Siemens 6ES7138-6BA00-0BA0 ET 200SP TM PosInput 1 Position Input Module

Product Overview

The Siemens 6ES7138-6BA00-0BA0 is a TM PosInput 1 technology module for the SIMATIC ET 200SP distributed I/O system. It provides high-precision counting and position decoding for RS422 incremental encoders and SSI absolute encoders. With 2 digital inputs for gate/capture control and 2 digital outputs for comparison value switching, it enables accurate position measurement, speed monitoring, and motion synchronization in real-time automation applications.

Key Specifications

• Module Type: Technology Module (TM), Position Input
• Encoder Support: RS422 incremental encoder, SSI absolute encoder
• Maximum Input Frequency: 1 MHz (RS422 incremental); 2 MHz (SSI clock)
• SSI Frame Length: 10 to 40 bits (configurable)
• Gray/Dual Code: Supported for SSI encoders
• Digital Inputs: 2 DI (gate start/stop, capture, synchronization)
• Digital Outputs: 2 DQ (comparison value switching)
• Measurement Accuracy: Up to 100 ppm
• Functions: Position input, counting, frequency measurement, period measurement, velocity measurement
• Isochronous Mode: Supported
• Base Unit Type: A0
• Power Loss: Typ. 1.5 W

Compatibility & Applications

Compatible with ET 200SP IM155-6 interface modules and BaseUnits type A0. Essential for CNC axis position feedback, robotic arm positioning, conveyor tracking, rotary table indexing, elevator position monitoring, and high-precision motion control where RS422 or SSI encoder interfaces are required.

FAQ

• Q: What encoder types are supported? A> RS422 differential incremental encoders (A, A-, B, B-, N, N-) and SSI absolute encoders (synchronous serial interface).
• Q: What is the maximum SSI frame length? A> 10 to 40 bits configurable. The module can read position values up to 31 bits.
• Q: Does it support isochronous mode? A> Yes, the module supports isochronous mode for time-synchronized position capture in motion control applications.
• Q: Is this module still in production? A> 6ES7138-6BA00-0BA0 has been discontinued (as of 01/10/2022). The successor is 6ES7138-6BA01-0BA0 with V2.0 firmware.

Installation Guide

1. Install BaseUnit BU15-P16+A0+2B on the ET 200SP DIN rail.
2. Insert 6ES7138-6BA00-0BA0 into the BaseUnit.
3. For RS422 incremental encoders: Connect A, A-, B, B-, N, N- signals to the push-in terminals.
4. For SSI absolute encoders: Connect DATA, DATA-, CLOCK, CLOCK- signals.
5. Wire digital inputs for gate/capture and digital outputs for comparison switching.
6. Configure encoder type, resolution, and measurement functions in TIA Portal V16 or higher.

Selection Tips

• Use 6ES7138-6BA00-0BA0 for RS422 incremental or SSI absolute encoder position input.
• For new projects, consider the successor 6ES7138-6BA01-0BA0 with enhanced firmware V2.0.
• For 24V pulse encoder counting (not RS422/SSI), use TM Count 1x24V (6ES7138-6AA00-0BA0) instead.
• Verify encoder supply requirements; the module provides 5V/24V encoder supply (max. 300 mA total).