The EL5102 EtherCAT Terminal is an interface for the direct connection of two incremental encoders with differential signals (RS422) or single ended signals (TTL and Open Collector), parameterizable per channel. Input frequencies up to 5 MHz can be processed. Two additional 24 V digital inputs are available for storing, blocking and setting the counter status. It is also possible to set the counter to a predefined value or to lock the counter directly through the process data. The error message output of an encoder can be connected and evaluated via the status input. The 5 V, 12 V or 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
• optionally usable as 5 V up/down counter
• Microincrements
• synchronous reading of the position value via distributed clocks
• Timestamp on the last-registered incremental edge and the latch value via the 24 V digital inputs

In addition, the EL5102 enables the measurement of a period, frequency or velocity with a resolution of 10 ns. A duty cycle measurement of the input signal is implemented.

With the optional interpolating microincrement functionality, the EL5102 can provide even more accurate axis positions for dynamic axes. 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, the edge at the latch input and the zero pulse track C 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/el5102.html