1-, 2-channel incremental encoder interface EL5151, ES5151
Signal LED
Gate/Latch
Signal LED B
Signal LED C 
Signal LED A 
Power contact
+24 V
Power contact 0 V
A
C
B
+24 V
0 V
Gate/Latch
Top view 
Contact assembly 
1-, 2-channel incremental encoder interface EL5152, ES5152
Signal LED B2
Signal LED B1
Signal LED A2 
Signal LED A1 
Power contact
+24 V
Power contact 0 V
A1
A2
B1
+24 V
0 V
B2
Top view 
Contact assembly 

EL5151, EL5152 | 1-, 2-channel incremental encoder interface

The EL5151/EL5152 EtherCAT Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. With the EL5151, a 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled. Alternatively, the EL5151 can be used as up/down counter terminal with gate.

With the EL5152, two 32 bit counters with quadrature decoder can be read and set. The EL515x supports the synchronous reading of the encoder value, together with other input data, into the EtherCAT system via high-precision EtherCAT distributed clocks (DC).

Technical data EL5151 | ES5151 EL5152 | ES5152
Technology incremental encoder interface 24 V DC, EN 61131-2, type 1, “0”: < 5 V DC, ”1”: > 15 V DC, typ. 5 mA
Number of channels 1 2
Encoder connection A, B, C, gate/latch input 24 V DC, 24 V/0 V A1, B1, A2, B2, 24 V/0 V
Sensor inputs 1 2
Encoder operating voltage 24 V DC
Counter 1 x 16/32 bit switchable 2 x 32 bit
Limit frequency 400,000 increments/s (with 4-fold evaluation)
Quadrature decoder 4-fold evaluation
Commands read, set, latching
Distributed clocks yes
Input signal 24 V DC
Supply voltage 24 V DC (-15 %/+20 %)
Nominal voltage 24 V DC at power contact
Current consumption power contacts typ. 100 mA + load
Input frequency max. 400,000 increments/s (with 4-fold evaluation)
Resolution 1/256 bit microincrements
Current consumption E-bus typ. 130 mA typ. 180 mA
Bit width in the process image 14 byte ENC input, 6 byte ENC output 28 byte ENC input, 12 byte ENC output
Special features gate or latch function, micro-increments, time stamping of edges, period duration and frequency measurement, up/down counters
Weight approx. 50 g
Operating/storage temperature 0…+55 °C/-25…+85 °C
Relative humidity 95 %, no condensation
Vibration/shock resistance conforms to EN 60068-2-6/EN 60068-2-27/29
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