Documentation
KL2542
Two channel output stage terminal for DC motors
2.0.0
2017-08-02
Version:
Date:
Table of contents
KL2542 3Version: 2.0.0
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation........................................................................................................... 5
1.2 Safety instructions .......................................................................................................................... 6
1.3 Documentation issue status............................................................................................................ 7
2 Product overview.......................................................................................................................................8
2.1 Introduction ..................................................................................................................................... 8
2.2 Technical data ................................................................................................................................ 9
2.3 LEDs ............................................................................................................................................. 10
3 Mounting and wiring ...............................................................................................................................11
3.1 Installation on mounting rails ........................................................................................................ 11
3.2 Connection.................................................................................................................................... 14
3.2.1 Connection system...........................................................................................................14
3.2.2 Wiring...............................................................................................................................15
3.2.3 Connection.......................................................................................................................17
4 KS2000 Configuration Software ............................................................................................................19
4.1 KS2000 - Introduction ................................................................................................................... 19
4.2 Parameterization with KS2000 ..................................................................................................... 20
4.3 Settings......................................................................................................................................... 22
4.4 Register ........................................................................................................................................ 25
4.5 Process data................................................................................................................................. 26
5 Access from the user program ..............................................................................................................28
5.1 Process image .............................................................................................................................. 28
5.2 Control and status byte................................................................................................................. 29
5.3 Register overview ......................................................................................................................... 31
5.4 Register description ...................................................................................................................... 33
5.5 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
6.1 Support and Service ..................................................................................................................... 41
Table of contents
KL25424 Version: 2.0.0
Foreword
KL2542 5Version: 2.0.0
1 Foreword
1.1 Notes on the documentation
Intended audience
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 documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
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.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
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.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
Foreword
KL25426 Version: 2.0.0
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
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.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
WARNING
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
CAUTION
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Attention
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.
Note
Tip or pointer
This symbol indicates information that contributes to better understanding.
Foreword
KL2542 7Version: 2.0.0
1.3 Documentation issue status
Version Comment
2.0.0 • Migration
1.0.0 • Register description expanded
0.5 • KL2532 removed
0.4 • Description of control and status byte updated
• Register description corrected
0.3 • Connection description added
• LED descriptions updated
• Technical data updated
0.2 • Information on KL2532 added
• Description of parameterization using the KS2000 configuration software
added
0.1 First provisional documentation for KL2542
Firmware and hardware versions
Documentation
Version
Firmware Hardware
2.0.0 3A 10
1.0.0 1C 05
0.5 1C 05
0.4 1B 03
0.3 1B 03
0.2 1A 01
0.1 1A 01
The firmware and hardware versions (delivery state) can be taken from the serial number printed on the side
of the terminal.
Syntax of the serial number
Structure of the serial number: WWYYFFHH
WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Sample 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
Product overview
KL25428 Version: 2.0.0
2 Product overview
2.1 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. A servo axis can easily be realized by connecting an
incremental encoder.
Product overview
KL2542 9Version: 2.0.0
2.2 Technical data
Technical data KL2542
Number of DC motor output stages 2
Load type DC brush motors, inductive
Supply for the output stage via terminal points
Rated load voltage 8VDC to 50V
DC
Output current per channel Rated current 3.5A, peak current 5A (short-circuit-proof,
common thermal overload warning for both output stages)
PWM clock frequency 36kHz, channels out of phase by 180° relative to each other
Duty factor 0...100% (voltage-controlled)
Resolution Current 12bit
Voltage (velocity) 16bit
Number of digital inputs 2 (for end positions)
Rated voltage of the inputs 24VDC (-15%/ +20%)
Signal voltage at digital input "0" -3V... 2V
Signal voltage at digital input "1" 15V ...30V
Input filter 0.2ms
Input current typically 5mA
Number of encoder inputs 4 (for an encoder system)
Encoder voltage "0" -3V...1.5V
Encoder voltage "1" 2.5V...24V
Encoder frequency max. 250kHz
Electrical isolation 500V (K-bus/mains voltage)
Power supply for the electronics via the K-bus
Current consumption from K-bus typically: 100mA
Current consumption from power contacts typically: 20mA
Bit width in the input process image 2 x 16bit data, 2 x 8bit status
Bit width in the output process image 2 x 16bit data, 2 x 8bit control
Configuration via the Bus Coupler or the controller
Weight approx. 100g
Permissible ambient temperature range
during operation
0°C ... + 55°C
Permissible ambient temperature range
during storage
-25°C ... + 85°C
Permissible relative air humidity 95%, no condensation
Dimensions (W x H x D) approx. 27mm x 100mm x 70mm (width aligned: 24mm)
Mounting on 35mm mounting rail conforms to EN
Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27
EMC immunity/ emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP 20
Installation position variable
Approval CE
Product overview
KL254210 Version: 2.0.0
2.3 LEDs
Fig.2: KL2542 - LEDs
Left LED prism
LED Display
Run (green) on Data transmission on the K-bus is active
Enc. A: A (green) on There is a signal at input A for encoder A.
Enc. B: A (green) on There is a signal at input A for encoder B.
Input1 (green) on There is a signal at input 1.
- reserved
Enc. A: B (green) on There is a signal at input B for encoder A.
Enc. B: B (green) on There is a signal at input B for encoder B.
Input2 (green) on There is a signal at input 2.
Right LED prism
LED Display
- reserved
Enable A (green) off Channel 1 is either not enabled or not ready to operate.
on Channel 1 is enabled and is ready to operate.
- reserved
Error A (red) on There is an error at channel 1
Motor power (green) off The motor supply voltage is not available (less than 7V).
on The motor supply voltage is available (greater than 8V).
Enable B (green) off Channel 2 is either not enabled or not ready to operate.
on Channel 2 is enabled and is ready to operate.
Warning (yellow) on The internal temperature has risen to more than 80°C, or the power
supply voltage has dropped.
Error B (red) on There is an error at channel 2
Mounting and wiring
KL2542 11Version: 2.0.0
3 Mounting and wiring
3.1 Installation on mounting rails
WARNING
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!
Assembly
Fig.3: Attaching on mounting rail
The Bus Coupler and Bus Terminals are attached to commercially available 35mm mounting rails (DIN rails
according to EN60715) by applying slight pressure:
1. First attach the Fieldbus Coupler to the mounting rail.
2. The Bus Terminals are now attached on the right-hand side of the Fieldbus Coupler. Join the components with tongue and groove and push the terminals against the mounting rail, until the lock clicks
onto the mounting rail.
If the Terminals are clipped onto the mounting rail first and then pushed together without tongue and
groove, the connection will not be operational! When correctly assembled, no significant gap should
be visible between the housings.
Note
Fixing of mounting rails
The locking mechanism of the terminals and couplers extends to the profile of the mounting
rail. At the installation, the locking mechanism of the components must not come into conflict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of
7.5mm under the terminals and couplers, you should use flat mounting connections (e.g.
countersunk screws or blind rivets).
Mounting and wiring
KL254212 Version: 2.0.0
Disassembly
Fig.4: Disassembling of terminal
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Pull the terminal by its orange-colored lugs approximately 1cm away from the mounting rail. In doing
so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of
the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal out of the bus terminal block.
Connections within a bus terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:
• The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.
• The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24V)
or for higher voltages via power feed terminals.
Note
Power Contacts
During the design of a bus terminal block, the pin assignment of the individual Bus Terminals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed
Terminals (KL91xx, KL92xx or 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 125A.
Mounting and wiring
KL2542 13Version: 2.0.0
Fig.5: Power contact on left side
Attention
Possible damage of the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively
coupled to the mounting rail. This may lead to incorrect results during insulation testing or
to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing
of a consumer with a nominal voltage of 230V). For insulation testing, disconnect the PE
supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further
feed points for testing, these Power Feed Terminals can be released and pulled at least
10mm from the group of terminals.
WARNING
Risk of electric shock!
The PE power contact must not be used for other potentials!
Mounting and wiring
KL254214 Version: 2.0.0
3.2 Connection
3.2.1 Connection system
WARNING
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!
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.
• The terminals of ESxxxx and KSxxxx series feature a pluggable connection level and enable steady
wiring while replacing.
• The High Density Terminals (HD Terminals) include electronics and connection level in a single
enclosure and have advanced packaging density.
Standard wiring (ELxxxx / KLxxxx)
Fig.6: 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.
Pluggable wiring (ESxxxx / KSxxxx)
Fig.7: Pluggable wiring
The terminals of ESxxxx and KSxxxx series feature a pluggable connection level.
The assembly and wiring procedure for the KS series is the same as for the ELxxxx and KLxxxx series.
The KS/ES series terminals enable the complete wiring to be removed as a plug connector from the top of
the housing for servicing.
The lower section can be removed from the terminal block by pulling the unlocking tab.
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.
Mounting and wiring
KL2542 15Version: 2.0.0
A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual
connection wires when the connector is removed.
Conductor cross sections between 0.08mm2 and 2.5mm2 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.
High Density Terminals (HD Terminals)
Fig.8: High Density Terminals
The Bus Terminals from these series with 16 terminal points are distinguished by a particularly compact
design, as the packaging density is twice as large as that of the standard 12mm Bus Terminals. Massive
conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal
point without tools.
Note
Wiring HD Terminals
The High Density (HD) Terminals of the ELx8xx and KLx8xx series doesn't support pluggable wiring.
Ultrasonically "bonded" (ultrasonically welded) conductors
Note
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!
3.2.2 Wiring
WARNING
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!
Mounting and wiring
KL254216 Version: 2.0.0
Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx
Fig.9: Connecting a cable on a terminal point
Up to eight terminal points enable the connection of solid or finely stranded cables to the Bus Terminal. The
terminal points are implemented in spring force technology. Connect the cables as follows:
1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening
above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal point closes automatically when the pressure is released, holding the wire securely and
permanently.
See the following table for the suitable wire size width.
Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx
Wire size width (single core wires) 0.08 ... 2.5mm
2
0.08 ... 2.5mm
2
Wire size width (fine-wire conductors) 0.08 ... 2.5mm
2
0,08 ... 2.5mm
2
Wire size width (conductors with a wire end sleeve) 0.14 ... 1.5mm
2
0.14 ... 1.5mm
2
Wire stripping length 8 ... 9mm 9 ... 10mm
High Density Terminals (HD Terminals [}15]) with 16 terminal points
The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct
plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. 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.
Terminal housing High Density Housing
Wire size width (single core wires) 0.08 ... 1.5mm
2
Wire size width (fine-wire conductors) 0.25 ... 1.5mm
2
Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75mm
2
Wire size width (ultrasonically “bonded" conductors) only 1.5mm
2
Wire stripping length 8 ... 9mm
Mounting and wiring
KL2542 17Version: 2.0.0
3.2.3 Connection
WARNING
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!
Fig.10: KL2542 connection
Terminal points
Left-hand section of the housing
Terminal point No. Connection for
EncoderA, A 1 EncoderA, connectionA
Encoder B, A 2 EncoderB, connectionA
Encoder power +24V 3 Encoder supply (from positive power contact)
Input1 4 Digital input 1 (24VDC).
The current counter value is saved as a reference mark in the latch
register if bit CB.1 [}29] is set in the control byte and a rising edge
occurs at digital input 1.
Encoder A, B 5 EncoderA, connectionB
Encoder B, B 6 EncoderB, connectionB
Encoder Power 0V 7 Encoder supply (from negative power contact)
Input2 8 Digital input 2 (24VDC).
The current counter value is saved as a reference mark in the latch
register if bit CB.2 [}29] is set in the control byte and a rising edge
occurs at digital input 2.
Mounting and wiring
KL254218 Version: 2.0.0
Right-hand section of the housing
Terminal point No. Connection for
Motor A, A1 1' Motor A, connection A1
Motor B, B1 2' Motor B, connection B1
n.c. 3' reserved
Power Motor50 V 4' Motor supply feed (maximum +50VDC)
Motor A, A2 5' Motor A, connection A2
Motor B, B2 6' Motor B, connection B2
n.c. 7' reserved
Power Motor0 V 8' Motor supply feed (0VDC)
CAUTION
Danger for persons, the environment or devices!
If the K-bus voltage (5V, supplied via the Bus Coupler supply voltage Us) fails, the output
drivers are not reset. This means that the motors are not stopped if they are in motion!
Power contacts
The voltage Up of the power contacts (+24VDC) 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
CAUTION
Please note the order of the supply voltages.
The voltage Up must already be present at the power contacts when the K-bus voltage is
switched on so that the internal circuits (output stage drivers) can be initialized. If this is not
possible due to the application (supply is switched, for example, via emergency stop circuit), the terminal performs a software reset after the system starts up. If the voltage Up at
the power contacts fails, this is indicated in register0 through bit R0.14 [}33]. The return
of the voltage is automatically detected and an initialization is performed.
KS2000 Configuration Software
KL2542 19Version: 2.0.0
4 KS2000 Configuration Software
4.1 KS2000 - Introduction
The KS2000 configuration software permits configuration, commissioning and parameterization of bus
couplers, of the affiliated bus terminals and of Fieldbus Box Modules. The connection between bus coupler/
Fieldbus Box Module and the PC is established by means of the serial configuration cable or the fieldbus.
Fig.11: KS2000 configuration software
Configuration
You can configure the Fieldbus stations with the Configuration Software KS2000 offline. That means, setting
up a terminal station with all settings on the couplers and terminals resp. the Fieldbus Box Modules can be
prepared before the commissioning phase. Later on, this configuration can be transferred to the terminal
station in the commissioning phase by means of a download. For documentation purposes, you are provided
with the breakdown of the terminal station, a parts list of modules used and a list of the parameters you have
modified. After an upload, existing fieldbus stations are at your disposal for further editing.
Parameterization
KS2000 offers simple access to the parameters of a fieldbus station: specific high-level dialogs are available
for all bus couplers, all intelligent bus terminals and 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.
KS2000 Configuration Software
KL254220 Version: 2.0.0
Commissioning
The KS2000 software facilitates commissioning of machine components or their fieldbus stations: Configured
settings can be transferred to the fieldbus modules by means of a download. After a login to the terminal
station, it is possible to define settings in couplers, terminals and Fieldbus Box modules directly online. The
same high-level dialogs and register access are available for this purpose as in the configuration phase.
The KS2000 offers access to the process images of the bus couplers and Fieldbus Box modules.
• Thus, the coupler's input and output images can be observed by monitoring.
• 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.
4.2 Parameterization with KS2000
Connect the configuration interface of your fieldbus coupler with the serial interface of your PC via the
configuration cable and start the KS2000 Configuration Software.
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
KS2000 Configuration Software
KL2542 21Version: 2.0.0
Fig.12: Display of the fieldbus station in KS2000
The left-hand KS2000 window displays the terminals of the fieldbus station in a tree structure.
The right-hand KS2000 window contains a graphic display of the fieldbus station terminals.
In the tree structure of the left-hand window, click on the plus-sign next to the terminal whose parameters
you wish to change (item 2 in the example).
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.
• ProcData [}26] displays the KL2542 process data.
KS2000 Configuration Software
KL254222 Version: 2.0.0
4.3 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 100ms when the watchdog is active, the watchdog is triggered, and the motor
stops.
Signed amount representation (R32.3 [}35])
Here you can activate the signed amount representation (default: inactive).
User switch-on value active (R32.8 [}35])
You can activate the user switch-on value [}23]here (the default is inactive).
Velocity control active (R32.15 [}35])
Here you can deactivate the velocity control (default: active).
I-controller active (R32.14 [}35])
Here you can deactivate the I-controller (default: active).
KS2000 Configuration Software
KL2542 23Version: 2.0.0
Inner window for I-controller active (R32.13 [}35])
Here you can deactivate the inner window for the I-controller (default: active).
Torque monitoring active (R32.9 [}35])
Here you can activate torque monitoring (default: inactive).
Overvoltage protection active (R32.10 [}35])
Here you can activate overvoltage protection (chopper resistor) for channel 2 (default: inactive).
User scaling active (R32.0 [}35])
Here you can activate user scaling (default: inactive).
Manufacturer scaling active (R32.1 [}35])
Here you can activate manufacturer scaling (default: inactive).
Register values
User switch-on value (R35 [}36])
Here you can specify the user switch-on value for the velocity (default: 0).
Switching threshold for MixedDecay (R41 [}36])
Here you can specify the automatic switch-off threshold for MixedDecay (default: 20%).
Rated motor current (R37 [}36])
Here you can specify the rated motor current.
The default is 3500mA
Maximum motor current (R36 [}36])
Here you can specify the maximum motor coil current.
The default is 5000mA
Internal motor resistance (R40 [}36])
Here you can specify the internal motor resistance (default: 1ohm).
Kp factor (R42 [}36])
Here you can specify the Kp factor for the internal velocity control (default: 1).
Inner window for I-controller (R43 [}36])
Here you can specify the Kp factor for the internal velocity control (default: 1%).
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%).
KS2000 Configuration Software
KL254224 Version: 2.0.0
Time constant Tn for I-controller (R45 [}37])
Here you can specify the time constant Tn (default: 100).
The time constant controls the time response of the I-controller.
Maximum torque (R38 [}36])
Here you can specify the maximum torque for the application (default: 10000), see description of register R2
[}33].
If the current value (register R2) exceeds this threshold, only a warning is issued if torque monitoring [}33]
is disabled (SB1.5 [}29]=1 and R0.13=1 [}33]). If torque monitoring is active (R32.9 [}35]=1), the motor
is de-energized and an error is issued (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).
KS2000 Configuration Software
KL2542 25Version: 2.0.0
4.4 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
KS2000 Configuration Software
KL254226 Version: 2.0.0
4.5 Process data
The Status byte (Status), the Control byte (Ctrl) and the process data (Data) are displayed in a tree structure
under ProcData.
Fig.16: ProcData
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.
KS2000 Configuration Software
KL2542 27Version: 2.0.0
Fig.19: Value field
CAUTION
Danger for persons, the environment or devices!
Note that changing initial values (forcing them) can have a direct effect on your automation
application. 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.20: Settings
Access from the user program
KL254228 Version: 2.0.0
5 Access from the user program
5.1 Process image
Complex mapping
In the complex process image the KL2542 is represented with at least 6bytes of input data and 6bytes of
output data. These are organized as follows:
Byte offset (without word
alignment)
Byte offset (with word alignment*)
Format Input data Output data
0 0 Byte
SB1 [}29]: CB1 [}29]
1 2 Word DataIN1 DataOUT1
3 4 Byte
SB2 [}31] CB2 [}31]
4 6 Word DataIN2 DataOUT2
Compact mapping
The KL2542 devices are represented in the compact process image with a minimum of 6bytes of output
data. These are organized as follows:
Byte offset (without word
alignment)
Byte offset (with word alignment*)
Format Input data Output data
0 0 Byte -
CB1 [}29]
1 2 Word - DataOUT1
3 4 Byte -
CB2 [}31]
4 6 Word - DataOUT2
*) Word alignment: The Bus Coupler places values on even byte addresses
Key
SB n: Status byte of channel n
CB n: Control byte of channel n
DataINn: Input word of channel n
DataOUTn: Output word of channel n
Note
Control-Bytes
The KL2542 cannot be operated without control bytes, since the control bytes are required
for enabling the channels. Even if your Bus Coupler is set to compact process image, the
KL2542 is represented with its control bytes.
Access from the user program
KL2542 29Version: 2.0.0
5.2 Control and status byte
Channel 1
Process data mode
Control byte1 (for process data mode)
Controlbyte1 (CB1) is located in the output image [}28], and is transmitted from the controller to the
terminal.
Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0
Name RegAccessReset Enable GetLatchD
ata
enLatch
FallEdge
enLatch
RiseEdge
SetPos disMixed
DecayMan
Key
Bit Name Description
CB1.7 RegAccess 0
bin
Register communication off (process data mode)
CB1.6 Reset 1
bin
all errors that may have occurred are reset by setting this bit
(rising edge)
CB1.5 Enable 1
bin
Enables channel 1
CB1.4 GetLatchData 0
bin
Show the current position in the input process data
1
bin
Show the current latch value in the input process data
CB1.3 enLatch FallEdge 1
bin
External latch event is enabled (for latch inputs with falling edge,
the terminal saves the current position)
CB1.2 enLatch RiseEdge 1
bin
External latch event is enabled (for latch inputs with rising edge,
the terminal saves the current position)
ATTENTION: Higher priority than CB1.3 !
CB1.1 SetPos 1
bin
Position value is set with register R1 [}33] (rising edge)
CB1.0 disMixed DecayMan 0
bin
Motor control via 2 pulsed transistors per half-wave
1
bin
Motor control via one pulsed and one switched transistor per
half-wave (manual deactivation. Automatic deactivation is
triggered through a threshold that is specified with registerR41
[}36]).
Status byte1 (for process data mode)
The statusbyte1 (SB1) is located in the input image [}28], and is transmitted from terminal to the controller.
Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0
Name RegAccess Error Warning Ready LatchData LatchValid SetPos
Ready
Input E1
Access from the user program
KL254230 Version: 2.0.0
Key
Bit Name Description
SB1.7 RegAccess 0
bin
Acknowledgement for process data mode
SB1.6 Error 1
bin
An error has occurred (is displayed in the status word in register
R0)
SB1.5 Warning 1
bin
The internal temperature exceeds 80°C, the supply voltage has
dropped, or the current torque [}33] exceeds the value
specified in register R38 [}36] (with torque monitoring [}35]
switched off).
SB1.4 Ready 0
bin
Motor control is disabled or an error has occurred (SB.6=1)
1
bin
Motor control is enabled and no error has occurred
(acknowledgement for enable, SB.6=0)
SB1.3 LatchData 0
bin
The current position is mapped into the input process data
1
bin
The most recent latch value is mapped into the input process
data, provided a valid latch value exists (acknowledgement for
GetLatchData)
SB1.2 LatchValid 1
bin
A latch event has occurred (with CB1.2=1 or CB1.3=1)
SB1.1 SetPos Ready 1
bin
The current position has been set (acknowledgement for
SetPos)
SB1.0 Input E1 Status of input E1
Register communication
Controlbyte1 (in register communication)
Controlbyte1 (CB1) is located in the output image [}28], and is transmitted from the controller to the
terminal.
Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0
Name RegAccess R/W Reg. no.
Key
Bit Name Description
CB1.7 RegAccess 1
bin
Register communication switched on
CB1.6 R/W 0
bin
Read access
1
bin
Write access
CB1.5 to
CB1.0
Reg. no. Register number:
Enter the number of the register [}28] that you
- want to read with input data word DataIn [}28] or
- want to write with output data word DataOut [}28].
Statusbyte1 (in register communication)
The statusbyte1 (SB1) is located in the input image [}28], and is transmitted from terminal to the controller.
Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0
Name RegAccess R/W Reg. no.
Access from the user program
KL2542 31Version: 2.0.0
Key
Bit Name Description
SB1.7 RegAccess 1
bin
Acknowledgement for register access
SB1.6 R 0
bin
Read access
SB1.5 to
SB1.0
Reg. no. Number of the register that was read or written.
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 [}29].
5.3 Register overview
The registers are used to parameterize the DC motor output stages. They can be read or written by means
of register communication.
Register no. Comment Default value R/W Memory
R0 [}33]
Status word 0x0000 0
dec
R RAM
R1 [}33]
Set position 0x0000 0
dec
R/W RAM
R2 [}33]
Torque e.g. 0x015E e.g. 350
dec
R RAM
R3 [}34]
Supply voltage e.g. 0x0030 e.g. 48
dec
R RAM
R4 reserved - - - -
R5 [}34]
Temperature e.g. 0x0023 e.g. 35
dec
R RAM
R6 [}34]
Status byte e.g. 0x0010 e.g. 16
dec
R RAM
R7 [}34]
Command register 0x0000 0
dec
R/W RAM
R8 [}34]
Terminal type 0x09EE 2542
dec
R ROM
R9 [}34]
Firmware version e.g. 0x3141 e.g. 1A
ASCII
R ROM
R10 Multiplex shift register 0x0130 304
dec
R ROM
R11 Signal channels 0x0218 536
dec
R ROM
R12 Minimum data length 0x1800 6144
dec
R ROM
R13 Data structure 0x0004 4
dec
R ROM
R14 reserved - - - -
R15 Alignment register 0x7F80 32640
dec
R/W RAM
R16 [}35]
Hardware version number e.g. 0x0000 e.g. 0
dec
R/W EEPROM
R17 reserved - - - -
... ... ... ... ... ...
R30 reserved - - - -
Access from the user program
KL254232 Version: 2.0.0
Register no. Comment Default value R/W Memory
R31 [}35]
Code word register 0x0000 0
dec
R/W RAM
R32 [}35]
Feature register 0x0000 0
dec
R/W EEPROM
R33 [}35]
User scaling - offset 0x0000 0
dec
R/W EEPROM
R34 [}35]
User scaling - gain 0x1000 4096
dec
R/W EEPROM
R35 [}36]
User's switch-on value 0x0000 0
dec
R/W EEPROM
R36 [}36]
Maximum coil current of the motor 0x1388 5000
dec
R/W EEPROM
R37 [}36]
Rated current of the motor 0x0DAC 3500
dec
R/W EEPROM
R38 [}36]
Maximum torque 0x2710 10000
dec
R/W EEPROM
R39 [}36]
Chopper voltage (channel 2 only) 0x0000 0
dec
R/W EEPROM
R40 [}36]
Internal resistance of the motor 0x0064 100
dec
R/W EEPROM
R41 [}36]
Automatic switch-off threshold for
MixedDecay
0x0014 20
dec
R/W EEPROM
R42 [}36]
Kp factor 0x1000 4096
dec
R/W EEPROM
R43 [}36]
Inner window of the I component 0x0001 1
dec
R/W EEPROM
R44 [}37]
Maximum value of the I component 0x0005 5
dec
R/W EEPROM
R45 [}37]
Time constant Tn of the I component 0x0064 100
dec
R/W EEPROM
R46 [}37]
Time constant for deleting or limiting the
maximum torque
0x01F4 500
dec
R/W EEPROM
R47 [}37]
Time constant for limiting the rated motor
current
0x2710 10000
dec
R/W EEPROM
R48 reserved
... ... ... ... ... ...
R61 reserved
R62 [}37]
Internal parameters for current control 0x03E8 1000
dec
R/W EEPROM
R63 [}37]
Internal parameters for current control 0x0064 100
dec
R/W EEPROM
Access from the user program
KL2542 33Version: 2.0.0
5.4 Register description
All registers can be read or written via register communication [}38]. 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 R0.13 R0.12 R0.11 R0.10 R0.9 R0.8
Name - NoControl
Power
Torque
Overload
Over
Current
Under
Voltage
Over
Voltage
Low
Voltage
Over
Temperature
Bit R0.7 R0.6 R0.5 R0.4 R0.3 R0.2 R0.1 R0.0
Name - - - - - - - -
Key
Bit Name Description
R0.15 - reserved
R0.14 NoControl Power 1
bin
The 24V control voltage is not present at the power contacts
R0.13 Torque Overload 1
bin
Torque is greater than specified in R38
R0.12 Over Current 1
bin
Overcurrent in the driver stage
R0.11 Under Voltage 1
bin
Supply voltage less than 7V
R0.10 Over Voltage 1
bin
Supply voltage greater than 15% of the switch-on voltage (with R39=0) or
greater than specified in R39 (with R39<>0)
R0.9 Low Voltage 1
bin
The supply voltage is 10V less than the switch-on voltage
R0.8 Over
Temperature
1
bin
The internal temperature of the terminal is greater than 80°C (see R5
[}34])
R0.0 R0.7
- reserved
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 [}37])
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 / VC |
where
1.1 E = VC - V
G
1.2 VC = VS x DataOUT / 32767
with
M Torque (magnitude) [M] = 1
E Control error [E] = 1 V
V
S
Supply voltage [VS] = 1 V
V
G
Countervoltage of the motor [VG] = 1 V
V
C
Set velocity (set voltage, relative to the process data) [VC] = 1 V
Access from the user program
KL254234 Version: 2.0.0
R3: Supply voltage
Enables reading of the motor supply voltage. The unit is 1mV (for example: 4800 = 48V).
R5: Temperature register
The internal temperature of the terminal can be read, in °C, through register R6. The terminal will set bit SB.5
[}29] in the status byte as a warning if the temperature exceeds the threshold of 80°C. When the
temperature falls back below 60°C, bit SB.5 [}29] will automatically be reset.
R6: Status byte
The status byte of the relevant channel is mapped here in addition.
R7: Command register
Note
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 [}35].
Command 0x7000: Restore Factory Settings
Entering 0x7000 in register R7 restores the factory settings for the following registers of both channels:
R32 [}35]: 0
dec
R33 [}35]: 0
dec
R34 [}35]: 4096
dec
R35 [}36]: 0
dec
R36 [}36]: 5000
dec
R37 [}36]: 3500
dec
R38 [}36]: 10000
dec
R39 [}36]: 0
dec
R40 [}36]: 100
dec
R41 [}36]: 20
dec
R42 [}36]: 4096
dec
R43 [}36]: 1
dec
R44 [}37]: 5
dec
R45 [}37]: 100
dec
R46 [}37]: 500
dec
R47 [}37]: 10000
dec
Note
Restore Factory Settings
The command Restore Factory Settings simultaneously resets both channels of the DC
motor output stage terminal to the delivery state, irrespective of which register set it is
called!
Command 0x8000: Software Reset
Entering 0x8000 in register R7 initiates a full software reset for the terminal. All internal variables (positions,
latched values, errors, etc.) are cleared or are set to defined values that are read from the EEPROM. The
internal circuits (D/A converter, output driver) are reinitialized during a software reset.
CAUTION
Danger to persons and machines!
During a software reset the motor is de-energized. Ensure that your system state permits
this and that hazards for persons or machinery have been ruled out!
R8: Terminal type
The terminal name is contained in register R8:
0x09EE (2542
dec
)
R9: Firmware version
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.
Access from the user program
KL2542 35Version: 2.0.0
R16: Hardware version number
Register R16 contains the hardware version of the terminal.
R31: Code word register
If you write values into the user registers without first entering the user code word (0x1235) into the code
word register, the terminal will not accept the supplied data. The code word is reset if the terminal is
restarted.
R32: Feature register
The feature register specifies the terminal's configuration.
Bit R32.15 R32.14 R32.13 R32.12 R32.11 R32.10 R32.9 R32.8
Name disVelocity
Controller
disIPart disIWindow - - enChopper enTorque
Error
enUser
StartValue
Bit R32.7 R32.6 R32.5 R32.4 R32.3 R32.2 R32.1 R32.0
Name - - - - enAverage
Notation
disWatchdogenManu
Scale
enUser
Scale
Key
Bit Name Description default
R32.15 disVelocity
Controller
1
bin
Velocity control is deactivated (proportional and integral
component), see R42 [}36]
0
bin
R32.14 disIPart 1
bin
I component of the velocity control is deactivated (see R44
[}37] + R45 [}37])
0
bin
R32.13 disIWindow 1
bin
Inner window of the I component is deactivated (see R43
[}36])
0
bin
R32.11 R32.12
- reserved
R32.10 enChopper 1
bin
Chopper resistor is active (overvoltage protection, channel 2
only, see R39 [}36])
0
bin
R32.9 enTorque Error 1
bin
Torque cutoff active (see R38 [}36])
0
bin
R32.8 enUser StartValue 1
bin
User switch-on value active (see R35 [}36])
0
bin
R32.4 R32.7
- reserved
R32.3 enAverage
Notation
1
bin
Signed amount representation active 0
bin
R32.2 disWatchdog 1
bin
Internal 100ms watchdog deactivated 0
bin
R32.1 enManuScale 1
bin
Manufacturer scaling is active 0
bin
R32.0 enUserScale 1
bin
User scaling active (see R33 [}35]+ R34 [}35])
0
bin
R33: User scaling - offset
Here you can enter the user scaling offset, if user scaling is enabled (R32.0 [}35]=1) (default: 0x0000).
Examples:
hex ... 0xFFFD 0xFFFE 0xFFFF 0x0000 0x0001 0x0002 ...
Offset ... -3 -2 -1 0 1 2 ...
R34: User scaling - gain
Here you can enter the user scaling gain, if user scaling is activated (R32.0 [}35]=1) is (default 4096
dec
).
Examples:
Access from the user program
KL254236 Version: 2.0.0
hex 0x0001 0x0800 0x0FFF 0x1000 0x1001 0x1800 0x2000 0xFFFF
dec 1
dec
2048
dec
4095
dec
4096
dec
4097
dec
6144
dec
8192
dec
65535
dec
Offset 0.0002 0.5 0.0098 1 1.0002 1.5 2 15.9998
R35: User's switch-on value
If the activated watchdog (R32.2 [}35] = 0
bin
) is triggered after 100ms due to a fieldbus or Terminal Bus
error, this value becomes the output value.
R36: Maximum coil current of the motor
This register specifies the maximum coil current of the motor. The unit is 1mA (example: 1500
dec
= 1.5A).
5000mA max.
R37: Rated current of the motor
This register specifies the rated current of the motor. The unit is 1mA (example: 1,000
dec
= 1.0A).
3500mA max.
R38: Maximum torque
This register is used for configuring the maximum permitted torque for the application (default: 10000
dec
), see
register description R2 [}33]
If the current value (register R2 [}33]) exceeds this threshold, with R32.9 [}35]=0 only a warning is issued
(SB1.5 [}29]=1 and R0.13 [}33]=1). If torque cutoff is active (R32.9 [}35]=1), the motor is de-energized and
an error is issued (SB1.6 [}29]=1 and R0.13 [}33]=1).
R39: Chopper voltage (channel 2 only)
If the supply voltage increases above the set chopper voltage due to feedback, the second channel (chopper
resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function is
activated (R32.10 [}35]=1).
R40: Internal resistance of the motor
This register contains the internal resistance of the motor (default: 100
dec
).
The unit is 0.01ohm (example: 100
dec
= 1.00ohm).
R41: Automatic switch-off threshold for MixedDecay
MixedDecay: To avoid motor resonances at low speed, the motor is controlled via two pulsed transistors per
half-wave.
This register contains the threshold at which the MixedDecay function of the motor controller chip is
automatically deactivated (default: 20
dec
).
The unit is 1% (example: 20 = 20%).
R42: Kp factor
This register contains the Kp factor of the internal velocity control (default: 4096
dec
).
The unit is 1 / 4096 (example: 4096
dec
=> Kp = 1.00).
R43: Inner window of the I component
The I-component of the velocity control is reduced towards zero (default: 1
dec
). This register specifies the
value from which the attenuation is activated.
The unit is 1% (example: 1 = 1%).
Access from the user program
KL2542 37Version: 2.0.0
R44: Maximum value of the I component
This register specifies the maximum value of the I-component (default: 5
dec
).
The unit is 1% (example: 5
dec
= 5%).
R45: Time constant Tn of the I component
This register controls the dynamic response of the I-controller (default: 100
dec
).
The unit is 1 (example: 100
dec
= 100).
R46: Time constant for deleting or limiting the maximum torque
The maximum torque is stored in register R2 [}33] for the time set in this register (default: 500
dec
).
The unit is 1ms (example: 500 = 0.5s).
The saved torque is then deleted and overwritten with the next larger value.
If torque cutoff is active, the motor is de-energized if the current torque for this time is greater than the value
set in register R38 [}36].
R47: Time constant for limiting the rated motor current
The terminal energizes a connected motor with increasing mechanical load up to the current set in register
R36 [}36]. If this mechanical load is maintained, the motor current is reduced to the rated current via a 1/T
function after this set time (default: 10,000
dec
).
The unit is 1ms (example: 10000 = 10s).
R62, R63: Internal parameters for current control
These registers are used internally by the terminal for current control and must not be modified!
Access from the user program
KL254238 Version: 2.0.0
5.5 Examples of Register Communication
The numbering of the bytes in the examples corresponds to the display without word alignment.
5.5.1 Example 1: reading the firmware version from Register 9
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0x89 (1000 1001
bin
) 0xXX 0xXX
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 not set means: reading the register.
• Bits 0.5 to 0.0 specify the register number 9 with 00 1001
bin
.
• 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.
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x89 0x33 0x41
Explanation:
• The terminal returns the value of the control byte as a receipt in the status byte.
• 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.
5.5.2 Example 2: Writing to an user register
Note
Code word
In normal mode all user registers are read-only with the exception of Register 31. In order
to deactivate this write protection you must write the code word (0x1235) into Register 31. If
a value other than 0x1235 is written into Register 31, write protection is reactivated. Please
note that changes to a register only become effective after restarting the terminal (poweroff/power-on).
I. Write the code word (0x1235) into Register 31.
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0xDF (1101 1111
bin
) 0x12 0x35
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 set means: writing to the register.
• Bits 0.5 to 0.0 specify the register number 31 with 01 1111
bin
.
• The output data word (byte 1 and byte 2) contains the code word (0x1235) for deactivating write
protection.
Access from the user program
KL2542 39Version: 2.0.0
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x9F (1001 1111
bin
) 0xXX 0xXX
Explanation:
• 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!
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
bin
) 0xXX 0xXX
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 not set means: reading the register.
• Bits 0.5 to 0.0 specify the register number 31 with 01 1111
bin
.
• The output data word (byte 1 and byte 2) has no meaning during read access.
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x9F (1001 1111
bin
) 0x12 0x35
Explanation:
• The terminal returns the value of the control byte as a receipt in the status byte.
• The terminal returns the current value of the code word register in the input data word (byte 1 and byte
2).
III. Write to Register 32 (change contents of the feature register)
Output data
Byte 0: Control byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0xE0 (1110 0000
bin
) 0x00 0x02
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 set means: writing to the register.
• Bits 0.5 to 0.0 indicate register number 32 with 10 0000
bin
.
• The output data word (byte 1 and byte 2) contains the new value for the feature register.
CAUTION
Observe the register description!
The value of 0x0002 given here is just an example!
The bits of the feature register change the properties of the terminal and have a different
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.
Access from the user program
KL254240 Version: 2.0.0
Input data (response from the Bus Terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0xA0 (1010 0000
bin
) 0xXX 0xXX
Explanation:
• 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!
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
bin
) 0xXX 0xXX
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 not set means: reading the register.
• Bits 0.5 to 0.0 indicate register number 32 with 10 0000
bin
.
• The output data word (byte 1 and byte 2) has no meaning during read access.
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0xA0 (1010 0000
bin
) 0x00 0x02
Explanation:
• 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).
V. Write Register 31 (reset code word)
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0xDF (1101 1111
bin
) 0x00 0x00
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 set means: writing to the register.
• Bits 0.5 to 0.0 specify the register number 31 with 01 1111
bin
.
• The output data word (byte 1 and byte 2) contains 0x0000 for reactivating write protection.
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x9F (1001 1111
bin
) 0xXX 0xXX
Explanation:
• 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!
Appendix
KL2542 41Version: 2.0.0
6 Appendix
6.1 Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
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.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20
33415 Verl
Germany
Phone: +49(0)5246/963-0
Fax: +49(0)5246/963-198
e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157
Fax: +49(0)5246/963-9157
e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
e-mail: service@beckhoff.com
List of illustrations
KL254242 Version: 2.0.0
List of illustrations
Fig. 1 KL2542 ........................................................................................................................................ 8
Fig. 2 KL2542 - LEDs ............................................................................................................................ 10
Fig. 3 Attaching on mounting rail ........................................................................................................... 11
Fig. 4 Disassembling of terminal............................................................................................................ 12
Fig. 5 Power contact on left side............................................................................................................ 13
Fig. 6 Standard wiring............................................................................................................................ 14
Fig. 7 Pluggable wiring .......................................................................................................................... 14
Fig. 8 High Density Terminals................................................................................................................ 15
Fig. 9 Connecting a cable on a terminal point ....................................................................................... 16
Fig. 10 KL2542 connection ...................................................................................................................... 17
Fig. 11 KS2000 configuration software.................................................................................................... 19
Fig. 12 Display of the fieldbus station in KS2000 .................................................................................... 21
Fig. 13 KS2000 branch for channel 1 of the KL2542............................................................................... 21
Fig. 14 Settings via KS2000 .................................................................................................................... 22
Fig. 15 Register view in KS2000.............................................................................................................. 25
Fig. 16 ProcData...................................................................................................................................... 26
Fig. 17 History field .................................................................................................................................. 26
Fig. 18 Value field .................................................................................................................................... 26
Fig. 19 Value field .................................................................................................................................... 27
Fig. 20 Settings........................................................................................................................................ 27
Loading...