2, B2
Input C2, C2
Status input 2
supply +UE2 (2x)
supply -U02 (2x)
Latch 2, gate/latch 2
Top view 
Contact assembly 
XFC – eXtreme Fast Control

EL5102 | 2-channel incremental encoder interface, 5 V (RS422, TTL, Open Collector)

The EL5102 EtherCAT Terminal is an interface for the direct connection of two incremental encoders with differential inputs (RS422) or single-ended inputs (TTL and Open Collector), parameterizable per channel. The encoders can be supplied with power directly from the terminal. A 32-bit counter with quadrature encoder is available per channel. Furthermore, the counter value can be stored separately or set to a preset value via the inputs (latch, gate/latch and zero pulse C input). In addition, it is possible to lock the counter, either via the Gate/Latch input or directly via the process data.

The EL5102 enables the measurement of period, frequency and speed with a resolution of 10 ns. In addition, duty cycle measurement of the incoming signal is implemented.

Due to the optional interpolating micro-increment function, the EL5102 can determine even more precise axis positions for dynamic axes. In addition to that it supports the synchronous reading of the encoder value together with other input data in the EtherCAT system via the high-precision EtherCAT Distributed Clocks (DC). In addition, timestamps can be output for the last registered incremental edge, the edge at the latch input and the zero pulse track C.

Technical data EL5102
Encoder type incremental, differential (RS422), single-ended (TTL, Open Collector), counter, pulse generator
Number of channels 2 x A, B, C
Encoder connection differential inputs (RS422): A, A(inv), B, B(inv), C, C(inv), single-ended connection (TTL, Open Collector): A, B, C, counter, pulse generator: A, B
Additional inputs latch, gate/latch (24 V DC, TON > 1 µs), status input (max. 5 V DC, negative switching) per channel
Encoder operating voltage 5 V DC (default), 12 V DC, 24 V DC switchable, 0.3 A per channel (generated from the 24 V DC power contacts)
Counter 32 bit (default), 16/32 bit switchable
Limit frequency RS422: 20 million increments with 4-fold evaluation, corresponding to 5 MHz,
TTL: 4 million increments with 4-fold evaluation, corresponding to 1 MHz,
Open Collector: 400 kilo increments with 4-fold evaluation, corresponding to 100 kHz
Quadrature decoder 4-fold evaluation (default), 2-fold-, 1-fold evaluation switchable
Resolution 1/256 bit microincrements
Current consumption power contacts typ. 20 mA + load
Current consumption E-bus typ. 210 mA
Wiring fail indication yes, for RS422 encoder
Distributed clocks yes
Special features open-circuit recognition, period duration, frequency, speed and duty cycle measurement, microincrements, timestamp on: last incremental edge, zero pulse C, latch input, gate/latch input
Weight approx. 100 g
Electrical isolation 500 V (E-bus/field potential)
Operating/storage temperature 0…+55 °C/-25…+85 °C
Relative humidity 95 %, no condensation
Vibration/shock resistance conforms to EN 60068-2-6/EN 60068-2-27
Protect. class/installation pos. IP 20/variable
EMC immunity/emission conforms to EN 61000-6-2/EN 61000-6-4
Approvals/markings CE
Related products
EL5112 2-channel incremental encoder interface, 5 V (2 x AB or 1 x ABC RS422, TTL)
EL5122 2-channel incremental encoder interface, 5 V, single ended (TTL, Open Collector)
EL5131 2-channel incremental encoder interface, 5 V with two parameterizable 24 V DC outputs