Register Description - Beckhoff KS2542 Manual

Access from the user program
5.4

Register description

All registers can be read or written via register communication [} 39]. They are used for the
parameterization of the terminal.
R0: Status word
The status word contains information about internal states, and provides an indication of errors that have
occurred.
Bit R0.15 R0.14
Name - NoControl
Power
Bit R0.7 R0.6
Name - -
Key
Bit Name
R0.15 -
R0.14 NoControl Power 1
R0.13 Torque Overload 1
R0.12 Over Current
R0.11 Under Voltage
R0.10 Over Voltage
R0.9 Low Voltage
R0.8 Over
Temperature
R0.0 - -
R0.7
R1: Set position
You can specify the desired position, with which the terminal is to be loaded, here.
R2: Torque
This register always contains the last and maximum value of the previous milliseconds (register R46 [} 38])
for the current torque. This value is unitless, normalized relative to 1000, and always positive. It is calculated
as follows:
1.0 M = | E x 1000 / V
where
1.1 E = V - V
C G
1.2 V = V x DataOUT / 32767
C S
with
M Torque (magnitude)
E Control error
V Supply voltage
S
V Countervoltage of the motor
G
V Set velocity (set voltage, relative to the process data)
C
34
R0.13 R0.12
Torque Over
Overload Current
R0.5 R0.4
- -
Description
reserved
The 24 V control voltage is not present at the power contacts
bin
Torque is greater than specified in R38
bin
1 Overcurrent in the driver stage
bin
1 Supply voltage less than 7 V
bin
1 Supply voltage greater than 15% of the switch-on voltage (with R39=0) or
bin
greater than specified in R39 (with R39<>0)
1 The supply voltage is 10 V less than the switch-on voltage
bin
1
The internal temperature of the terminal is greater than 80 °C (see R5
bin
[} 35])
reserved
|
C
Version: 2.1.0
R0.11 R0.10
Under Over
Voltage Voltage
R0.3 R0.2
- -
R0.9 R0.8
Low Over
Voltage Temperature
R0.1 R0.0
- -
[M] = 1
[E] = 1 V
[V ] = 1 V
S
[V ] = 1 V
G
[V ] = 1 V
C
KL2542/KS2542