BECKHOFF KL2521-0000 User Manual

Documentation for

KL2521-0000, KL2521-0024

1-Channel Pulse Train Output Terminals, RS422 / 24VDC

Version: 1.8
Date: 2009-05-06

Table of contents

Table of contents

1. Foreword 1

Notes on the documentation 1
Safety Instructions 2

2. Product Overview 3

Technical data 3

3. Functional description 4

Introduction 4
Resolution 5
Ramp function 5
Travel distance control 5
Output pattern 6
LED display 6
Connection 7

4. Access from the user program 10

Process Data 10
Register overview 11
Module-specific register description 12
Register communication 13
Control and Status Byte 15

5. Appendix 16

Support and Service 16

KL2521

Foreword

Foreword

Notes on the documentation

This description is only intended for the use of trained specialists in control and automation engineering
who are familiar with the applicable national standards. It is essential that the following notes and
explanations are followed when installing and commissioning these components.

Liability Conditions

The responsible staff must ensure that the application or use of the products describe d satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
The documentation has been prepared with care. The products described are, however, constantly under
development. For that reason the documentation is not in every case checked for consistency with
performance data, standards or other characteristics. None of the statements of this manual represent s a
guarantee (Garantie) in the meaning of § 443 BGB of the German Civil Code or a statement about the
contractually expected fitness for a particular purpose in the meaning of § 434 par. 1 sentence 1 BGB. In
the event that it contains technical or editorial errors, we retain the right to make alterations at any time
and without warning. No claims for the modification of products that have already been supplied may be
made on the basis of the data, diagrams and descriptions in this documentation.

Delivery conditions

In addition, the general delivery conditions of the company Beckhoff Automation GmbH apply.

Copyright

©

This documentation is copyrighted. Any reproduction or third party use of this publication, whether in

whole or in part, without the written permission of Beckhoff Automation GmbH, is forbidden.

KL2521 1

Foreword

Safety Instructions

State at Delivery

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.

Description of safety symbols

The following safety symbols are used in this documentation. They are intended to alert the reader to the
associated safety instructions..

Danger

Attention

i

Note

This symbol is intended to highlight risks for the life or health of personnel.

This symbol is intended to highlight risks for equipment, materials or the
environment.

This symbol indicates information that contributes to better understanding.

2 KL2521

Product Overview

Product Overview

A Signal - LED

B Signal - LED

+A

+B

+T

GND T,Z

Top view

T Signal - LED
Z Signal - LED

- A

- B

+Z

Shield

GND Z,T Shield

+A

+B

- A

- B

+T +Z

Contact Assembly

Technical data

Technical data KL2521-0000 KL2521-0024

Number of outputs

Load type*

Rated load voltage*

Output current

Base frequency

Mark/space ratio

Resolution

Ramp calculation

Output cycle time

Delay time

Number of outputs

Input current

Electrical isolation

Current consumption from K-Bus

Input process image

Output process image

Configuration

Weight

Permissible relative humidity

Vibration / shock resistance

EMC resistance burst / ESD

Installation position

Type of protection

1 channel, 2 differential outputs (A, B)
ohmic, opto-coupler, differential inputs
5 VDC internal 5 V ... 24 VDC external
max. 0.05 A, RS485 specification max. 0.5 A
100 Hz ... 500 kHz, 50 kHz default
50%
16 bits over one word in the fieldbus, 24 bits usable altogether
2 ms / step
1 ms (synchronous to K-Bus)

0.6 ms after K-Bus cycle
2 (+T, +Z)

2.3 to 2.8 mA at 5 V to 30 V
500 V
typ. 75 mA, max. 120 mA (load dependent)
24 bit I (16 bit in data, 8 bit status)
24 bit O (16 bit out data, 8 bit control)
Via the Bus Coupler with KS2000 or the controller
approx. 50 g
0°C ... +55°C (during operation) Permissible ambient temperature

-25°C ... +85° C (during storage)
95%, no condensation
according to EN 60068-2-6 / EN 60068-2-27, EN 60068-2-29
according to EN 61000-6-2 / EN 61000-6-4
any
IP20

(K-Bus / field potential output / input)

eff

*) depends on the hardware version pf the terminal, see chapter Connection

Default Mode Active Mode

RS485

+/- 5V

5…24V

Connection technique

+

5…24V

KL2521 3

Functional description

Functional description

process image By default, the KL2521 terminal occupies three bytes in the process image.

operating modes In addition to the FM (frequency modulation) operating mode, the KL2521

default setting The KL2521 is set to FM mode by default, with a basic frequency of 50 kHz

ramp function An internal ramp function raises/lowers the current frequency to the pre-set

Introduction

The KL2521 output terminal generates a binary signal with a variable
frequency. The peripheral side of the electronics is electrically isolated from
the internal K-Bus, and therefore also from the fieldbus. The output
frequency can be adjusted. 16 bit values (signed integer) can be provided
for this adjustment through the controller's process image. These values
modify the output frequency from zero up to a pre-selected maximum
frequency in equal increments - there are 32767 (15 bits) steps in each
direction (right/left).

The mapping of the KL2521 can be set by means of the controller or by the
Bus Coupler's configuration interface using the Beckhoff KS2000
configuration software.

can also be used to control stepper motors with pulse-direction control (frq.
cnt pulse mode). Incremental transducer simulation is another operating
mode. It is possible to connect an incremental transducer directly. Such
inputs are present on many servo amplifiers and frequency converters.

and a resolution of 15 bits. The number of pulses output is read back into a
16 bit register. If the counter overflows a signal is sent to the controller.
This is indicated by Status.3 (overflow) or Status.2 (under flow). In parallel
with these two bits, Status. 6 is set as a general error bit. This makes the
extension to more than 16 bits easier for the controller software to handle.
The overflow can also be read from register 3 (internal 32 bit extension).

The counter can be reset to 0 through Control.5. By default, the counter is
cleared by a rising edge (Feature.4 = 1). If Feature.4 = 0, the function is
level-controlled.
value defined by register R0 (lower word) and register R1 (higher word).

maximum frequency in accordance with the parameters set in registers
40/41. This is activated by FeatureBit.5. The base frequency for the ramp
can be selected by FeatureBit.6. Status.1 is set while a ramp is being
followed.

The releasing of Control.0 can be used to deactivate the function. During
operation this can also be done by Control.1. In this way the user can
change the base frequency during operation very quickly. Setting
Control.0 = 1 (confirmed by Status.0) the values in registers 38/39 are used
instead of those in registers 36/37 (Control.0 = 0).

The input signals T and Z are transferred directly from the terminal to the
controller in the status byte (Status.4 / Status.5). The signals are not given
any internal pre-processing.

If bit Feature.10 = 1, the counter is set by bit Control.5 to a

4 KL2521