Related Manuals for Beckhoff KL2532
Summary of Contents for Beckhoff KL2532
- Page 1 Documentation KL2532/KS2532, KL2552/KS2552 Two channel power stage terminals for DC motors Version: 3.2.0 Date: 2019-09-23...
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Page 3: Table Of Contents
Beckhoff Identification Code (BIC) .................... 9 2 Product overview............................. 11 KL2532 - Introduction ........................ 11 KL2552 - Introduction ........................ 12 Technical data .......................... 13 KL2532 - LED displays ........................ 14 KL2552 - LED displays ........................ 15 3 Basic function principles ........................ 16 Basic principles.......................... 16 Chopper operation ........................... 18 4 Mounting and wiring.......................... 20 Instructions for ESD protection ...................... 20... - Page 4 Table of contents Support and Service ........................ 64 Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
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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
• Chapter "UL notice - Compact Motion" added 3.0.0 • Migration • Update revision status • Update structure 2.6.0 • LED displays of the KL2532/KS2532 updated • Technical data updated 2.5.0 • Technical data updated • Register overview corrected • Register description expanded 2.4.0... - Page 8 FF - K-bus firmware version HH - hardware version Example with ser. no.: 49 05 1B 03: 49 - week of production 49 05 - year of production 2005 1B - firmware version 1B 03 - hardware version 03 Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
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Page 9: Beckhoff Identification Code (Bic)
Foreword 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 10 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.
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Page 11: Product Overview
The output stage is protected against overload and short-circuit and is electrically isolated from the K-bus. Both channels indicate their signal state through LEDs, which enable quick on-site diagnosis. The Bus Terminal is available in the KL2532 version for standard wiring and the KS2532 for permanent wiring. -
Page 12: Kl2552 - Introduction
Both channels indicate their signal state through LEDs, which enable quick on-site diagnosis. The Bus Terminal is available in the KL2552 version for standard wiring and the KS2552 for permanent wiring. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 13: Technical Data
*) standard: category C3. Additional filters are required for categories C1 and C2! Protection class IP20 Installation position without fan cartridge ZB8610: standard installing position with fan cartridge ZB8610: standard installing position, other installing positions (ex- ample 1 & 2) seenotice [} 24] Approval CE, cULus [} 30] KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 14: Kl2532 - Led Displays
Product overview KL2532 - LED displays Fig. 4: KL2532 - LEDs Display Run (green) reserved Data transmission on the K-bus is active Enable A (green) off Channel 1 is either not enabled or not ready to operate. Channel 1 is enabled and is ready to operate. -
Page 15: Kl2552 - Led Displays
Channel 2 is either not enabled or not ready to operate. Channel 2 is enabled and is ready to operate. Warning B Warning of channel 2 (yellow) Error B (red) There is an error at channel 2 KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 16: Basic Function Principles
Basic function principles Basic principles The KL2532/KS2532 DC motor terminal integrates two compact DC motor output stages up to 24 W in a very compact design. The KL2552/KS2552 DC motor terminal integrates two compact DC motor output stages up to 250 W in a very compact design. - Page 17 ◦ Overload (only if R32.9 [} 56] is enabled; set together with R0.9 [} 53]) If an error occurs, it first has to be rectified and subsequently acknowledged and thus cancelled by setting bit CB1.6 [} 47] in the control byte. KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
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Page 18: Chopper Operation
Basic function principles Chopper operation Instead of a DC motor, you can connect a brake resistor (chopper) to a channel of the KL2532/KL2552 and activate brake resistor mode for this channel (see KS2000 [} 42] or registers R33.0 - R33.3 [} 57]). - Page 19 Conversely, when braking, the motor (as a generator) converts 80 % of the kinetic energy into electrical power. This results in a practical brake power of: /2 x 80/100 x 80/100 = 125W x 80/100 x 80/100 = 80 W KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
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Page 20: 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. 7: Spring contacts of the Beckhoff I/O components Installation on mounting rails WARNING... -
Page 21: Fig. 8 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). KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 22: Fig. 9 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. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 23: Installation Instructions For Enhanced Mechanical Load Capacity
10 frequency runs in 3 axes 6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude 60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude Shocks 1000 shocks in each direction, in 3 axes 25 g, 6 ms KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 24: Installation Position For Operation With Or Without Fan
The prescribed installation position requires the mounting rail to be installed horizontally and the connection surfaces of the EL/KL terminals to face forward (see Fig. “Recommended distances of installation position for operating without fan“). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 25: Fig. 11 Recommended Distances Of Installation Position For Operating Without Fan
The standard installation position for operation with fan requires the mounting rail to be installed horizontally and the connection surfaces of the EL/KL terminals to face forward (see Fig. Recommended distances for installation position for operation with fan). The terminals are ventilated fan supported (e.g. with fan cartridge ZB8610) from below. KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 26: Fig. 12 Recommended Distances For Installation Position For Operation With Fan
Due to the enforced effect of the fan on the ventilation of the terminals, other installation positions (see Fig. “Other installation positions, example 1 + 2“) may be permitted where appropriate. See corresponding notes in the Technical Data of the terminal. Fig. 13: Other installation positions, example 1 Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 27: Connection
Standard wiring (ELxxxx / KLxxxx) Fig. 15: Standard wiring The terminals of ELxxxx and KLxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly. KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 28: Fig. 16 Pluggable Wiring
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! Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 29: 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. KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 30: Shielding
Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. Examination For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits. - Page 31 A voltage source complying with NEC class 2 may not be connected in series or parallel with another NEC class 2compliant voltage supply! These requirements apply to the supply of all EtherCAT bus couplers, power adaptor terminals, Bus Terminals and their power contacts. KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
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Page 32: Kl2532/Ks2532 - Connection
WARNING 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. Fig. 19: KL2532/KS2532 pin assignment Terminal Connection for point... -
Page 33: Kl2552-0000/Ks2552-0000 - Connection
Input 2 Digital input 2 (24 V The current counter value is stored as reference mark in the latch register, if bit CB2.1 [} 49] is set in control byte 2 and a rising edge occurs at digital input KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... - Page 34 The voltage Up of the power contacts (+24 V ) supplies the following consumers: • Incremental encoder (terminal points 3 and 7) • Digital inputs (terminal points 4 and 8) • Output driver of the DC motor output stage Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
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Page 35: Kl2552-0005/Ks2552-0005 - Connection
Digital input 2 (24 V The current counter value is stored as reference mark in the latch register, if bit CB2.1 [} 49] is set in control byte 2 and a rising edge occurs at digital input 2. KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... - Page 36 The voltage Up of the power contacts (+24 V ) supplies the following consumers: • Incremental encoder (terminal points 3 and 7) • Digital inputs (terminal points 4 and 8) • Output driver of the DC motor output stage Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
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Page 37: Kl2552 - Application Example
The brake resistor connected to channel 2 of the second EL7342 uses the brake energy of the motors connected to the other three channels. Fig. 22: KL2552 application example NOTE Dimensioning of the brake resistor The brake resistor should be dimensioned such that it can withstand the expected heat development with- out damage! KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 38: 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. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 39: Parameterization With Ks2000
In the example shown, this is • A Bus Coupler for Ethernet BK9000 • a KL1xx2 digital input terminal • a two-channel KL2552 DC motor output stage • a KL9010 bus end terminal KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 40: Fig. 24 Display Of The Fieldbus Station In Ks2000
(item 2 in the example). Fig. 25: KS2000 tree branches for channel 1 of the KL2552 For the KL2532, the branches Register, Settings and ProcData are displayed: • Register [} 41] permits direct access to the registers of the KL2552. -
Page 41: Register
Configuration software KS2000 Register You can access the registers of the KL2552 directly under Register. The meaning of the register is explained in the register overview [} 50]. Fig. 26: Register view in KS2000 KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 42: Settings
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. Automatic current reduction active (R32.10 [} 56]) Here you can activate automatic current reduction (default: inactive). Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... - Page 43 Here you can specify the reduced motor coil current (default: 5000 mA), see description of registers R32.10 [} 56], R41 [} 58] and R45 [} 59]. Threshold for current reduction (positive direction of rotation) (R45 [} 59]) Here you can specify the threshold from which automatic current reduction is enabled (default: 100 %). KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
- Page 44 Here you can the specify time duration of the current reduction (default: 2000 ms). Time for overload shutdown (R47 [} 59]) Here you can specify the time after which the output stage is switched off, if overload occurs over the whole interval (default: 200 ms). Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
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Page 45: Process Data
The reading glasses mark the data that are currently graphically displayed in the History field. Fig. 29: History field The current input values are displayed numerically in the Value field. Fig. 30: Value field Initial values can be modified through direct input or by means of the fader. Fig. 31: Value field KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... -
Page 46: Fig. 32 Settings
Only modify these initial values if you are certain that the state of your equipment permits it, and that there will be no risk to people or to the machine! After pressing the Settings button you can set the format of the numerical display to hexadecimal, decimal or binary. Fig. 32: Settings Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 47: Access From The User Program
Access from the user program Process image Complex process image In the complex process image the KL2532/KL2552 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... - Page 48 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-Nr. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
- Page 49 Number of the register that was read or written. SB1.0 Channel 2 The control and status bytes of channel 2 (CB2 and SB2) have the same structure as the control and status bytes of channel 1. KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
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Page 50: Register Overview
0x5064 e.g. 20580 EEPROM R20 [} 56] Sample time of the A/D converter e.g. 0x000A e.g. 10 EEPROM R21 [} 56] reserved reserved Code word register 0x0000 R31 [} 56] *) Only the KL2552 supports these registers, not the KL2532 Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... - Page 51 Outer window of the I component (current controller) 0x0000 EEPROM R53 [} 60] Ka factor (velocity controller) 0x0000 EEPROM R54 [} 60]* Kd factor (velocity controller) 0x0000 EEPROM R55 [} 60]* reserved reserved *) Only the KL2552 supports these registers, not the KL2532 KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
- Page 52 (unit: 1 digit) Current offset of motor coil channel 2 (synchronization), 0x0000 (unit: 1 digit) Duration of overload channel 1 (unit: 1 ms) 0x0000 Duration of overload channel 2 (unit: 1 ms) 0x0000 Reserved reserved Firmware version of the driver card Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
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Page 53: Register Description
Preselection of the measured values shown in R2 [} 54] and R3 [} 54]. The lower byte is allocated to register 2, the upper byte to register 3. Example: R1 = 0x0602, lower byte = 2 (voltage of motor coil channel 1), upper byte = 6 (current of motor coil channel 1). KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... - Page 54 The status byte of the relevant channel is mapped here in addition. R7: Command register User code word For the following commands to be executed, it is first necessary for the user code word, 0x1235, to be entered into register R31 [} 56]. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
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Page 55: Fig. 2 Kl2532
During a software reset the motor is switched current-free. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out! R8: Terminal type The terminal identifier is contained in register R8: 0x09F8 (2552 KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... - Page 56 R32: Feature register 1 The feature register 1 specifies the terminal's configuration. R32.15 R32.14 R32.13 R32.12 R32.11 R32.10 R32.9 R32.8 Name - disEncoder filter enAutoReduce enOverCurrentErr R32.7 R32.6 R32.5 R32.4 R32.3 R32.2 R32.1 R32.0 Name - disWatchdog Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
- Page 57 R43 [} 59] reserved reserved CHOPPER Existing overvoltage (10% > rated MODE voltage R36 [} 58]) is reduced via connected chopper resistor *) These settings are only supported by the KL2552, not by the KL2532 KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
- Page 58 Access from the user program R34: Maximum permanent motor coil current This register reflects the maximum constant motor coil current specified by the motor manufacturer. KL2532/KS2532: Default: 2500 , range: 0 - 2500 mA KL2552/KS2552: Default: 8000 , range: 0 - 8000 mA The unit is 0.001 A (example: 2500...
- Page 59 R49: Reduced torque (coil current in negative direction of rotation) This register contains the reduced torque (coil current) in negative direction of rotation. It is activated by CB1.0. KL2532/KS2532: Default: 1500 , range: 0 mA - 1500 mA KL2552/KS2552: Default: 2500 , range: 0 mA - 5000 mA The unit is 0.001 A (for example: 500...
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Page 60: Examples Of Register Communication
• Bits 0.5 to 0.0 specify the register number 9 with 00 1001 • The output data word (byte 1 and byte 2) has no meaning during read access. To change a register, write the required value into the output word. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552... -
Page 61: Example 2: Writing To An User Register
• The input data word (byte 1 and byte 2) is of no importance after the write access. Any values still displayed are invalid! II. Read Register 31 (check the set code word) Output Data Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte 0x9F (1001 1111 0xXX 0xXX Explanation: KL2532/KS2532, KL2552/KS2552 Version: 3.2.0... - Page 62 IV. Read Register 32 (check changed feature register) Output Data 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. Version: 3.2.0 KL2532/KS2532, KL2552/KS2552...
- Page 63 • 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! KL2532/KS2532, KL2552/KS2552 Version: 3.2.0...
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Page 64: 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 65 KL2532 - LEDs ..........................Fig. 5 KL2552 - LEDs ..........................Fig. 6 Current through the brake resistor....................Fig. 7 Spring contacts of the Beckhoff I/O components................. Fig. 8 Attaching on mounting rail ......................Fig. 9 Disassembling of terminal......................Fig. 10 Power contact on left side......................