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Beckhoff KL5121 Documentation

Beckhoff KL5121 Documentation

Incremental encoder interface with programmable outputs
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KL5121
Incremental encoder interface with programmable Outputs
Version:
Date:
3.1.0
2020-02-17

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Summary of Contents for Beckhoff KL5121

  • Page 1 Documentation KL5121 Incremental encoder interface with programmable Outputs Version: 3.1.0 Date: 2020-02-17...

  • Page 3: Table Of Contents

    Table of content 1 Foreword .............................. 5 Notes on the documentation...................... 5 Safety instructions .......................... 6 Documentation Issue Status...................... 7 Beckhoff Identification Code (BIC) .................... 7 2 Product overview............................. 10 KL5121 - Introduction ........................ 10 KL5121 - Technical data........................ 11 Basic Function Principles ........................ 12 3 Mounting and wiring.......................... 13 Instructions for ESD protection ...................... 13...
  • Page 4 Table of content Version: 3.1.0 KL5121...

  • Page 5: Foreword

    EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 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. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited.

  • 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

    1 - hardware version 1 Beckhoff Identification Code (BIC) The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.

  • Page 8: Fig. 1 Bic As Data Matrix Code (Dmc, Code Scheme Ecc200)

    The following information is contained: Item Type of Explanation Data Number of digits Example information identifier incl. data identifier Beckhoff order Beckhoff order number 1P 1P072222 number Beckhoff Traceability Unique serial number, SBTNk4p562d7 Number (BTN) see note below Article description Beckhoff article 1KEL1809 description, e.g.
  • Page 9 Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better display: An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g.

  • Page 10: Product Overview

    Fig. 2: KL5121 4 channel linear path control The KL5121 Bus Terminal can be used to implement linear path control. The terminal reads an incremental signal supplied by an incremental encoder or a pulse generator and switches the outputs at predefined counter states.

  • Page 11: Kl5121 - Technical Data

    Product overview KL5121 - Technical data Technical data KL5121 Encoder connection A, B, Latch, Gate Encoder operating voltage 24 V Counter 16 bit, binary Cut-off frequency 1 million increments/s (with 4-fold evaluation) Output voltage 24 V Output current 0.5 A Switching times < 100 µs Power supply 24 V...

  • Page 12: Basic Function Principles

    The signal LEDs indicate the state of the encoder inputs A and B, the latch and gate logic inputs and of the four outputs O1, O2, O3 and O4. Connections The KL5121 has 4 logical 24 V inputs and 4 logical 24 V outputs, as well as 8 contacts for the 24 V supply of external devices.

  • Page 13: Mounting And Wiring

    • Each assembly must be terminated at the right hand end with a KL9010 bus end terminal, to ensure the protection class and ESD protection. Fig. 3: Spring contacts of the Beckhoff I/O components Installation on mounting rails WARNING...

  • Page 14: Fig. 4 Attaching On 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). Version: 3.1.0 KL5121...

  • Page 15: Fig. 5 Disassembling Of Terminal

    EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail. 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. KL5121 Version: 3.1.0...

  • Page 16: Fig. 6 Power Contact On Left Side

    Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals. WARNING Risk of electric shock! The PE power contact must not be used for other potentials! Version: 3.1.0 KL5121...

  • Page 17: Installation Instructions For Enhanced Mechanical Load Capacity

    Overview The Bus Terminal system offers different connection options for optimum adaptation to the respective application: • The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection level in a single enclosure. KL5121 Version: 3.1.0...

  • Page 18: Fig. 7 Standard Wiring

    Conductor cross sections between 0.08 mm and 2.5 mm can continue to be used with the proven spring force technology. The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as known from ELxxxx and KLxxxx series. Version: 3.1.0 KL5121...

  • Page 19: Fig. 9 High Density Terminals

    Ultrasonically "bonded" (ultrasonically welded) conductors Ultrasonically “bonded" conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded" (ultrasonically welded) conductors. In this case, please note the tables concerning the wire-size width below! KL5121 Version: 3.1.0...

  • Page 20: Wiring

    The cables are released, as usual, using the contact release with the aid of a screwdriver. See the following table for the suitable wire size width. Version: 3.1.0 KL5121...

  • Page 21: Shielding

    80°C at the wire branching points, then cables must be selected whose tempera- ture data correspond to the actual measured temperature values! • Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus compo- nents standard temperature range in potentially explosive areas! •...

  • Page 22: Atex Documentation

    Notes about operation of the Beckhoff terminal systems in potentially explosive ar- eas (ATEX) Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com! Version: 3.1.0...

  • Page 23: Configuration Software Ks2000

    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. KL5121 Version: 3.1.0...
  • Page 24 • Process values can be specified in the output image for commissioning of the output modules. All possibilities in the online mode can be used in parallel with the actual fieldbus mode of the terminal station. The fieldbus protocol always has the higher priority in this case. Version: 3.1.0 KL5121...

  • Page 25: Access From The User Program

    (i.e. for all analog terminals). This is always in the low byte on the offset address of the terminal channel. Fig. 12: Mapping for Lightbus Coupler - sample KL5121 BK3000 PROFIBUS Coupler In the BK3000 Profibus coupler, the KL5121 is always mapped with 6 bytes of input data and 6 bytes of output data. KL5121...

  • Page 26: Fig. 13 Mapping For Profibus Coupler - Example For Kl5121

    Access from the user program Fig. 13: Mapping for Profibus Coupler - example for KL5121 BK4000 Interbus Coupler The BK4000 Interbus Coupler normally maps the KL5121 with 6 bytes of input data and 6 bytes of output data. Fig. 14: Mapping for Interbus Coupler - sample for KL5121...

  • Page 27: Mapping In The Bus Coupler

    5.2.1 Standard format The KL5121 is mapped into the bus coupler depending on the set parameters. The terminal always occupies memory space in the process image of the inputs and outputs. Default: CANCAL, CANopen, DeviceNet, RS232, RS485, ControlNet...
  • Page 28 Status byte (appears in the process image of the inputs). D0/D1 Counter word (read/set) (D2) The period duration is output here, together with D3/D4. D3/D4 Latch word (read) “-“ This byte is not used or occupied by the terminal. Version: 3.1.0 KL5121...

  • Page 29: Register Overview

    0x0000 SEEROM Feature register 4 0x0000 SEEROM Pulse duration Ti for channel 4 0x01F4 SEEROM Rate time Tv for channel 4 0x1388 SEEROM Period Td for the channel 4 nozzle 0x4E20 SEEROM test R60...R63 reserved 0x0000 SEEROM KL5121 Version: 3.1.0...

  • Page 30: Register Description

    • R9: Software version (X.y) The software version can be read as a string of ASCII characters. • R10: Data length R10 contains the number of multiplexed shift registers and their length in bits. The Bus Coupler sees this structure. Version: 3.1.0 KL5121...
  • Page 31 This register specifies the operation modes of the terminal. Thus, for instance, a user-specific scaling can be enabled for the analog I/Os. This register describes the hardware settings for channels 1-4 [0x0062] The default values are shown in square brackets. KL5121 Version: 3.1.0...
  • Page 32 Period Td for the channel 1 nozzle test • R40 - R43: Channel 2 register • R47 - R63 Extended registers with additional functions. • R48 - R51: Channel 3 register • R56 - R59: Channel 4 register Version: 3.1.0 KL5121...

  • Page 33: Control And Status Byte

    5.5.1 Process data exchange Process data The KL5121 terminal occupies 6 bytes in the coupler’s input process image and 6 bytes in the output process image. There are two logical channels: data channel 0 and data channel 1. Data channel 0 Data channel 0 consists of control byte 0, input data word 0, status byte 0 and output data word 0.
  • Page 34 Bit 7 Acknowledge for table access Output data word 1 Output data word AW1 returns the addressed table entry when a table is accessed. Bit no. Meaning Bit 0 - 15 Content of the addressed table entry Version: 3.1.0 KL5121...

  • Page 35: Register Communication

    ◦ Bit 6=1: The user data are written into a register. The process is complete once the status byte in the input process image has returned an acknowledgment (see example). • Bit 0 to 5: Address The address of the register to be addressed is entered in bits 0 to 5 of the control byte KL5121 Version: 3.1.0...

  • Page 36: Fig. 15 Register Mode Control Byte

    Sample 1 Reading register 8 in the BK2000 with a KL5121 and the end terminal: If the following bytes are transferred from the controller to the terminal,...

  • Page 37: Examples Of Register Communication

    • The terminal returns the firmware version 0x3341 in the input data word (byte 1 and byte 2). This is to be interpreted as an ASCII code: ◦ ASCII code 0x33 represents the digit 3 ◦ ASCII code 0x41 represents the letter A The firmware version is thus 3A. KL5121 Version: 3.1.0...

  • Page 38: Example 2: Writing To An User Register

    Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte 0x9F (1001 1111 0x12 0x35 Explanation: • The terminal returns the value of the control byte as a receipt in the status byte. Version: 3.1.0 KL5121...
  • Page 39 • The terminal returns the value of the control byte as a receipt in the status byte. • The terminal returns the current value of the feature register in the input data word (byte 1 and byte 2). KL5121 Version: 3.1.0...
  • 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: 3.1.0 KL5121...

  • 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 Connecting a cable on a terminal point ..................Fig. 11 KS2000 configuration software....................Fig. 12 Mapping for Lightbus Coupler - sample KL5121 ................. Fig. 13 Mapping for Profibus Coupler - example for KL5121..............Fig. 14 Mapping for Interbus Coupler - sample for KL5121..............

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