EtherCAT three-channel incremental encoder counter


EtherCAT three-channel incremental encoder counter

  Price:  $609.00  


The EtherCAT slave ECAT-2093 is an incremental encoder counter which provides three independent high-speed counter channels. It reads the pulse train generated by an incremental encoder and can be used in positioning feedback applications. Each channel has two counter inputs. The inputs can either be single-ended or differential signals. Three counting modes are supported: clockwise/counterclockwise, pulse/direction and quadrant counting mode. The hardware index latch function allows the latching of encoder position. Low pass filter functions for filtering out electrical noises are provided.

  • EtherCAT slave
  • Three channels, 32-bit incremental encoder counters
  • Encoder counting mode: CW/CCW , Pulse/Direction, A/B Phase
  • Maximum counting rate: 4 MHz
  • Encoder Input: A, B, Z differential or single-ended signals
  • Index latch counter value
  • Digital input filter
  • Input level:  5V, 12V/24V with internal resistor
  • Polarity setting by software for active high or active low encoder input
  • A/B/Z signal isolation voltage: 2500V optical isolation
  • LED indicators for EtherCAT and encoder status
  • EtherCAT:
    • 2 x RJ-45 bus interface
    • Distance between stations up to 100 m (100BASE-TX)
    • Support daisy chain connection
    • EtherCAT conformance test tool verified
    • Supports Free-Run, SM synchron and Distributed Clock (DC) operation modes



Digital Input Channel

The ECAT-2093 can accept encoder inputs from either differential or single-ended signals. By default it is set to support differential encoder signals as they are preferred due to their excellent noise immunity. For single-ended encoder connection the ECAT-2093 provides an internal 1k Ohm resistor for each signal input. The internal resistor can be selected via jumper setting.


Counting Modes

The ECAT-2093 encoder counter supports three modes:

  • Pulse/Direction counting mode
  • Clockwise/Counterclockwise mode
  • Quadrant counting mode



Number of encoder inputs

3x encoder counter (A, B, Z),
differential or single-ended


32 bit

Maximum input pulse frequency

4 MHz

Input level:

5V (default)
12V/24V with internal resistor (set by jumper)


2500 VDC

LED Indicators

Diagnostic LED

Power, EtherCAT status, signal status of each encoder input

Communication Interface


2 x RJ-45



Distance between stations

Max. 100 m (100BASE-TX)

Data transfer medium

Ethernet/EtherCAT Cable (Min. CAT 5), Shielded


Input voltage range

20 VDC ~ 30VDC

Power consumption

Maximum 4.5W

EMS Protection

ESD (IEC 61000-4-2)

4 KV Contact for each channel

EFT (IEC 61000-4-4)

Signal: 1 KV Class A; Power: 1 KV Class A

Surge (IEC 61000-4-5)

1 KV Class A




Dimensions (LxWxH) [mm]

110mm x 90mm x 33mm (without connectors)

Case material

UL 94V-0 housing


Operating Temp.

-25°C ~ 70°C

Storage Temp.

-30°C ~ 80°C


10 ~ 90% RH, non-condensing