The EL5101-0010 EtherCAT Terminal is an interface for the direct connection of incremental encoders with differential signals (RS422). With a maximum input frequency of up to 5 MHz it is particularly suitable for dynamic applications. Two additional 24 V digital inputs are available for storing, blocking and setting the counter status. The error message output of an encoder can be connected and evaluated via the status input. The 5 V and 24 V supply of the encoder can be provided directly via the terminal connection points.

Special features:

• save, lock, set counter
• integrated frequency and period measurement
• open-circuit recognition
• synchronous reading of the position value via distributed clocks
• Timestamp on the last-registered incremental edge

In addition, the EL5101-0010 enables the measurement of a period or frequency with a resolution of 100 ns. It also supports synchronous reading of the encoder value together with other input data in the EtherCAT system via the high-precision EtherCAT distributed clocks (DC). A timestamp for the last-registered incremental edge is also available. The use of encoder profiles enables simple and fast linking of the process data for Motion Control applications.

https://www.beckhoff.com/vi-vn/products/i-o/ethercat-terminals/el5xxx-position-measurement/el5101-0010.html