The EC4-ENC2IT is a slim EtherCAT SubDevice module with two independent high-speed incremental encoder counter channels. It reads pulse trains generated by incremental encoders and is ideal for positioning feedback applications. Each channel provides two counter inputs(A and B) and one index input(C), supporting either single-ended or differential signals. Three counting modes are supported: Clockwise/Counterclockwise(CW/CCW), Pulse/Direction and A/B Phase(quadrature) counting. Each 32-bit counter and its trigger edge (rising or falling) can be configured through software.
 
In addition to encoder inputs A, B and C, each channel provides a latch input(I) for  latching and clearing the encoder counter. Encoder positions can be latched on both the rising and falling edges of the input signal and are stored in two separate registers.
 
The EC4-ENC2IT also supports position compare functions. Each encoder channel includes a 32-bit compare register that compares the current counter position with a preset compare position and generates an output signal when the counter reaches or passes the preset position. The compare function supports Single, Auto-Incremental and Array Compare modes, and the compare output pulse is software configurable.
 
Each channel also provides an adjustable input filter for suppressing electrical noise.