The EL5151-0021 EtherCAT Terminal is an interface for the connection of a 24 V incremental encoder (24 V HTL). An additional 24 V digital input is available for storing the counter status. A compare function can be realized via a parameterizable 24 V DC output, which is set after reaching a preset counter value. The output is switched independently of the PLC cycle. The integrated workpiece measurement function enables logging of the start and end values of the counter. The measurement is triggered by the digital input. Both values are output separately as 32-bit values.

As an alternative, the EL5151-0021 can be used as a up/down counter. The 24 V supply of the encoder can be provided directly via the terminal connection points.

Special features:

• compare function via parameterizable 24 V DC output
• integrated workpiece measurement via 24 V digital input
• save, set counter
• optionally usable as 24 V up/down counter

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/el5151-0021.html