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EP5101-00xx | Incremental encoder interface


The EP5101 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 EP5101 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 (EP5101-0002) or via a 15-pin D-sub socket (EP5101-0011). In the M12 version not all signals are available.


Technical data EP5101-0002 EP5101-0011
Connection technology M12, 8-pin D-sub socket, 15-pin
Number of channels 1
Encoder connection M12, screw type, 8-pin D-sub socket, 15-pin
Encoder operating voltage 5 V DC
Encoder output current 0.5 A
Nominal voltage 24 V DC (-15 %/+20 %)
Sensor supply 5 V, 400 mA
Counter 32 or 16 bits, binary
Limit frequency 4 million increments/s (with 4-fold evaluation)
Quadrature decoder 4-fold evaluation
Zero-pulse latch 16/32 bits
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
Weight approx. 165 g
Operating/storage temperature 0…+55 °C/-25…+85 °C
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 65/66/67 (conforms to EN 60529)/variable
Approvals CE, UL