Related Manuals for Beckhoff KL5151-0000
Summary of Contents for Beckhoff KL5151-0000
- Page 1 Documentation KL5151/KS5151, KL5152/KS5152 Incremental Encoder Terminals Version: 2.0.0 Date: 2016-03-15...
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Page 3: Product Overview: Incremental Encoder Interface
Product overview: incremental encoder interface Product overview: incremental encoder interface KL5151-0000 [} 8]: single-channel incremental encoder terminal KL5151-0021 [} 9]: single-channel incremental encoder terminal with comparator output KL5151-0050 [} 10]: two-channel incremental encoder terminal KL5152-0000 [} 10]: two-channel incremental encoder terminal KL5151/KS5151, KL5152/KS5152 Version: 2.0.0... - Page 4 Notes on the documentation...................... 5 Safety instructions .......................... 6 Documentation issue status...................... 7 3 Product overview............................ 8 KL5151-0000 - Introduction ...................... 8 KL5151-0021 - Introduction ...................... 9 KL5152-0000 (KL5151-0050) - Introduction ................... 10 Technical data .......................... 11 4 Mounting and wiring .......................... 12 Installation on mounting rails ......................
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Page 5: Foreword
The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. -
Page 6: Safety Instructions
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards. -
Page 7: Documentation Issue Status
• Update revision status 1.3.0 • Technical data updated • ATEX notes added • Extended temperature range for KL5151-0000 • Description of control and status bytes of the KL5151-0021 corrected 1.2.0 • Introduction updated • Description of the parameterization of the KL5151 by means of KS2000 configuration software updated. -
Page 8: Fig. 1 Kl5151
Fig. 1: KL5151 The KL5151-0000 Bus Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled. -
Page 9: Kl5151-0021 - Introduction
Product overview KL5151-0021 - Introduction Fig. 2: KL5151-0021 The KL5151-0021 Bus Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled. -
Page 10: Fig. 3 Kl5151-0050
Product overview KL5152-0000 (KL5151-0050) - Introduction Fig. 3: KL5151-0050 The KL5152-0000 (KL5151-0050) Bus Terminal is an interface with 24 V inputs for the direct connection of two incremental encoders. The terminal can optionally be used as a single-channel or two-channel device. Table 3: LED indicators Signal LED Function... -
Page 11: Technical Data
Product overview Technical data Technical data KL5151-0000 KL5151-0021 KL5152-0000 (KL5151-0050) Sensor inputs (channels) Encoder connection A, B, C, Gate, 24 V Channel 1: A1, B1 Channel 2: A2, B2 Encoder operating voltage 24 V Counter 1 x 32 bit binary... -
Page 12: Fig. 4 Attaching On Mounting Rail
Mounting and wiring Mounting and wiring Installation on mounting rails Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the Bus Terminals! WARNING Assembly Fig. 4: Attaching on mounting rail The Bus Coupler and Bus Terminals are attached to commercially available 35 mm mounting rails (DIN rails... -
Page 13: Fig. 5 Disassembling Of Terminal
Mounting and wiring Disassembly Fig. 5: Disassembling of terminal Each terminal is secured by a lock on the mounting rail, which must be released for disassembly: 1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force. -
Page 14: Fig. 6 Power Contact On Left Side
Mounting and wiring Fig. 6: Power contact on left side Possible damage of the device Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or Attention to damage on the terminal (e.g. -
Page 15: Fig. 7 Standard Wiring
Mounting and wiring Standard wiring Fig. 7: Standard wiring The terminals of KLxxxx and ELxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly. Pluggable wiring Fig. 8: Pluggable wiring The terminals of KSxxxx and ESxxxx series feature a pluggable connection level. The assembly and wiring procedure for the KS series is the same as for the KLxxxx and ELxxxx series. -
Page 16: Fig. 10 Mounting A Cable On A Terminal Connection
Mounting and wiring Wiring HD Terminals The High Density (HD) Terminals of the KLx8xx and ELx8xx series doesn't support steady wiring. Note Ultrasonically "bonded" (ultrasonically welded) conductors Ultrasonically “bonded" conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded"... - Page 17 Mounting and wiring High Density Terminals ELx8xx, KLx8xx (HD) The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct plug-in technique, i.e. after stripping the wire is simply plugged into the contact point. The cables are released, as usual, using the contact release with the aid of a screwdriver.
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Page 18: Kl5151-0000 - Connection
Mounting and wiring KL5151-0000 - Connection Risk of injury through electric shock and damage to the device! Bring the Bus Terminals system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals. WARNING Fig. 11: KL5151-0000... -
Page 19: Fig. 2 Kl5151-0021
Mounting and wiring KL5151-0021 - Connection Risk of injury through electric shock and damage to the device! Bring the Bus Terminals system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals. WARNING Fig. 12: KL5151-0021 Pin assignment Terminal Connection for... -
Page 20: Fig. 13 Kl5151-0050
Mounting and wiring KL5152-0000 (KL5151-0050) - Connection Risk of injury through electric shock and damage to the device! Bring the Bus Terminals system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals. WARNING Fig. 13: KL5151-0050 Pin assignment Terminal point Connection for... -
Page 21: Atex - Special Conditions
Observe the permissible ambient temperature range of 0 - 55°C for the use of Beckhoff fieldbus components in potentially explosive areas! d) Measures must be taken to protect against the rated operating voltage being exceeded... -
Page 22: Atex Documentation
Mounting and wiring Marking The Beckhoff fieldbus components certified for potentially explosive areas bear one of the following markings: II 3 G Ex nA II T4 KEMA 10ATEX0075 X Ta: 0 - 55°C II 3 G Ex nA nC IIC T4 KEMA 10ATEX0075 X Ta: 0 - 55°C... -
Page 23: Fig. 14 Ks2000 Configuration Software
Configuration software KS2000 Configuration software KS2000 KS2000 - Introduction The KS2000 configuration software permits configuration, commissioning and parameterization of bus couplers, of the affiliated bus terminals and of Fieldbus Box Modules. The connection between bus coupler / Fieldbus Box Module and the PC is established by means of the serial configuration cable or the fieldbus. Fig. 14: KS2000 configuration software Configuration You can configure the Fieldbus stations with the Configuration Software KS2000 offline. - Page 24 Configuration software KS2000 Commissioning The KS2000 software facilitates commissioning of machine components or their fieldbus stations: Configured settings can be transferred to the fieldbus modules by means of a download. After a login to the terminal station, it is possible to define settings in couplers, terminals and Fieldbus Box modules directly online. The same high-level dialogs and register access are available for this purpose as in the configuration phase.
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Page 25: Fig. 15 Display Of The Fieldbus Station In Ks2000
In the example shown, this is • a BK9000 Ethernet coupler • a KL1xx2 digital input terminal • a KL5151-0000 incremental encoder terminal • a KL9010 bus end terminal Fig. 15: Display of the fieldbus station in KS2000 The left-hand KS2000 window displays the terminals of the fieldbus station in a tree structure. -
Page 26: Fig. 16 Ks2000 Tree Branches For Channel 1 Of The Kl5151
• Under Settings [} 26] you find dialog boxes for parameterizing the KL5151. • ProcData displays the KL5151 process data. Settings The dialog mask for the parameterization of the KL5151-0000 or KL5151-0050 can be found under Settings. Fig. 17: Settings via KS2000 Operation mode Counter mode active (R32.15 [} 46]) - Page 27 Configuration software KS2000 A negative level at the gate locks the counter (R32.4 [} 46]) You can lock the counter by applying a negative level to the gate input (default: inactive). KL5151/KS5151, KL5152/KS5152 Version: 2.0.0...
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Page 28: Access From The User Program
• The meaning of the control and status bytes is explained on the Control and Status bytes [} 29] page. No compact process image Operation of the KL5151-0000 with compact process image (without control and status bytes) is not possible, since the control and status bytes are required for useful process Note data operation of the terminal. -
Page 29: Control And Status Bytes
Access from the user program 6.1.2 Control and status bytes Channel 1 Process data mode Control byte 1 in process data mode Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal. CB1.7 CB1.6 CB1.5... - Page 30 StGate KL5151-0000: Status of the external gate/latch input [} 18] KL5152-0000 (KL5151-0050): reserved SB1.3 StLatchC KL5151-0000: Status of the zero input (input C [} 18]) KL5152-0000 (KL5151-0050): reserved SB1.2 SetCnt Acknowledgement that the data for setting the counter has been adopted by the terminal.
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Page 31: Mapping
Access from the user program No valid process data during the register communication! It is not possible to access the data registers during register communication! Process data that may still be displayed is not valid! CAUTION Status byte 1 in register communication The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller. - Page 32 This byte occupies process data memory, although it has no function. Compact evaluation No compact process image Operation of the KL5151-0000 with compact process image (without control and status bytes) is not possible, since the control and status bytes are required for useful process Note data operation of the terminal.
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Page 33: Kl5151-0021
Access from the user program KL5151-0021 6.2.1 Process image In the process image, the KL5151 is represented with 5 bytes of input and output data. These are organized as follows: Format Input data Output data Byte SB1 [} 33] CB1 [} 33] Double DataIN1 DataOUT1... - Page 34 Access from the user program Legend Name Description CB1.7 RegAccess Register communication off (process data mode) CB1.6 EnComp Compare function for setting and resetting the output not enabled Compare function for setting and resetting the output enabled CB1.5 SetOut sets output manually to 0 V SetOut only functions if EnComp = sets output manually to 24 V CB1.4...
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Page 35: Process Image
Access from the user program Register communication Control byte 1 in register communication Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal. CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0 Name RegAccess R/W Reg. - Page 36 Access from the user program Control byte, status byte and mapping • The meaning of the control and status bytes is explained on the Control and Status bytes [} 29] page. • Please refer to the Mapping [} 40] page for the allocation of the bytes and words to the addresses of the controller.
- Page 37 Access from the user program Legend SB1: Status byte for channel 1 SB2: Status byte for channel 2 CB1: Control byte for channel 1 CB2: Control byte for channel 2 DataIN1: The current value of the 32-bit counter 1, or the one stored in the latch (the selection is made with bit CB1.1 [} 29] of the control byte 1) DataIN2: The current value of the 32-bit counter 2, or the one stored in the latch (the selection is made with bit CB2.1 [} 31] of the control byte 2)
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Page 38: Control And Status Bytes
Access from the user program 6.3.2 Control and status bytes Channel 1 Process data mode Control byte 1 in process data mode Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal. CB1.7 CB1.6 CB1.5 CB1.4... - Page 39 StGate KL5151-0000: Status of the external gate/latch input [} 18] KL5152-0000 (KL5151-0050): reserved SB1.3 StLatchC KL5151-0000: Status of the zero input (input C [} 18]) KL5152-0000 (KL5151-0050): reserved SB1.2 SetCnt Acknowledgement that the data for setting the counter has been adopted by the terminal.
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Page 40: Mapping
Access from the user program Status byte 1 in register communication The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller. SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0 Name RegAccess R Reg. - Page 41 Access from the user program Parameterization Address Input data Output data of the Bus Coupler Word offset High byte Low byte High byte Low byte Complete evaluation: no DataIN1 D1 DataIN1 D0 reserved CB1PD DataIN1 D3 DataIN1 D2 reserved CB2PD Motorola format: no DataIN2 D1 DataIN2 D0...
- Page 42 Access from the user program Complete evaluation in Intel format with word alignment Parameterization Address Input data Output data of the Bus Coupler Word offset High byte Low byte High byte Low byte Complete evaluation: yes reserved reserved DataIN1 D1 DataIN1 D0 DataOUT1 D1 DataOUT1 D0 Motorola format: no...
- Page 43 Access from the user program Parameterization Address Input data Output data of the Bus Coupler Word offset High byte Low byte High byte Low byte Complete evaluation: yes reserved SB1RC reserved CB1RC DataIN1 D1 DataIN1 D0 reserved CB1PD Motorola format: no DataIN1 D3 DataIN1 D2 reserved...
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Page 44: Register
R9 [} 45] ASCII Multiplex shift register 0x0228 R10 [} 45] Signal channels KL5151-0000: 0x0128 R11 [} 45] KL5151-0023: 0x0150 KL5151-0050: 0x0228 KL5152-0000: Minimum data length KL5151-0000: 0x2828 10280 R12 [} 45] KL5151-0023: 0x5050 20560 KL5151-0050: 0xA8A8 43176 KL5152-0000: Data type 0x0006 R13 [} 45]... -
Page 45: Register Description
Is not used R7: Command register Is not used R8: Terminal description Register R8 contains the terminal identifier in hexadecimal coding. KL5151-0000: 0x141F (5151 KL5151-0023: 0x141F (5151 KL5151-0050: 0x141F (5151 KL5152-0000: 0x1420 (5152 R9: Firmware version Register R9 contains the firmware revision level of the terminal in hexadecimal coding, e.g. 0x3341. This is... - Page 46 RAM registers and in the EPROM registers and are therefore retained if the terminal is restarted. The code word is reset if the terminal is restarted. R32: Feature register (KL5151-0000, KL5151-0050, KL5152-0000) The feature register specifies a variety of properties for the terminal. Version: 2.0.0...
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Page 47: Fig. 11 Kl5151-0000
KL5151-0000: Compact process image without status byte and without control byte Useful operation of the KL5151-0000 with compact process image is not possible, since the control byte [} 29] is required for the control of the counter and the latch! R32.5... -
Page 48: Examples Of Register Communication
Access from the user program R35: Filter default (KL5151-0021 only) The value stored here is entered after a reset of the terminal in register R0 [} 45] (specified in increments). 6.4.3 Examples of Register Communication The numbering of the bytes in the examples corresponds to the display without word alignment. 6.4.3.1 Example 1: reading the firmware version from Register 9 of a terminal Byte 0: Control byte... - Page 49 Access from the user program Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte 0x9F (1001 1111 0xXX 0xXX Explanation: • The terminal returns a value as a receipt in the status byte that differs only in bit 0.6 from the value of the control byte.
- Page 50 Access from the user program IV. Read Register 32 (check changed feature register) Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte 0xA0 (1010 0000 0xXX 0xXX Explanation: • Bit 0.7 set means: Register communication switched on. •...
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Page 51: Appendix
Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there. -
Page 52: Table Of Contents
Standard wiring.......................... Fig. 8 Pluggable wiring ........................Fig. 9 High Density Terminals......................Fig. 10 Mounting a cable on a terminal connection ................Fig. 11 KL5151-0000 ..........................Fig. 12 KL5151-0021 ..........................Fig. 13 KL5151-0050 ..........................Fig. 14 KS2000 configuration software....................Fig. 15 Display of the fieldbus station in KS2000 ..................