The EtherCAT slave counter (XSC-ECAT-CNT2D) is an incremental encoder counter which provides two 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 counters (A, B) and one index input (Z). The input is differential signal. Five counting modes are supported: phase A/B phase difference pulse input (×1/x2/x4), Pulse/Direction and Incremental/ decremental pulse input.

In addition to the encoder inputs A, B and C, two digital latchs and one reset input for each encoder channel allows the latching and clearing of each encoder counter. Encoder position are latched at rising input signal and are recorded in two separate register. Each channel has got an input signal filter for filtering out electrical noise.