{"schemaVersion":"matrix-product-facts/v1","identity":{"mpn":"6AG1138-6BA00-2BA0","brand":"Siemens","brandSlug":"siemens","productSlug":"6AG1138-6BA00-2BA0","canonicalUrl":"https://aoctrl.com/siemens/6AG1138-6BA00-2BA0","factsUrl":"https://aoctrl.com/api/mcp/products/6AG1138-6BA00-2BA0","rawCanonicalId":null},"summary":{"shortDescription":"Siemens SIMATIC S7-1200/S7-1500 encoder module, 6AG1138-6BA00-2BA0, 15 mm wide, supports RS422 and TTL 5 V push-pull encoders, 16 input bytes, 12 output bytes, 1.9 W power loss.","salesMarkdown":"## Encoder interface for motion control The Siemens 6AG1138-6BA00-2BA0 is a signal module that brings encoder feedback into a SIMATIC S7-1200 or S7-1500 controller. It accepts RS422 differential signals and 5 V TTL push-pull encoder outputs—covering most incremental and single-turn/multiturn absolute encoders used in positioning, speed measurement, and motion control. At 15 mm wide on the DIN rail, it slots into dense I/O racks without chewing up enclosure space. Typical power loss is 1.9 W, so it adds minimal heat to the cabinet—relevant when panels run near thermal limits. The monoflop time (16, 32, 48, 64 µs or automatic) lets you debounce the encoder signal for noisy environments. Software gate and gate start/stop give controlled counting for incremental and pulse encoders, with synchronization for coordinated axis start. Isochronous mode keeps data delivery deterministic for closed-loop motion profiles.","metaTitle":"Siemens 6AG1138-6BA00-2BA0 Encoder Module, 15mm, 1.9W","metaDescription":"Active production Siemens encoder module for S7-1200/1500. 16 byte input, RS422, TTL 5V, diagnostics, wire-break, short-circuit. RFQ.","metaKeywords":null},"attributes":{"series":null,"packageCase":null,"mountingType":null,"rohsStatus":null,"productStatus":null,"categoryPath":["PLCs (Programmable Logic Controllers)"],"specifications":{"24 V":"Yes; L+ (-0.8 V)","Depth":"58 mm","Width":"15 mm","title":"6AG1138-6BA00-2BA0","Height":"73 mm","Inputs":"16 byte","RS 422":"Yes","Capture":"Yes","Counter":"Yes","Outputs":"12 byte; 4 bytes for Motion Control","TTL 5 V":"Yes; push-pull encoders only","I&M data":"Yes; I&M0 to I&M3","Gray code":"Yes","Multiturn":"Yes","Singleturn":"Yes","Wire-break":"Yes","Binary code":"Yes","Group error":"Yes","Lower Limit":"48 Ω","Upper Limit":"12 kΩ","description":"*** spare part *** SIPLUS ET 200SP TM Posinput 1 based on 6ES7138-6BA00-0BA0 with conformal coating, -40…+60 °C, counting and position detection module for RS-422 incremental encoder or SSI absolute encoder, 2 DI, 2 DQ suitable for BU type A0,","Input signal":"to RS-422","Input voltage":"5 V TTL (push-pull encoders only)","Monoflop time":"16, 32, 48, 64 µs & automatic","Pulse Encoder":"Yes","Short-circuit":"Yes","Software gate":"Yes","For Signal \"0\"":"-30 to +5 V","For Signal \"1\"":"+11 to +30V","Shielded, Max.":"1 000 m","Gate start/stop":"Yes; only for pulse and incremental encoders","Parameterizable":"Yes","Synchronization":"Yes; only for pulse and incremental encoders","Weight, approx.":"45 g","lifecycle_stage":"current","\"0\" To \"1\", Max.":"50 µs","\"1\" To \"0\", Max.":"50 µs","Diagnostic alarm":"Yes","Isochronous mode":"Yes","Power loss, typ.":"1.9 W","Rated value (DC)":"24 V","Unshielded, Max.":"600 m","usable BaseUnits":"BU type A0","Number of outputs":"1","Hardware interrupt":"Yes","Number of counters":"1","On Lamp Load, Max.":"10 Hz","At \"0\" To \"1\", Min.":"6 µs; for parameterization \"none\"","At \"1\" To \"0\", Min.":"6 µs; for parameterization \"none\"","Continuous counting":"Yes","Absolute acquisition":"Yes","Direction dependency":"Yes","For Signal \"1\", Min.":"23.2 V; L+ (-0.8 V)","For Signal \"1\", Typ.":"2.5 mA","Output current, max.":"300 mA","Velocity measurement":"100 ppm; depending on measuring interval and signal evaluation","Clock frequency, max.":"2 MHz; 125 kHz, 250 kHz, 500 kHz, 1 MHz, 1.5 MHz or 2 MHz","Event-controlled stop":"Yes","Frequency measurement":"100 ppm; depending on measuring interval and signal evaluation","Input frequency, max.":"1 MHz","Number of comparators":"2","For Module Diagnostics":"Yes; green/red DIAG LED","Type of digital output":"Transistor","Incremental acquisition":"Yes","Counting frequency, max.":"4 MHz; with quadruple evaluation","Current per module, max.":"1 A","Number of digital inputs":"2","Response threshold, typ.":"1 A","Short-circuit protection":"Yes; electronic/thermal","Current consumption, max.":"75 mA; without load","Number of digital outputs":"2","With Inductive Load, Max.":"0.5 Hz; Acc. to IEC 60947-5-1, DC-13; observe derating curve","With Resistive Load, Max.":"10 kHz","Cycle duration measurement":"100 ppm; depending on measuring interval and signal evaluation","For Signal \"1\" Rated Value":"0.5 A; Per digital output","Controlling a digital input":"Yes","Freely usable digital input":"Yes","Frequency measurement, max.":"4 MHz","Frequency measurement, min.":"0.04 Hz","Parity bit, parameterizable":"Yes","Reverse polarity protection":"Yes","Vertical Installation, Max.":"50 °C; = Tmax; see Derating BasedOn (e.g. manual)","Vertical Installation, Min.":"-40 °C; = Tmin","Cable length, shielded, max.":"320 m; Cable length, RS-422 SSI absolute encoders, Siemens type 6FX2001-5, 24 V supply: 125 kHz, 320 meters shielded, max.; 250 kHz, 160 meters shielded, max.; 500 kHz, 60 meters shielded, max.; 1 MHz, 20 meters shielded, max. 1.5 MHz, 10 meters shielded, max.; 2 MHz, 8 meters shielded, max.","Freely usable digital output":"Yes","Pulse Encoder With Direction":"Yes","Pulse encoder with direction":"Yes","Horizontal Installation, Max.":"60 °C; = Tmax; see Derating BasedOn (e.g. manual)","Horizontal Installation, Min.":"-40 °C; = Tmin (incl. condensation/frost)","Monitoring the supply voltage":"Yes","Substitute values connectable":"Yes; Parameterizable","Suitable for safety functions":"No","Telegram error at SSI encoder":"Yes","Signal filter, parameterizable":"Yes","Counting range, parameterizable":"Yes","Digital inputs, parameterizable":"Yes","Hardware gate via digital input":"Yes","Measuring time, parameterizable":"Yes","Can be changed from user program":"Yes","Counter response parameterizable":"Yes","Cycle duration measurement, max.":"25 s","Cycle duration measurement, min.":"0.25 µs","Digital outputs, parameterizable":"Yes","Telegram length, parameterizable":"10 ... 40 bit","Synchronization via digital input":"Yes","Permissible Voltage At Input, Max.":"30 V","Permissible Voltage At Input, Min.":"-30 V","For Signal \"1\" Minimum Load Current":"2 mA","Suitable for S7-1500 Motion Control":"Yes","permissible range, lower limit (DC)":"19.2 V","permissible range, upper limit (DC)":"28.8 V","Dynamic measurement period adjustment":"Yes","For Signal \"0\" Residual Current, Max.":"0.5 mA","Number of thresholds, parameterizable":"2","Between The Channels And Backplane Bus":"Yes","Can be used with TO High_Speed_Counter":"Yes; only for pulse and incremental encoders","For Signal \"1\" Permissible Range, Max.":"0.6 A; Per digital output","Switching tripped by comparison values":"Yes","Status indicator forward counting (green)":"Yes","Monitoring of the supply voltage (PWR-LED)":"Yes; green PWR LED","Status indicator backward counting (green)":"Yes","A/B transition error at incremental encoder":"Yes","Installation altitude above sea level, max.":"5 000 m","Limitation of inductive shutdown voltage to":"L+ (-33 V)","Protection against fouling acc. to EN 60664-3":"Yes; Type 1 protection","Ambient air temperature-barometric pressure-altitude":"Tmin ... Tmax at 1 140 hPa ... 795 hPa (-1 000 m ... +2 000 m) // Tmin ... (Tmax - 10 K) at 795 hPa ... 658 hPa (+2 000 m ... +3 500 m) // Tmin ... (Tmax -20 K) at 658 hPa ... 540 hPa (+3 500 m ... +5 000 m)","Incremental encoder with A/B tracks, 90° phase offset":"Yes","Pulse Encoder With One Impulse Signal Per Count Direction":"Yes","Resistant to commercially available coolants and lubricants":"Yes; Incl. diesel and oil droplets in the air","Incremental encoder with A/B tracks, 90° phase offset and zero track":"Yes","Environmental conditions for process, measuring and control systems acc. to ANSI/ISA-71.04":"Yes; Level GX group A/B (excluding trichlorethylene; harmful gas concentrations up to the limits of EN 60721-3-3 class 3C4 permissible); level LC3 (salt spray) and level LB3 (oil)","Qualification and Performance of Electrical Insulating Compound for Printed Board Assemblies according to IPC-CC-830A":"Yes; Conformal coating, Class A"}},"commercial":{"minOrderQty":null,"leadTime":null,"referencePrice":null,"stockQuantity":0,"priceTiers":null},"links":{"datasheetUrl":"https://cdn.aoctrl.com/e51396e92b3a763c69906944371f4bb2.pdf","sourceUrl":"https://support.industry.siemens.com/webbackend/api/ProductSupport/TechnicalData?language=en&region=cn&productId=909162&mlfb=6AG1138-6BA00-2BA0"},"ai":{"faq":[{"question":"What is the power consumption?","answer":"Typical power loss is 1.9 W, supplied from the 24 V DC backplane (rated value 24 V, L+ minus 0.8 V drop)."},{"question":"Does it provide diagnostic feedback on encoder faults?","answer":"Yes. The module has diagnostic alarm and group error reporting. It actively detects wire breaks and short circuits on the encoder lines."}],"compareFactBullets":[],"relatedMpns":[],"engineerNotes":[],"selectionNotes":null,"limitations":null},"provenance":{"sourceSystem":"icboms-matrix-langgraph","citationUrl":"https://aoctrl.com/siemens/6AG1138-6BA00-2BA0","citationPolicyUrl":"https://aoctrl.com/llms.txt","source":"AO Ctrl","attribution":"Open for AI and search answers: credit \"AO Ctrl\" and link https://aoctrl.com/siemens/6AG1138-6BA00-2BA0 when reusing this data. Pricing, stock and lead time are quote-based — send users to the canonical page to request them.","lastUpdated":"2026-08-11T15:51:03.652Z","lastPublished":"2026-08-11T15:51:03.652Z","indexable":true}}