BECKHOFF EL3001 EtherCAT Terminal – 1-Channel Analog Input

Beckhoff EL5021 – 1‑Channel SinCos Encoder Terminal (1 VPP)

EL5021 is a high‑precision EtherCAT terminal from Beckhoff.
It connects SinCos encoders with differential 1 VPP output.
The terminal processes up to 250 kHz input frequency.
It offers 32‑bit counter value with 13‑bit interpolation per sine period.
Built‑in error detection for amplitude and frequency ensures reliable operation.

Description – Key Features

• SinCos interface – for 1 VPP differential signals
  • Inputs: A, B, C with inverted signals (A̅, B̅, C̅)
  • Max. input frequency: 250 kHz @ 10‑bit sampling
• High‑resolution counting
  • 32‑bit counter value (whole periods + interpolation)
  • Interpolation resolution: 13 bit (8192 steps per period)
• Diagnostic functions
  • Amplitude error detection
  • Frequency error detection
  • Integrated frequency measurement (max. 24‑bit)
• Encoder supply – 5 V DC / 0.5 A (from power contacts)
• Distributed Clocks – synchronize with other EtherCAT devices
• Special features
  • Latch, reset, change counting direction
  • Frequency‑dependent period resolution

Technical Specifications

• Brand: Beckhoff
• Model: EL5021
• Series: EtherCAT Terminal (compact 12 mm housing)
• Type: 1‑channel SinCos encoder interface (1 VPP)
• Encoder supply: 5 V DC / max. 0.5 A
• Counter: max. 24‑bit (adjustable)
• Input frequency: 250 kHz @ 10 bit (70 MHz sampling)
• Resolution: max. 13 bit (8192 steps per period)
• Distributed Clocks: yes – for synchronous reading
• Nominal voltage: 24 V DC (power contact)
• Current consumption: typ. 50 mA (power contacts) + load
• E‑bus current: typ. 120 mA
• Electrical isolation: 500 V (E‑bus / field)
• Operating temperature: 0…+55 °C
• Storage temperature: -25…+85 °C
• Humidity: 95 % (non‑condensing)
• Vibration / shock: EN 60068‑2‑6 / EN 60068‑2‑27
• EMC: EN 61000‑6‑2 / EN 61000‑6‑4
• Protection rating: IP20
• Mounting: 35 mm DIN rail (EN 60715)
• Dimensions (W x H x D): 12 mm x 100 mm x 68 mm
• Weight: approx. 55 g
• Approvals: CE, UL, ATEX (II 3 G Ex nA IIC T4 Gc)

Expert Review

“The EL5021 delivers excellent interpolation precision. Its 13‑bit resolution and 250 kHz input make it ideal for high‑speed position feedback.
The built‑in amplitude and frequency monitoring saves troubleshooting time.
I recommend it for motion control systems that demand reliable SinCos encoder interfacing.”

Manager’s Insight

“Cost‑effective and feature‑packed. The EL5021 eliminates the need for external encoder converters.
Distributed Clocks ensure synchronized data with other axes.
With ATEX approval, it suits both standard and potentially explosive areas.
A smart choice for OEMs building compact servo systems.”

Suitable Devices & Applications

• Devices:
  • SinCos encoders with 1 VPP differential output
  • Measuring probes and position sensors
  • EtherCAT master controllers (e.g., Beckhoff CX, TwinCAT)
• Applications:
  • Servo motor feedback – precision axis control
  • Linear and rotary position measurement
  • Machine tools and robotics
  • Printing and packaging machinery

Compare with Similar Models

• EL5101 – 1‑channel incremental encoder interface (5 V TTL)
• EL5152 – 2‑channel incremental encoder with latch
• EL5021‑0010 – SinCos with extended diagnostic features

Frequently Asked Questions

• What is the maximum cable length for the encoder?

  Keep cable length under 50 m for reliable 1 VPP signal quality.

• Can I use the EL5021 with a 12 V encoder?

  No – it provides 5 V supply and expects 1 VPP differential signals.

• Does it support absolute or incremental encoders?

  It supports SinCos encoders (incremental with interpolation).

• How do I reset the counter?

  Use the software latch or reset command via TwinCAT – no hardware button.

• What happens if the encoder signal is too weak?

  The amplitude error detection will flag a warning in the process image.

• Is the ES5021 version different?

  ES5021 has pluggable wiring; electrical specs are identical.

Purchasing Guide

• Choose EL5021 if you need single‑channel SinCos interpolation with error monitoring.
• Verify encoder type – it must output 1 VPP differential signals.
• Check supply capacity – power contacts must provide 24 V DC / 50 mA + encoder load.
• For hazardous areas – ATEX version is approved (II 3 G Ex nA).
• Warranty: 12 months against defects.
• Shipping: dispatch within 12‑24 hours via FedEx, UPS, or DHL.

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