BECKHOFF KL3201 User Manual

Documentation for

KL3201, KL3202 and KL3204

Single-, Two- and Four-Channel Analog Input Terminals
for PT100 (RTD)

Version: 3.3
Date: 2013-04-03

Table of contents

Table of contents

1. Foreword 1

Notes on the documentation 1
Safety Instructions 2

2. Technical data 3

3. Connection 4

KL3201 4
KL3202 5
KL3204 5

4. ATEX - Special conditions 6

5. Functional description 7

6. Terminal configuration 9

7. Register Description 10

General Description of Registers 10
Terminal-specific register description 13
Control and Status byte 15
Register communication 17

8. Appendix 19

Mapping 19
Register Table 22
Support and Service 23

KL3201, KL3202 and KL3204

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.
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. For that reason the documentation is not in every case checked for consistency with
performance data, standards or other characteristics. 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.

Trademarks

Beckhoff
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 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.

Copyright

© Beckhoff Automation GmbH.
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.

®

, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered

KL3201, KL3202 and KL3204 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..

Serious risk of injury!

DANGER

Failure to follow the safety instructions associated with this symbol directly endangers

the life and health of persons.

Danger for persons!

CAUTION

Note

Failure to follow the safety instructions associated with this symbol may endanger

persons.

Tip or pointer

This symbol indicates information that contributes to better understanding.

2 KL3201, KL3202 and KL3204

Technical data

Technical data KL3201 KL3202 KL3204

Number of inputs 1 2 4
Power supply via the K-Bus
Sensor types

Connection 2 or 3-wire (pre-set to 3-wire) 2 wire
Temperature range -200°C ... +850°C (PT sensors); -60°C ... +250°C (Ni sensors)
Resolution 0.1°C per digit (measuring range 10 to 5000 Ω: 0.5°C per digit)
Electrical isolation 500 V (K-Bus/signal voltage)
Conversion time ~ 200 ms ~ 250 ms
Measuring current typically 0.5 mA
Meas. error (total meas. range) < ± 1°C < ± 1 C (at 0°C ... +55°C)

Bits width in process image

Current consumption from K-Bus typically 60 mA
Configuration no address setting, configuration via bus coupler or controller
Special features open-circuit recognition
Weight approx. 70 g
Operating temperature 0°C ... +55°C

Storage temperature -25°C ... +85°C -40°C... +85°C
Relative humidity 95 % no condensation
Vibration / shock resistance according to EN 60068-2-6 / EN 60068-2-27
EMC resistance burst / ESD according to EN 61000-6-2 / EN 61000-6-4
Installation position variable
Protection class IP20
Approvals CE, cULus, ATEX

Technical data

PT100, PT200, PT500, PT1000, Ni100, Ni120. Ni1000 resistance
measurement (e.g. potentiometer connection)

< ± 1.5 C (at utilization of the extended
temperature range)

Input: 1 x 16 bits of
data
(1 x 8 bit
control/status
optional)

Input: 2 x 16 bits of
data
(2 x 8 bit
control/status
optional)

-25°C ... +60°C in operation (extended
temperature range)
0°C ... +55°C (according to cULus for
Canada and USA)
0°C ... +55°C (according to ATEX, see
special conditions)

Input: 4 x 16 bits of
data
(4 x 8 bit
control/status
optional)

KL3201, KL3202 and KL3204 3

Connection

Connection

KL3201

4 KL3201, KL3202 and KL3204

Connection

KL3202

KL3204

KL3201, KL3202 and KL3204 5

ATEX - Special conditions

ATEX - Special conditions

Observe the special conditions for the intended use of
Beckhoff fieldbus components in potentially explosive areas (directive 94/9/EU)!

WARNING

• The certified components are to be installed in a suitable housing that guaran-

• If the temperatures during rated operation are higher than 70°C at the feed-in

• Observe the permissible ambient temperature range of 0 - 55°C for the use of

• Measures must be taken to protect against the rated operating voltage being

• The individual terminals may only be unplugged or removed from the Bus

• The connections of the certified components may only be connected or dis-

• The fuses of the KL92xx power feed terminals may only be exchanged if the

• Address selectors and ID switches may only be adjusted if the supply voltage

Operation of the Bus Terminal System in potentially explosive areas (ATEX)!

tees a protection class of at least IP54 in accordance with EN 60529! The envi­ronmental conditions during use are thereby to be taken into account!

points of cables, lines or pipes, or higher than 80°C at the wire branching
points, then cables must be selected whose temperature data correspond to
the actual measured temperature values!

Beckhoff fieldbus components in potentially explosive areas!

exceeded by more than 40% due to short-term interference voltages!

Terminal system if the supply voltage has been switched off or if a non­explosive atmosphere is ensured!

connected if the supply voltage has been switched off or if a non-explosive at­mosphere is ensured!

supply voltage has been switched off or if a non-explosive atmosphere is en­sured!

has been switched off or if a non-explosive atmosphere is ensured!

Note

Pay also attention to the continuative documentation

Notes about operation of the Bus Terminal System in potentially explosive areas
(ATEX)

that is available in the download area

http://www.beckhoff.com

!

of the Beckhoff homepage

6 KL3201, KL3202 and KL3204

Functional description

Functional description

The KL320x analog input terminals enable resistance sensors to be

connected directly. A micro-controller within the terminal is used for
converting and linearizing the resistance to a temperature value. The
temperatures are displayed as follows:

• Measuring range 10 to 5000 Ω: 1/2 °C (1 digit = 0.5 °C)

• All other measuring ranges: 1/10 °C (1 digit = 0.1 °C)

In addition to this, a broken wire or short circuit is reported to the Bus
Coupler or to the controller, and indicated by the ERROR LED.
PT100, NI100, PT200, PT500, NI120, NI1000 and PT1000 elements are
implemented over their full measuring ranges as resistance sensors. The
terminal can be fully configured over a fieldbus. A self-defined scaling of
the output can, for instance, be performed, or the temperature conversion
can be switched off. In the latter case, the measurement is output in the
range from 10 Ω up to 1.2 kΩ with a resolution of 1/16 Ω (the internal
resolution of the resistance value is 1/255 Ω).

Output format
of the process data

In the delivery state, the measured value is displayed in increments of
1/10° C in two's complement format (integer). The complete measuring
range is output for each resistance sensor. Other display types can be
selected via the feature register (e.g. sign/amount representation, Siemens
output format).

Measured

value

-250.0°C

-200.0°C

-100.0°C

-0.1°C

0.0°C

0.1°C

100.0°C

200.0°C

500.0°C

850.0°C

Hexadecimal output Signed integer output

0xF63C -2500
0xF830 -2000
0xFC18 -1000
0xFFFF -1
0x0000 0
0x0001 1
0x03E8 1000
0x07D0 2000
0x1388 5000
0x2134 8500

Resistance limit values R > 400 Ω: Bits 1 and 6 (over range and error bits) in the status byte are

set. The linearization of the characteristic curve is continued with the
coefficients of the upper range limit up to the limit stop of the A/D converter
(approx. 500 Ω for PT100).
R<18 Ω: Bits 0 and 6 (under range and error bits) in the status byte are set.
The smallest negative number is displayed (0x8001 corresponds to -

32767).
For over range or under range the red error LED is switched on.

LED display The LEDs indicate the operating state of the associated terminal channels.

Green LEDs: RUN (not applicable for KL3204)

• On: normal operation

• Off: Watchdog-timer overflow has occurred. If no process data is

transmitted to the bus coupler for 100 ms, the green LEDs go out.

Red LEDs: ERROR

• On: Short circuit or wire breakage. The resistance is in the invalid
range of the characteristic curve.

• Off: The resistance is in the valid range of the characteristic curve.

KL3201, KL3202 and KL3204 7

Functional description

_

Process data The process data that are transferred to the terminal bus are calculated

using the following equations:

X_RL: ADC value of the supply cables
X_RTD: ADC value of the temperature sensor, including one supply
cable
X_R: ADC value of the temperature sensor
A_a, B_a: Manufacturer gain and offset compensation (R17, R18)
A_h, B_h: Manufacturer scaling
A_w, B_w: User scaling
Y_R: Temperature sensor resistance value
Y_T: Measured temperature in 1/16 °C
Y_THS: Temperature after manufacturer scaling (1/10 °C)
Y_TAS: Temperature after user scaling
Y_AUS: Process data to PLC

a) Calculation of the resistance value:
X_R = X_RTD-X_RL (1.0)
Y_R = A_a * (X_R - B_a) (1.1)

b) Curve linearisation:
Y_T = a
or
Y_T = Y_R if output in Ω (1.3)

c) Neither user nor manufacturer scaling are active:
Y_AUS = Y_T (1.4)

d) Manufacturer scaling active (factory setting):
Y_THS = A_h * Y_T + B_h (1.5)
Y_AUS = Y_THS

e) User scaling active:
Y_TAS = A_w * Y_T + B_w (1.6)
Y_AUS = Y_TAS

f) Manufacturer and user scaling active: (1.7)
Y_1 = A_h * Y_T + B_h
Y_2 = A_w * Y_1 + B_w
Y_AUS = Y_2

1sec

RL

ADC

RL

X_R

* Y_R2 + b1* Y_R + c1 (1.2)

1

1:1

Y_THS

1:1

Y

TAS

1:1 1:1

Y_R

Y_T

1:1

Y_AUS

RTD

A_w,B_w

Linearisation

A_a,B_a

Offset,Gain-parameter

a1,b1,c1

A_h,B_h

Manufacturer

Siemens output
format

scaling

8 KL3201, KL3202 and KL3204

user scaling

ammount rep.
active

add. bits
(Siemens format)

Terminal configuration

The terminal can be configured and parameterized via the internal register

BK2000 Lightbus Coupler In the BK2000 Lightbus coupler, the control and status byte is mapped in

Example for KL3202:

Terminal configuration

structure. Each terminal channel is mapped in the Bus Coupler. Depending
on the type of the Bus Coupler and the mapping configuration (e.g.
Motorola/Intel format, word alignment etc.) the terminal data are mapped in
different ways to the Bus Coupler memory. For parameterizing a terminal,
the control and status byte also has to be mapped.

addition to the data bytes. This is always located in the low byte at the
offset address of the terminal channel.

Beckhoff-Lightbus
bus coupler
BK2000

The terminal is
mapped in the
bus coupler.

C/S

Data H Data L

C/S

Data LData H

C/S

D1 - 1

D1 - 0

0 Offset Terminal1 Channel1 = 0

D0 - 1
C/S - 1
D0 - 0
C/S - 0

Offset Terminal2 Channel2 = 8
User data allocation depending

on mapping
Offset Terminal2 Channel1 = 4

KL3202

LH

BK3000 PROFIBUS
coupler

K-Bus

To the bus terminal

For the BK3000 PROFIBUS coupler, the master configuration should
specify for which terminal channels the control and status byte is to be
inserted. If the control and status byte are not evaluated, the terminals
occupy 2 bytes per channel:

• KL3201: 2 bytes of input data

• KL3202: 4 bytes of input data

• KL3204: 8 bytes of input data

Example for KL3202:

Profibus bus coupler
BK3000

The terminal is
mapped in the
bus coupler.

Data L
Data H

C/S
D0 - 1
D1 - 1

C/S - 1

D0 - 0
D1 - 0

C/S - 0

0

The control-/status byte
must be inserted for
parameterization.

Offset Terminal2 Channel1 = 6
KL 3202 Channel 2
Offset Terminal1 Channel2 = 3
KL 3202 Channel1
Offset Terminal1 Channel1 = 0

K-Bus

To the bus terminal

KL3201, KL3202 and KL3204 9

Register Description

BK4000 Interbus Coupler The BK4000 Interbus Coupler maps the terminals in the delivery state with

2 bytes per channel:

• KL3201: 2 bytes of input data

• KL3202: 4 bytes of input data

• KL3204: 8 bytes of input data

Parameterization via the fieldbus is not possible. If the control and status
byte is to be used, the KS2000 configuration software is required.

Example for KL3202:

Interbus bus coupler

The control/status byte
must be inserted for

BK4000

The terminal is
mapped in the
bus coupler.

Data H
Data L
Data H
Data L
Data H

D0 - 1
D1 - 1
D0 - 0
D1 - 0

0

parameterization (KS2000).

Offset Terminal2 Channel1 = 6

Offset Terminal2 Channel1 = 4

Offset Terminal1 Channel2 = 2

Offset Terminal1 Channel1 = 0

K-Bus

Other Bus Couplers and
further information

i

Note

Parameterization with
KS2000

To the bus terminal

Further information about the mapping configuration of Bus Couplers can
be found in the Appendix of the respective Bus Coupler manual under

Master configuration.

The Appendix contains an overview of possible mapping configurations
depending on the parameters that can be set.

The parameterization can be carried out independently of the fieldbus
system with the KS2000 configuration software via the serial configuration
interface in the Bus Coupler.

Register Description

Different operating modes or functionalities may be set for the complex

terminals. The General Description of Registers explains those register

contents that are the same for all complex terminals.

The terminal-specific registers are explained in the following section.

Access to the internal terminal registers is described in the Register
Communication section.

Complex terminals that possess a processor are able to exchange data bi-

10 KL3201, KL3202 and KL3204

General Description of Registers

directionally with the higher-level controller. These terminals are referred to
below as intelligent Bus Terminals. These include analog inputs, analog
outputs, serial interface terminals (RS485, RS232, TTY etc.), counter
terminals, encoder interface, SSI interface, PWM terminal and all other
parameterizable terminals.

Register Description

The main features of the internal data structure are the same for all the
intelligent terminals. This data area is organized as words and comprises
64 registers. The important data and parameters of the terminal can be
read and set through this structure. It is also possible for functions to be
called by means of corresponding parameters. Each logical channel in an
intelligent terminal has such a structure (4-channel analog terminals
therefore have 4 sets of registers).

This structure is divided into the following areas:

(A detailed list of all registers can be found in the Appendix.)

Register Application

0 to 7

8 to 15
16 to 30
31 to 47
48 to 63

Process variables
Type register
Manufacturer parameters
User parameters
Extended user area

Process variables

R0 to R7: Registers in the internal RAM of the terminal:

The process variables can be used in addition to the actual process image.
Their function is specific to the terminal.

R0 to R5: Terminal-specific registers

The function of these registers depends on the respective terminal type

(see terminal-specific register description).

R6: Diagnostic register

The diagnostic register can contain additional diagnostic information. Parity
errors, for instance, that occur in serial interface terminals during data
transmission are indicated here.

R7: Command register

High-Byte_Write = function parameter
Low-Byte_Write = function number
High-Byte_Read = function result
Low-Byte_Read = function number

Type register

R8 to R15: Registers in the internal ROM of the terminal

The type and system parameters are hard programmed by the
manufacturer, and the user can read them but cannot change them.

R8: Terminal type

The terminal type in register R8 is needed to identify the terminal.

R9: Software version (X.y)

The software version can be read as a string of ASCII characters.

R10: Data length

R10 contains the number of multiplexed shift registers and their length in
bits. The Bus Coupler sees this structure.

R11: Signal channels

Related to R10, this contains the number of channels that are logically
present. Thus for example a shift register that is physically present can
perfectly well consist of several signal channels.

R12: Minimum data length

The particular byte contains the minimum data length for a channel that is
to be transferred. If the MSB is set, the control and status byte is not
necessarily required for the terminal function and is not transferred to the
control, if the Bus Coupler is configured accordingly.

KL3201, KL3202 and KL3204 11

Register Description

Manufacturer parameters

User parameters

i

Note

Extended application region

R13: Data type register

Data type register

0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x11
0x12 Structure 1 byte n bytes with variable logical channel

0x13
0x14 Structure 1 byte n words with variable logical channel

0x15
0x16 Structure 1 byte n double words with variable logical

Terminal with no valid data type
Byte array
Structure 1 byte n bytes
Word array
Structure 1 byte n words
Double word array
Structure 1 byte n double words
Structure 1 byte 1 double word
Structure 1 byte 1 double word
Byte array with variable logical channel length

length (e.g. 60xx)
Word array with variable logical channel length

length
Double word array with variable logical channel length

channel length

R14: Reserved

R15: Alignment bits (RAM)

The alignment bits are used to place the analog terminal in the Bus
Coupler on a byte boundary.

R16 to R30, Manufacturer parameter area (SEEROM)

The manufacturer parameters are specific for each type of terminal. They
are programmed by the manufacturer, but can also be modified by the
controller. The manufacturer parameters are stored in a serial EEPROM in
the terminal, and are retained in the event of voltage drop-out.
These registers can only be altered after a code-word has been set in R31.

R31 to R47: User parameter area (SEEROM)

The user parameters are specific for each type of terminal. They can be
modified by the programmer. The user parameters are stored in a serial
EEPROM in the terminal, and are retained in the event of voltage drop-out.
The user area is write-protected by a code-word.

R31: Code-word register in RAM

The code-word 0x1235 must be entered here so that parameters in the
user area can be modified. If any other value is entered into this register,
the write-protection is active. When write protection is not active, the code
word is returned when the register is read. If the write protection is active,
the register contains a zero value.

R32: Feature register

This register specifies the terminal's operating modes. Thus, for instance, a
user-specific scaling can be activated for the analog I/Os.

R33 to R47 Terminal-specific Registers

The function of these registers depends on the respective terminal type

(see terminal-specific register description).

R47 to R63

Extended registers with additional functions.

12 KL3201, KL3202 and KL3204

Register Description

Process variables

Manufacturer parameters

Terminal-specific register description

R0: Raw ADC value X_R

This register contains the raw ADC value.

R1: Raw ADC value of the line resistance between +R1 - RL1 or +R2 ­RL2

R2 to R5: Reserved

R6: Diagnostic register

High byte: not used
Low byte: status byte

R17: Hardware compensation - offset (B_a)

16 bit signed integer
This register is used for offset compensation of the terminal (Eq. 1.1).
Register value approx. 0xEDXX

R18: Hardware compensation - gain (A_a)

16 bits * 16
This register is used for gain compensation of the terminal (Eq. 1.1).
Register value approx. 0x27XX

R19: Manufacturer scaling - offset (B_h)

16 bit signed integer [0x0000]
This register contains the offset of the manufacturer's straight-line equation
(1.5). The straight-line equation is activated via register R32.

R20: Manufacturer scaling - gain (A_h)

16 bits signed integer *2
This register contains the scaling factor of the manufacturer's straight-line
equation (1.5). The straight-line equation is activated via register R32.

R21: Additional offset register for two-wire connection

The value of register 1 at short circuit +R1-RL1 or +R2-RL2
[approx. 0x01AX]

-5

(approx. 0.01907 Ω/digit)

-8

[0x00A0]

KL3201, KL3202 and KL3204 13

Register Description

User parameters

R32: Feature register

[0x0106]
The feature register specifies the terminal's operating mode.

Feature bit

no.

Bit 0
Bit 1
Bit 2

Bit 3

Bit 4

Bit 5.6

Bit 7
Bit 8

Bit 9

Bit 10
Bit 11

15,14,13,12

0 0 0 0
0 0 0 1
0 0 1 0
0 0 1 1
0 1 0 0
0 1 0 1
0 1 1 0
1 1 1 0
1 1 1 1

Description of the operating mode

1 User scaling (R33, R44) active [0]
1 Manufacturer scaling (R19, R20) active [1]
1 Watchdog timer active [1]

In the delivery state, the watchdog timer is
switched on.

1 Sign / amount representation [0]

Sign / amount representation is active
instead of two's-complement representation
(-1 = 0x8001).

1 Siemens output format [0]

This bit is used for inserting status
information on the lowest 3 bits (see below).

- reserved, do not change
1 Activates filter constant in R37 [0]
1 Over range Protection [1]

If the temperature exceeds 850°C the status
bits are correspondingly set and the output
value is restricted to 850°C.

- reserved, do not change
1

- reserved, do not change

Bit

Element

PT100 -200°C to 850°C
NI100 -60°C to 250°C
PT1000 -200°C to 850°C
PT500 -200°C to 850°C
PT200 -200°C to 850°C
NI1000 -200°C to 850°C
NI120 -80°C to 320°C
Output in Ω 10.0 Ω to 5000.0 Ω
Output in Ω 10.0 Ω to 1200.0 Ω

Two-wire connection [0]

Valid measuring range

Output format If only manufacturer scaling via the feature register is active, the output

format is as follows:
1 digit corresponds to 1/10 °C or
1 digit corresponds to 1/10 Ω

If no scaling is active, the output format is as follows:
1 digit corresponds to 1/16 °C or
1 digit corresponds to 1/16 Ω

14 KL3201, KL3202 and KL3204

Register Description

If the Siemens output format is selected, the lowest three bits are used for
status evaluation. The process data is represented in bits 3 to 15, with bit
15 representing the sign bit. Scaling of the measurement reading according
to the Siemens standard has to be done via user scaling.

Bit

Measured value

out of range

in range

Bits 15-3

0 0 1
Process data 0 0 0

Bit 2
X

Bit 1
Error

Bit 0
Overflow

R33: User scaling - offset (B_w)

16 bit signed integer
This register contains the offset of the user straight-line equation (1.6). The
straight-line equation is activated via register R32.

R34: User scaling (A_w)

16 bits signed integer* 2

-8

. This register contains the scaling factor of the
user straight-line equation (1.6). The straight-line equation is activated via
register R32.

R35 and R36: reserved

R37: Filter constant

[0x0000]

This documentation applies to all terminals from firmware version 3x. The

i

Note

version number can be found within the serial number on the right-hand
side face of the terminal: xxxx3xxx

Example: 52983A2A  The firmware version is 3A.

Filter constants: First notch [Hz] Conversion time [ms]

0x0000 25 250
0x50 100 65
0xA0 50 125
0x140 25 250
0x280 12.5 500

Control and Status byte

Control byte for process
data exchange
Gain and offset
compensation

The control byte is transmitted from the controller to the terminal. It can be
used

- in register mode (REG = 1

- during process data exchange (REG = 0

) or

bin

bin

).
The control byte can be used to carry out gain and offset compensation for
the terminal (process data exchange). This requires the code word to be
entered in R31. The gain and offset of the terminal can then be
compensated.
The parameter will only be saved permanently once the code word is reset!

Control byte:
Bit 7 = 0
Bit 6 = 1
Bit 4 = 1

bin

: Terminal compensation function is activated

bin

: Gain compensation

bin

Bit 3 = 1 offset compensation
Bit 2 = 0
1
Bit 1 = 1
Bit 0 = 1

: Slower cycle = 1000 ms

bin

: Fast cycle = 50 ms

bin

: up

bin

: down

bin

KL3201, KL3202 and KL3204 15

Register Description

Status byte for process
data exchange

The status byte is transmitted from the terminal to the controller. The status
byte contains various status bits for the analog input channel:

status byte:
Bit 7 = 0
Bit 6 = 1

bin

: ERROR (general error bit)

bin

Bit 5 to bit 2: reserved
Bit 1 = 1
Bit 0 = 1

: Over range

bin

: Under range

bin

Compensation Implemented straight-line equation

Y[Ω] = (X_Adc * G + B_h) * A_h + 100 Ω

Hence:
B_h consists of a component that depends on the gain of the A/D converter
and a constant for calculating the axis offset of 100 Ω. The gain-dependent
component calculates the offset of the external components (the offset of
the component can be varied via adjustable amplification). This procedure
is necessary, because compensation at 0 Ω is technically not possible. The
line is therefore compensated around the point 100 Ω (offset to the point
and rotated around this point).

B_h: (B_off * G + B_100)

• Offset compensation should therefore be carried out for PT100 at
100 Ω (or PT1000 at 1000 Ω).

• Gain compensation is then carried out independently of the offset,
e.g. at 300 Ω. 300 Ω corresponds to 557.7°C = 0x15C9

Default setting of the
registers:

R17: 0xED68 corresponds to -90.8 Ω
R18: 0x4E20 corresponds to 2000 * 16
R19: 0x0000
R20: 0x00A0

R32: 0x0106
R33: 0x0000
R34: 0x0100

The gain and offset compensation only has to be carried out once, i.e. it
does not have to be repeated or corrected for any of the other implemented
elements.

For the two-wire connection, with short-circuited line resistance (+R1-Rl1)
the raw ADC value of the line resistance (contained in R1) has to be
entered in register R21.

-5

= 0.01907 Ω/digit

16 KL3201, KL3202 and KL3204

Register Description

KL3202 as resistance input
0 to 1 kΩ

If the KL3202 is used for resistance measurements, the following values
should be written into the following registers:

R32: Feature register: 0xF401

i.e. user scaling active with display of the measured value in Ohm and two­wire connection.

R33: User scaling - offset (0x0000)

R34: User scaling - gain (0x0010)

the display of the measured value follows:

Resistance in Ω Output value

0

0

1000

Register communication

Register access via
process data exchange
Bit 7 = 1

: Register mode

bin

If bit 7 of the control byte is set, then the first two bytes of the user data are
not used for exchanging process data, but are written into or read from the
terminal's register set.

Bit 6 = 0
Bit 6 = 1

: read

bin

: write

bin

Bit 6 of the control byte specifies whether a register should be read or
written. If bit 6 is not set, then a register is read out without modifying it.
The value can then be taken from the input process image.

If bit 6 is set, then the user data is written into a register. As soon as the
status byte has supplied an acknowledgement in the input process image,
the procedure is completed (see example).

Bit 0 to 5: Address The address of the register that is to be addressed is entered into bits 0 to

5 of the control byte.

Control byte in
register mode

MSB

REG=1 W/R A5 A4 A3 A2 A1 A0

REG = 0
REG = 1
W/R = 0
W/R = 1

: Process data exchange

bin

: Access to register structure

bin

: Read register

bin

: Write register

bin

A5...A0 = register address
Address bits A5 to A0 can be used to address a total of 64 registers.

1000

KL3201, KL3202 and KL3204 17

Register Description

To the bus coupler

K-Bus

Control-/
status byte

C/S-bit 7

If control bit 6=0: read
If control bit 6=1: write

Complex bus terminal

Example 1 Reading of register 8 in the BK2000 with a KL3202 and the end terminal:

Example 2 Writing of register 31 in the BK2000 with an intelligent terminal and the end

The control or status byte occupies the lowest address of a logical channel.
The corresponding register values are located in the following 2 data bytes.
(The BK2000 is an exception: here, an unused (reserved) data byte is
automatically inserted after the control or status byte, and the register
value is therefore placed on a word boundary).

If the following bytes are transferred from the control to the terminal,

Byte
Name
Value

Byte 3 Byte 2 Byte 1 Byte 0
DataOUT 1 DataOUT 0 Not used Control byte
0xXX 0xXX 0xXX 0x88

the terminal returns the following type identifier (0x0C82 corresponds to
unsigned integer 3202).

Byte
Name
Value

Byte 3 Byte 2 Byte 1 Byte 0
DataIN 1 DataIN 0 Not used Status byte
0x0C 0x82 0x00 0x88

terminal:
If the following bytes (code word) are transferred from the control to the
terminal,

Byte
Name
Value

Byte 3 Byte 2 Byte 1 Byte 0
DataOUT 1 DataOUT 0 Not used Control byte
0x12 0x35 0xXX 0xDF

the code word is set, and the terminal returns the register address with bit
7 for register access as acknowledgement.

Byte
Name
Value

Byte 3 Byte 2 Byte 1 Byte 0
DataIN 1 DataIN 0 Not used Status byte
0x00 0x00 0x00 0x9F

User data

2 or mors bytes

H

L

If control bit 7=0: input/output

If control bit 7=1:
register­configuration

If control bit 7=1:
adress in the control bit 0-5

Termin al ´s
register set
64 words

63

0

H

L

18 KL3201, KL3202 and KL3204

Appendix

Default mapping for:
CANopen, CANCAL,
DeviceNet, ControlNet,
Modbus, RS232, RS485

Default mapping for:
PROFIBUS, Interbus

Default mapping for:
Lightbus, EtherCAT,
Ethernet and
Bus Terminal Controller
(BCxxxx, BXxxxx)

Key See mapping of KL3202.

Appendix

Mapping

As already described in the Terminal Configuration section, each Bus

Terminal is mapped in the Bus Coupler. In the delivery state, this mapping
occurs with the default settings of the Bus Coupler for this terminal. The
default setting can be changed with the KS2000 configuration software or
with a master configuration software (e.g. TwinCAT System Manager or
ComProfibus).

If the terminals are fully evaluated, they occupy memory space in the input
and output process image.

The following tables provide information about the terminal mapping,
depending on the conditions set in the Bus Coupler.

KL3201

Conditions Word offset High byte Low byte
Complete evaluation: no 0 Ch0 D1 Ch0 D0
Motorola format: no 1 - ­Word alignment: any 2 - ­ 3 - -

Conditions Word offset High byte Low byte
Complete evaluation: no 0 Ch0 D0 Ch0 D1
Motorola format: yes 1 - ­Word alignment: any 2 - ­ 3 - -

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 Ch0 D0 Ch0 CB/SB
Motorola format: no 1 - Ch0 D1
Word alignment: no 2 - ­ 3 - -

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 Ch0 D1 Ch0 CB/SB
Motorola format: yes 1 - Ch0 D0
Word alignment: no 2 - ­ 3 - -

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 res. Ch0 CB/SB
Motorola format: no 1 Ch0 D1 Ch0 D0
Word alignment: yes 2 - ­ 3 - -

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 res. Ch0 CB/SB
Motorola format: yes 1 Ch0 D0 Ch0 D1
Word alignment: yes 2 - ­ 3 - -

KL3201, KL3202 and KL3204 19

Appendix

KL3202

Default mapping for:
CANopen, CANCAL,
DeviceNet, ControlNet,
Modbus, RS232, RS485

Conditions Word offset High byte Low byte
Complete evaluation: no 0 Ch0 D1 Ch0 D0

Motorola format: no 1 Ch1 D1 Ch1 D0
Word alignment: any 2 - ­ 3 - -

Default mapping for:
PROFIBUS, Interbus

Conditions Word offset High byte Low byte
Complete evaluation: no 0 Ch0 D0 Ch0 D1
Motorola format: yes 1 Ch1 D0 Ch1 D1
Word alignment: any 2 - ­ 3 - -

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 Ch0 D0 Ch0 CB/SB
Motorola format: no 1 Ch1 CB/SB Ch0 D1
Word alignment: no 2 Ch1 D1 Ch1 D0
3 - -

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 Ch0 D1 Ch0 CB/SB
Motorola format: yes 1 Ch1 CB/SB Ch0 D0
Word alignment: no 2 Ch1 D0 Ch1 D1
3 - -

Default mapping for:
Lightbus, EtherCAT,
Ethernet and
Bus Terminal Controller
(BCxxxx, BXxxxx)

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 res. Ch0 CB/SB
Motorola format: no 1 Ch0 D1 Ch0 D0
Word alignment: yes 2 res. Ch1 CB/SB
3 Ch1 D1 Ch1 D0

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 res. Ch0 CB/SB
Motorola format: yes 1 Ch0 D0 Ch0 D1
Word alignment: yes 2 res. Ch1 CB/SB
3 Ch1 D0 Ch1 D1

Key Complete evaluation:

The terminal is mapped with control and status byte.

Motorola format:
Motorola or Intel format can be set.

Word alignment:
The terminal is at word limit in the Bus Coupler.

Ch n SB: status byte for channel n (appears in the input process image).
Ch n CB: control byte for channel n (appears in the output process image).

Ch n D0: channel n, data byte 0 (byte with the lowest value)
Ch n D1: channel n, data byte 1 (byte with the highest value)

"-": This byte is not used or occupied by the terminal.
res.: reserved:
This byte occupies process data memory, although it is not used.

20 KL3201, KL3202 and KL3204

Appendix

KL3204

Default mapping for:
CANopen, CANCAL,
DeviceNet, ControlNet,
Modbus, RS232, RS485

Conditions Word offset High byte Low byte
Complete evaluation: no 0 Ch0 D1 Ch0 D0

Motorola format: no 1 Ch1 D1 Ch1 D0
Word alignment: any 2 Ch2 D1 Ch2 D0
3 Ch3 D1 Ch3 D0

Default mapping for:
PROFIBUS, Interbus

Conditions Word offset High byte Low byte
Complete evaluation: no 0 Ch0 D0 Ch0 D1
Motorola format: yes 1 Ch1 D0 Ch1 D1
Word alignment: any 2 Ch2 D0 Ch2 D1
3 Ch3 D0 Ch3 D1

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 Ch0 D0 Ch0 CB/SB
Motorola format: no 1 Ch1 CB/SB Ch0 D1
Word alignment: no 2 Ch1 D1 Ch1 D0
3 Ch2 D0 Ch2 CB/SB
4 Ch3 CB/SB Ch2 D1
5 Ch3 D1 Ch3 D0

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 Ch0 D1 Ch0 CB/SB
Motorola format: yes 1 Ch1 CB/SB Ch0 D0
Word alignment: no 2 Ch1 D0 Ch1 D1
3 Ch2 D1 Ch2 CB/SB
4 Ch3 CB/SB Ch2 D0
5 Ch3 D0 Ch3 D1

Default mapping for:
Lightbus, EtherCAT,
Ethernet and
Bus Terminal Controller
(BCxxxx, BXxxxx)

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 res. Ch0 CB/SB
Motorola format: no 1 Ch0 D1 Ch0 D0
Word alignment: yes 2 res. Ch1 CB/SB
3 Ch1 D1 Ch1 D0
4 res. Ch2 CB/SB
5 Ch2 D1 Ch2 D0
6 res. Ch3 CB/SB
7 Ch3 D1 Ch3 D0

Conditions Word offset High byte Low byte
Complete evaluation: yes 0 res. Ch0 CB/SB
Motorola format: yes 1 Ch0 D0 Ch0 D1
Word alignment: yes 2 res. Ch1 CB/SB
3 Ch1 D0 Ch1 D1
4 res. Ch2 CB/SB
5 Ch2 D0 Ch2 D1
6 res. Ch3 CB/SB
7 Ch3 D0 Ch3 D1

Key See mapping of KL3202.

KL3201, KL3202 and KL3204 21

Appendix

Address Denomination

R0
R1
R2
R3
R5
R6
R7
R8

R9
R10
R11
R12
R13
R14
R15
R16
R17
R18
R19
R20
R21 Offset register two-wire connection

R22

R3
R30
R31
R32
R33
R34
R35
R36
R37
R38

R63

Raw ADC value variable R RAM
Unprocessed ADC value for the leads variable R
reserved 0x0000 R

... ... ... ...

reserved 0x0000 R
Diagnostic register variable R RAM
Command register not used 0x0000 R
Terminal type e.g. 3202 R ROM
Software version number 0x???? R ROM
Multiplex shift register 0x0218/0130 R ROM
Signal channels 0x0218 R ROM
Minimum data length 0x0098 R ROM
Data structure 0x0000 R ROM
reserved 0x0000 R
Alignment register variable R/W RAM
Hardware version number 0x???? R/W SEEROM
Hardware compensation: Offset specific R/W SEEROM
Hardware compensation: Gain specific R/W SEEROM
Manufacturer scaling: Offset 0x0000 R/W SEEROM
Manufacturer scaling: Gain 0x00A0 R/W SEEROM

method
reserved 0x0000 R/W SEEROM

... ... ... ...

reserved 0x0000 R/W SEEROM
Code word register variable
Feature register 0x0106 R/W SEEROM
User scaling: Offset 0x0000 R/W SEEROM
User scaling: Gain 0x0100 R/W SEEROM
reserved 0x0000 R/W SEEROM
reserved 0x0000 R/W SEEROM
Filter constant 0x0138 R/W SEEROM
reserved 0x0000 R/W SEEROM

...

... ... ... ...

reserved 0x0000 R/W SEEROM

Register Table

These registers exist once for each channel.

Default
value

specific R/W SEEROM

R/W Storage medium

R/W

RAM

22 KL3201, KL3202 and KL3204

Appendix

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support and service on Beckhoff products!
The addresses of Beckhoff's branch offices and representatives round the
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KL3201, KL3202 and KL3204 23