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Siemens 6AG1138-6BA00-2BA0 — PLCs (Programmable Logic Controllers)

Siemens 6AG1138-6BA00-2BA0 Encoder Module, 15mm, 1.9W

MPN6AG1138-6BA00-2BA0

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.

Siemens 6AG1138-6BA00-2BA0 datasheet (PDF)
Sourced new & surplus through independent channelsAuthenticity-screened · ESD-safe packingListing updated Aug 2026

Specifications

6AG1138-6BA00-2BA0 — I/O
ParameterValue
Digital inputs2
Digital outputs2
Input data area16 byte
Output data area12 byte; 4 bytes for Motion Control
6AG1138-6BA00-2BA0 — Electrical
ParameterValue
Rated value (DC)24 V
Permissible range, lower limit (DC)19.2 V
Permissible range, upper limit (DC)28.8 V
Power loss (typ.)1.9 W
Short-circuit protectionYes; electronic/thermal
6AG1138-6BA00-2BA0 — Environmental
ParameterValue
Installation altitude, max.5 000 m
Operating temperature, min. (horizontal mounting)-40 °C; = Tmin (incl. condensation/frost)
Operating temperature, max. (horizontal mounting)60 °C; = Tmax; see Derating BasedOn (e.g. manual)
Ambient temperature vs. altitude/pressure deratingTmin ... 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)
6AG1138-6BA00-2BA0 — Mechanical
ParameterValue
Width15 mm
Height73 mm
Depth58 mm
Weight (approx.)45 g

Product details

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.

Frequently asked questions

What is the power consumption?

Typical power loss is 1.9 W, supplied from the 24 V DC backplane (rated value 24 V, L+ minus 0.8 V drop).

Does it provide diagnostic feedback on encoder faults?

Yes. The module has diagnostic alarm and group error reporting. It actively detects wire breaks and short circuits on the encoder lines.

MPN
6AG1138-6BA00-2BA0