Your regex \[A-Z]([0-9]) matches a literal [ (as it is escaped), then A-Z] as a char sequence (since the character class [...] is broken) and then matches and captures a single ASCII digit (with ([0-9])). Also, you are using a preg_match function that only returns 1 match, not all matches.
You might fix it with
preg_match_all('/[A-Z]([0-9]+)/', $loc, $locs);
The $locs\[1\] will contain the values you need.
Alternatively, you may use a [A-Z]\K[0-9]+ regex:
$loc = "E123S5";
$locs = array();
preg_match_all('/[A-Z]\K[0-9]+/', $loc, $locs);
print_r($locs[0]);
Result:
Array
(
[0] => 123
[1] => 5
)
See the online PHP demo.
Pattern details
[A-Z] - an upper case ASCII letter (to support all Unicode ones, use \p{Lu} and add u modifier)
\K - a match reset operator discarding all text matched so far
[0-9]+ - any 1 or more (due to the + quanitifier) digits.