Related Manuals for Beckhoff KL2542
Summary of Contents for Beckhoff KL2542
- Page 1 Documentation KL2542 Two channel output stage terminal for DC motors Version: 2.0.0 Date: 2017-08-02...
-
Page 3: Table Of Contents
Register description ........................ 33 Examples of Register Communication.................. 38 5.5.1 Example 1: reading the firmware version from Register 9 .......... 38 5.5.2 Example 2: Writing to an user register ................ 38 6 Appendix .............................. 41 Support and Service ........................ 41 KL2542 Version: 2.0.0... - Page 4 Table of contents Version: 2.0.0 KL2542...
-
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
• Connection description added • LED descriptions updated • Technical data updated • Information on KL2532 added • Description of parameterization using the KS2000 configuration software added First provisional documentation for KL2542 Firmware and hardware versions Documentation Firmware Hardware Version 2.0.0... -
Page 8: Product Overview
Introduction Fig. 1: KL2542 The two-channel KL2542 DC motor output stage enables direct operation of two DC motors. The set speed or the position is specified by the automation device through a 16-bit value. The output stage is protected against overload and short-circuit and is electrically isolated from the K-bus. Both channels indicate their state by LEDs, enabling fast on-the-spot diagnosis. -
Page 9: Technical Data
Product overview Technical data Technical data KL2542 Number of DC motor output stages Load type DC brush motors, inductive Supply for the output stage via terminal points Rated load voltage 8 V to 50 V Output current per channel Rated current 3.5 A, peak current 5 A (short-circuit-proof,... -
Page 10: Leds
Product overview LEDs Fig. 2: KL2542 - LEDs Left LED prism Display Run (green) Data transmission on the K-bus is active Enc. A: A (green) There is a signal at input A for encoder A. Enc. B: A (green) There is a signal at input A for encoder B. -
Page 11: Mounting And Wiring
Note flict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of 7.5 mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets). KL2542 Version: 2.0.0... -
Page 12: Fig. 4 Disassembling Of Terminal
PE power contact The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A. Version: 2.0.0 KL2542... -
Page 13: Fig. 5 Power Contact On Left Side
Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals. Risk of electric shock! The PE power contact must not be used for other potentials! WARNING KL2542 Version: 2.0.0... -
Page 14: Connection
Insert the new component and plug in the connector with the wiring. This reduces the installation time and eliminates the risk of wires being mixed up. The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3 mm. The maximum height of the terminal remains unchanged. Version: 2.0.0 KL2542... -
Page 15: Wiring
3.2.2 Wiring 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 KL2542 Version: 2.0.0... -
Page 16: Fig. 9 Connecting A Cable On A Terminal Point
0.08 ... 1.5 mm Wire size width (fine-wire conductors) 0.25 ... 1.5 mm Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75 mm Wire size width (ultrasonically “bonded" conductors) only 1.5 mm Wire stripping length 8 ... 9 mm Version: 2.0.0 KL2542... -
Page 17: Connection
Risk of injury from 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. 10: KL2542 connection Terminal points Left-hand section of the housing Terminal point Connection for Encoder A, A... - Page 18 If the voltage Up at the power contacts fails, this is indicated in register 0 through bit R0.14 [} 33]. The return of the voltage is automatically detected and an initialization is performed. Version: 2.0.0 KL2542...
-
Page 19: Ks2000 Configuration Software
Fieldbus Box modules with the aid of which settings can be modified easily. Alternatively, you have full access to all internal registers of the bus couplers and intelligent terminals. Refer to the register description for the meanings of the registers. KL2542 Version: 2.0.0... -
Page 20: Parameterization With Ks2000
Click on the Login button. The configuration software will now load the information for the connected fieldbus station. In the example shown, this is • a BK9000 Bus Coupler for Ethernet • a KL1xx2 Digital Input Terminal • a two-channel KL2542 DC motor output stage • a KL9010 bus end terminal Version: 2.0.0 KL2542... -
Page 21: Fig. 12 Display Of The Fieldbus Station In Ks2000
Fig. 13: KS2000 branch for channel 1 of the KL2542 For the KL2542, the branches Register, Settings and ProcData are displayed: • Register [} 25] permits direct access to the registers of the KL2542. • Under Settings [} 22] you find dialog boxes for parameterizing the KL2542. -
Page 22: Settings
KS2000 Configuration Software Settings KL2542 parameterization settings. Fig. 14: Settings via KS2000 Operation mode Watchdog timer active (R32.2 [} 35]) Here you can deactivate the watchdog (default: active). If the DC motor output stage fails to receive process data from the controller for 100 ms when the watchdog is active, the watchdog is triggered, and the motor stops. - Page 23 The I-component of the velocity control is attenuated towards the zero point. This register specifies the value from which the attenuation is activated. Maximum value for I-controller (R44 [} 37]) Here you can specify the maximum value for the I-component (default: 5%). KL2542 Version: 2.0.0...
- Page 24 (SB1.6 [} 29]=1 and R0.13 [} 33]=1). User offset (R33 [} 35]) You can specify the offset for the user-scaling here (default: 0). User gain (R34 [} 35]) Here you can specify the user scaling gain (default: 1). Version: 2.0.0 KL2542...
-
Page 25: Register
KS2000 Configuration Software Register You can access the registers of the KL2542 directly under Register. The meaning of the register is explained in the register overview [} 31]. Fig. 15: Register view in KS2000 KL2542 Version: 2.0.0... -
Page 26: Process Data
The reading glasses mark the data that are currently graphically displayed in the History field. Fig. 17: History field The current input values are displayed numerically in the Value field. Fig. 18: Value field Output values can be modified through direct input or by means of the fader control. Version: 2.0.0 KL2542... -
Page 27: Fig. 19 Value Field
After pressing the Settings button you can set the format of the numerical display to hexadecimal, decimal or binary. Fig. 20: Settings KL2542 Version: 2.0.0... -
Page 28: Access From The User Program
Access from the user program Process image Complex mapping In the complex process image the KL2542 is represented with at least 6 bytes of input data and 6 bytes of output data. These are organized as follows: Byte offset (without word Byte offset (with word align-... -
Page 29: Control And Status Byte
The status byte 1 (SB1) is located in the input image [} 28], 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 Error Warning Ready LatchData LatchValid SetPos Input E1 Ready KL2542 Version: 2.0.0... - Page 30 - want to write with output data word DataOut [} 28]. Status byte 1 (in register communication) The status byte 1 (SB1) is located in the input image [} 28], 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/W Reg. no. Version: 2.0.0 KL2542...
-
Page 31: Register Overview
1A R9 [} 34] ASCII Multiplex shift register 0x0130 Signal channels 0x0218 Minimum data length 0x1800 6144 Data structure 0x0004 reserved Alignment register 0x7F80 32640 Hardware version number e.g. 0x0000 e.g. 0 EEPROM R16 [} 35] reserved reserved KL2542 Version: 2.0.0... - Page 32 R46 [} 37] maximum torque Time constant for limiting the rated motor 0x2710 10000 EEPROM R47 [} 37] current reserved reserved Internal parameters for current control 0x03E8 1000 EEPROM R62 [} 37] Internal parameters for current control 0x0064 EEPROM R63 [} 37] Version: 2.0.0 KL2542...
-
Page 33: Register Description
Torque (magnitude) [M] = 1 Control error [E] = 1 V Supply voltage ] = 1 V Countervoltage of the motor ] = 1 V Set velocity (set voltage, relative to the process data) ] = 1 V KL2542 Version: 2.0.0... - Page 34 Register R9 contains the ASCII coding of the terminal's firmware version, e.g. 0x3141 = '1A'. The '0x31' corresponds here to the ASCII character '1', while the '0x41' represents the ASCII character 'A'. This value can not be changed. Version: 2.0.0 KL2542...
- Page 35 Here you can enter the user scaling offset, if user scaling is enabled (R32.0 [} 35]=1) (default: 0x0000). Examples: 0xFFFD 0xFFFE 0xFFFF 0x0000 0x0001 0x0002 Offset R34: User scaling - gain Here you can enter the user scaling gain, if user scaling is activated (R32.0 [} 35]=1) is (default 4096 Examples: KL2542 Version: 2.0.0...
- Page 36 R43: Inner window of the I component The I-component of the velocity control is reduced towards zero (default: 1 ). This register specifies the value from which the attenuation is activated. The unit is 1% (example: 1 = 1%). Version: 2.0.0 KL2542...
- Page 37 (default: 10,000 The unit is 1 ms (example: 10000 = 10 s). R62, R63: Internal parameters for current control These registers are used internally by the terminal for current control and must not be modified! KL2542 Version: 2.0.0...
-
Page 38: Examples Of Register Communication
• Bit 0.6 set means: writing to the register. • Bits 0.5 to 0.0 specify the register number 31 with 01 1111 • The output data word (byte 1 and byte 2) contains the code word (0x1235) for deactivating write protection. Version: 2.0.0 KL2542... - Page 39 The bits of the feature register change the properties of the terminal and have a different CAUTION meaning, depending on the type of terminal. Refer to the description of the feature register of your terminal (chapter Register description) regarding the meaning of the individual bits before changing the values. KL2542 Version: 2.0.0...
- Page 40 • 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. • The input data word (byte 1 and byte 2) is of no importance after the write access. Any values still displayed are invalid! Version: 2.0.0 KL2542...
-
Page 41: 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 42 KL2542 connection ........................Fig. 11 KS2000 configuration software....................Fig. 12 Display of the fieldbus station in KS2000 ..................Fig. 13 KS2000 branch for channel 1 of the KL2542................Fig. 14 Settings via KS2000 ........................Fig. 15 Register view in KS2000......................Fig. 16 ProcData............................