Hello

The ET200S 1SI module - 6ES7 138-4DB03-0AB0 SSI card  accepts standard RS485 ( 5V ) SSI clock as well as SSI Data signals. So Usually it should operate with Sensors with 5V supply without any problem.

However you should check the data sheets of Encoder as well as the SSI module and match other parameters ( Clock speed and no of bits ) for checking compatibility.

Towome

please check the technical data of your 6ES7138-4DB03-0AB0 Modul.

You will need -30...+5V for low signal and +11...+30V for high signal.

https://support.industry.siemens.com/cs/de/en/pv/6ES7138-4DB03-0AB0/td

The voltage range mentioned by Towome  are for the Digital Input of SSI module. However this is in addition to the RS485 Sensor signal and usually not needed.

Hope this helps

Cheers