KL5001
SSI Sensor Interface
Configuration Instructions
Version 2.2
2006-10-23
Contents
Contents
1. Foreword 3
Notes on the documentation 3
Safety Instructions 4
2. Technical data 5
3. Description of functions 6
4. Terminal configuration 6
5. Register description 8
General register description 8
Terminal-specific register description 10
Register communication KL5001 11
6. Annex 13
Mapping in the bus coupler 13
Table of the register 15
7. Support and Service 16
Beckhoff Headquarters 16
2 KL5001
Foreword
Foreword
Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering
who are familiar with the applicable national standards. It is essential that the following notes and explanations are followed when installing and commissioning these components.
Liability Conditions
The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
The documentation has been prepared with care. The products described are, however, constantly under
development. For that reason the documentation is not in every case checked for consistency with performance data, standards or other characteristics. None of the statements of this manual represents a
guarantee (Garantie) in the meaning of § 443 BGB of the German Civil Code or a statement about the
contractually expected fitness for a particular purpose in the meaning of § 434 par. 1 sentence 1 BGB. In
the event that it contains technical or editorial errors, we retain the right to make alterations at any time
and without warning. No claims for the modification of products that have already been supplied may be
made on the basis of the data, diagrams and descriptions in this documentation.
Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH apply.
Copyright
©
This documentation is copyrighted. Any reproduction or third party use of this publication, whether in
whole or in part, without the written permission of Beckhoff Automation GmbH, is forbidden.
KL5001
3
Foreword
i
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..
This symbol is intended to highlight risks for the life or health of personnel.
Danger
This symbol is intended to highlight risks for equipment, materials or the environ-
Attention
ment.
This symbol indicates information that contributes to better understanding.
Note
4 KL5001
Technical data
Technical data
Technical data KL5001
Sensor connection
Power supply
Current consumption
Sensor supply
Data transfer rate
Serial input
Data direction
Signal output
Signal input
Electrical isolation
Current consumption from K-Bus
Bit width in the process image
Weight approx..
Operating temperature
Storage temperature
Relative humidity
Vibration/shock resistance
EMC resistance Burst / ESD
Installation position
Type of protection
binary input: D+, D-; binary output: Cl+, Cl24 V DC via power contacts
typically 20 mA without sensor
24 V DC (20 V ... 29 V)
variable up to 1 MHz, 250 kHz default
24 bit width (variable)
read
difference signal (RS485)
difference signal (RS485)
500 V (K-Bus / field voltage)
25 mA typ.
I: 1 x 32 bits data, (1 x 8 bits control/status optional)
80 g
0°C ... +55°C
-25°C ... +85°C
95%, no condensation
conforms to IEC 68-2-6 / IEC 68-2-27
conforms to EN 50082 (ESD, Burst) / EN 50081
any
IP20
KL5001
5
Description of functions
Offset Terminal1 Channel1 = 0
Offset Terminal2 Channel1 = 4
User dat allocation depending
To the bus terminal
LED display
Process data
Alternative output format
Standard output format
Description of functions
The terminal KL5001 is an SSI interface for the direct connection of an SSI
sensor. The sensor is powered via the SSI interface. To read out the sensor, the terminal outputs a clock burst and provides the incoming data stream to the controller in the process image. Different operating modes,
transmission frequencies, bit widths and code conversions can be set. The
individual configuration is stored permanently in a register set.
The run LED indicates the operating state of the terminal.
On – normal operation
Off – watchdog timer overflow has occurred. The green LED goes off if no
process data is transmitted by the bus coupler for 100 ms.
The SSI interface is supplied with a data width of 24 bits and Gray binary
number conversion activated in the alternative output format. The baud
rate to the SSI sensors is set to 250 kHz. The process data is output in the
input data bytes D0 - D3. Mapping of the terminal in the alternative format
is described in further detail in the chapter on terminal configuration.
In the standard output format, 4 bytes of input data are mapped in the bus
coupler by default.
Terminal configuration
Beckhoff Lightbus
coupler BK2000
The terminal can be configured and parameterized via the internal register
structure.
Each terminal channel is mapped in the bus coupler. The data of the terminal is mapped differently in the memory of the bus coupler depending on
the type of the bus coupler and on the set mapping configuration (e.g. Motorola/ Intel format, word alignment,...). For parameterization of a terminal,
the control/status byte must also be mapped.
In the case of the Beckhoff Lightbus coupler BK2000, the control /status
byte is also always (i.e. in the case of all analog terminals) mapped in addition to the data bytes. It is always in the low byte at the offset address of
the terminal channel.
Beckhoff-Lightbus
6 KL5001
bus coupler
BK2000
The terminal is
mapped in the
bus coupler
Data H Data L
0
K-Bus
D3
D1
C/S
C/S
Data LData H
C/S
D2
--
D0
-
C/S
Offset Klemme 2 Kanal 2 = 8
on mapping
KL5001
LH
Offset Terminal1 Channel1 = 0
Offset Terminal2 Channel1 = 6
T othe bus terminal
Offset Terminal1 Channel1 = 0
Offset Terminal2 Channel1 = 4
Offset Terminal2 Channel2 = 7
To the bus terminal
i
Profibus coupler BK3000
In the case of the Profibus coupler BK3000, for which terminal channels
the control/status byte is also to be inserted must be defined in the master
configuration. If the control/status byte is not evaluated, the KL5001 occupies 4 bytes of input data. The figure shows the mapping with control/status byte.
Profibus bus coupler
BK3000
The terminal is
mapped in the
bus coupler.
Terminal configuration
The control/status byte
must be inserted for
Data L
Data H
Data L
D2
D3
D0
D1
0
C/S
parameterization.
KL5001
Interbus coupler BK4000
K-Bus
By default, the Interbus coupler BK4000 maps the Kl5001 with 4 bytes of
input data. Parametrization via the field bus is not possible. The KS2000
software is required for configuration if use is to be made of the control/status byte.
Interbus bus coupler
The control/status byte
must be inserted for
BK4000
The terminal is
mapped in the
bus coupler.
Data H
Nutz L
Data H
Data L
Data H
D2
D3
D0
0
D1
parameterization (KS2000).
KL5001
Other bus couplers and
further information
Note
Parameterization with
the KS2000 software
KL5001
K-Bus
You will find further information on the mapping configuration of bus couplers in the annex of the respective bus coupler manual and under the
heading of "Configuration of Masters".
The annex contains an overview of possible mapping configurations depending on the parameters that can be set.
Independently of the field bus system, parameters can be set via the serial
configuration interface in the bus coupler using the Beckhoff KS2000 configuration software.
7
Register description
Register description
Process variables R0 - R7: Registers in the terminal’s internal RAM:
The complex terminals can be adjusted to different operating modes or
functionalities. The " general description of register " describes the contents of the registers, which are identical for all complex terminals.
The terminal-specific registers are explained in the section following to it.
The access to the internal registers of the terminal is described in the sec-
tion " register communication ".
General register description
Complex terminals that possess a processor are capable of bi-directionally
ex-changing data with the higher-level control system. Below, these terminals are referred to as intelligent bus terminals. They include the analog
inputs (0-10V, -10-10V, 0-20mA, 4-20mA), the analog outputs (0-10V, -1010V, 0-20mA, 4-20mA), serial interface terminals (RS485, RS232, TTY,
data transfer terminals), counter terminals, encoder interfaces, SSI interfaces, PWM terminals and all other parameterizable terminals.
Internally, all intelligent terminals possess a data structure that is identical
in terms of it's essential characteristics. This data area is organized in
words and embraces 64 memory locations. The essential data and parameters of the terminal can be read and adjusted by way of the structure.
Function calls with corresponding parameters are also possible. Each logical channel of an intelligent terminal has such a structure (therefore, 4channel analog terminals have 4 register sets.
This structure is broken down into the following areas:
(You will find a list of all registers at the end of this documentation).
Area Address
Process variables
Type registers
Manufacturer parameters
User parameters
Extended user area
The process variables can be used in additional to the actual process image and their functions are specific to the terminal.
R0 - R5: These registers have a function that depends on the terminal
type.
R6: Diagnostic register
The diagnostic register may contain additional diagnostic information. In
the case of serial interface terminals, for example, parity errors that have
occurred during data transfer are indicated.
R7: Command register
High-Byte_Write = function parameter
Low-Byte _Write = function number
High-Byte _Read = function result
Low-Byte_ Read = function number
0-7
8-15
16-30
31-47
48-63
8 KL5001
Register description
Type registers R8 - R15 Registers in the terminal’s internal ROM
The type and system parameters are programmed permanently by the
manufacturer and can only be read by the user but cannot be modified.
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 an ASCII character string.
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
In comparison with R10, the number of logically existing channels is located here. For example, one physically existing shift register may consist
of several signal channels.
R12: Minimum data length
The respective byte contains the minimum data length of a channel to be
transferred. If the MSB is set, then the control/status byte is not necessarily
needed for the function of the terminal and, with appropriate configuration
of the coupler, is not transferred to the control system.
R13: Data type register
Data type register
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x11
0x12
0x13
0x14
0x15
0x16
Terminal without valid data type
Byte array
1 byte n bytes structure
Word array
1 byte n words structure
Double word array
1 byte n double words structure
1 byte 1 double word structure
1 byte 1 double word structure
Byte-array with a variable logical channel length
1 byte n bytes structure with a variable logical channel
length (eg 60xx)
Word-array with a variable logical channel length
1 byte n words structure with a variable logical channel
length
Double word array with a variable logical channel length
1 byte n double words structure with a variable logical
channel length
R14: not used
R15: Alignment bits (RAM)
The analog terminal is set to a byte limit in the terminal bus with the alignment bits.
Manufacturer parameters R16 - R30 is the area of the "Manufacturer parameters" (SEEROM)
The manufacturer parameters are specific to each terminal type. They are
programmed by the manufacturer but can also be modified from the control
system. The manufacturer parameters are stored permanently in a serial
EEPROM and are therefore not destroyed by power failures.
These registers can only be modified after setting a code word in R31.
KL5001
9
Register description
i
User parameters
R31 - R47 "Application parameters" area (SEEROM)
The application parameters are specific to each terminal type. They can be
modified by the programmer. The application parameters are stored permanently in a serial EEPROM in the terminal and cannot be destroyed by
power failures. The user area is write protected over a Codeword.
R31: Code word-register in the RAM
The code word 0x1235 must be entered here to enable modification of
Note
parameters in the user area. Write-protection is set if a different value is
entered in this register. When write protection is inactive, the code word is
returned during reading of the register. The register contains the value zero
when write protection is active.
R32: Feature-register
This register defines the operating modes of the terminal. For example, a
user-specific scaling can be activated for the analog I/O’s.
R33 - R47
Registers that depend on the terminal type
Extended application area R47 - R63
These registers have not yet been implemented.
Terminal-specific register description
Application parameters R32: feature register:
[0x0007]
The feature register determines the operating modes of the terminal.
Feature bit No. Description of the operating mode
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5 - 15
0/1 0: binary output
0/1 0: standard output format
0/1 0: free run
0/1 0: multiturn evaluation of the sensor [0]
1 Disable Frame Error [0]
- Not used
R33: baud rate
[0x0002]
The baud rate for reading the SSI sensor is selected via this register.
High byte = not used
Low byte Baud rate
1
1 MHz
2
250 kHz [2]
3
125 kHz
4
100 kHz
5
83 kHz
6
71 kHz
7
62.5 kHz
1: Gray binary number conversion [1]
The numbers are output as binary numbers
1: alternative output format [1]
1: synchronous mode [1]
The data is loaded in synchronism with the read
cycle of the terminal bus.
1: single turn evaluation of the sensor
After the last valid bit, no check is made as to
whether the data line is supplying a zero signal.
10 KL5001
R34: data length
[0x18]
The data length that appears in the process image can be set by this register.
The permissible value range is: 0-32 bits
HB = not used
Low byte = 0...32 bits in hexadecimal notation
STATUS byte during process data exchange
The status byte is transferred from the terminal to the controller. The status
byte contains various status bits of the SSI sensor interface terminal
KL5001.
MSB
REG=0 ERROR
Bit Function
ERROR
A general error has occurred. This bit is set if a FRAME or
SSI_IN error has occurred.
FRAME_E
An invalid data frame has occurred, i.e. the data frame is
not terminated with zero (possibly a wire breakage on clock
lines).
SSI_IN_E
The SSI input of the terminal has low level when no data
transfer is taking place. (SSI has no power supply or wire
breakage at the SSI data inputs D+ or D- or data lines
swapped.)
Register communication KL5001
Register access via
process data transfer
Bit 7=1: register mode
When bit 7 of the control byte is set, the first two bytes of the user data are
not used for process data transfer, but are written into or read out of the
terminal’s register.
Bit 6=0: read
Bit 6=1: write
In bit 6 of the control byte, you define whether a register is to be read or
written. When bit 6 is not set, a register is read without modification. The
value can be taken from the input process image.
When bit 6 is set, the user data is written into a register. The operation is
concluded as soon as the status byte in the input process image has supplied an acknowledgement (see examples).
Bits 0 to 5: address
The address of the register to be addressed is entered in bits 0 to 5 of the
control byte.
Control byte in the
register mode
MSB
REG=1 W/R
REG = 0 : Process data transfer
REG = 1 : Access to register structure
W/R = 0 : Read register
W/R = 1 : Write register
A5..A0 = Register address
A total of 64 registers can be addressed with the addresses A5....A0.
Register description
0 0 0 0 FRAME_E SSI_IN_E
A5
A4
A3
A2
A1
A0
KL5001
11
Register description
0
63
Terminal´s
Control-/
HHL
L
Example
A further example
To the bus coupler
K-Bus
User data
status byte
2 or mors bytes
If control bit 7=0: input/output
If control bit 7=1:
C/S-bit 7
registerconfiguration
If control bit 7=1:
adress in the control bit 0-5
If control bit 6=0: read
If control bit 6=1: write
register set
64 words
Complex bus terminal
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 to the rule: here, an unused data byte is inserted after the control or status byte, thus setting the register value to a
word limit).
Reading register 8 in the BK2000 with a Kl3022 and the end terminal.
If the following bytes are transferred from the controller to the terminal,
Byte0
Control
0x88 0xXX 0xXX 0xXX
the terminal returns the following type designation (0x0BCE corresponds to
the unsigned integer 3022).
Byte0
Status
0x88 0x00 0x0B 0xCE
Writing register 31 in the BK2000 with an intelligent terminal and the end
terminal.
If the following bytes (user code word) are transferred from the controller to
the terminal,
Byte0
Control
0xDF 0xXX 0x12 0x35
the user code word is set and the terminal returns the register address with
the bit 7 for register access and the acknowledgement.
Byte0
Status
0x9F 0x00 0x00 0x00
Byte1
Not used
Byte1
Not used
Byte1
Not used
Byte1
Not used
Byte2
Data OUT, high byte
Byte2
Data IN, high byte
Byte2
Data OUT, high byte
Byte2
Data IN, high byte
Byte3
Data OUT, low byte
Byte3
Data IN, low byte
Byte3
Data OUT, low byte
Byte3
Data IN, low byte
12 KL5001
Standard Format
Annex
As already described in the chapter terminal configuration, each bus terminal is mapped in the bus coupler. In the standard case, this mapping is
done with the default setting in the bus coupler / bus terminal. This default
setting can be modified with the Beckhoff KS2000 configuration software or
using master configuration software (e.g. ComProfibus or TwinCAT System
Manager). The following tables provide information on how the KL5001
maps itself in the bus coupler depending on the set parameters.
Mapping in the bus coupler
The KL5001 is mapped in the bus coupler depending on the set parameters. If the terminal is evaluated completely, the terminal occupies memory
space in the process image of the input and outputs.
I/O Offset High Byte Low Byte
Complete evaluation
MOTOROLA format = 0 2
Word alignment = X 1 D3 D2
0 D1 D0
I/O Offset High Byte Low Byte
Complete evaluation = 0 3
MOTOROLA format = 1 2
Word alignment = X 1 D0 D1
0 D2 D3
I/O Offset High Byte Low Byte
Complete evaluation = 1 3
MOTOROLA format = 0 2 D3
Word alignment = 0 1 D2 D1
0 D0 CT/ST
I/O Offset High Byte Low Byte
Complete evaluation = 1 3
MOTOROLA format = 1 2 D0
Word alignment = 0 1 D1 D2
0 D3 CT/ST
I/O Offset High Byte Low Byte
Complete evaluation = 1 3
MOTOROLA format = 0 2 D3 D2
Word alignment = 1 1 D1 D0
0 - CT/ST
I/O Offset High Byte Low Byte
Complete evaluation = 1 3
MOTOROLA format = 0 2 D0 D1
Word alignment = 1 1 D2 D3
0 - CT/ST
Annex
3
KL5001
13
Annex
Alternative Format
Default: CANCAL,
CANopen, RS232,
RS485, ControlNet,
DeviceNet
Default: Interbus,
Profibus
Default: Lightbus,
Bus Terminal Controller
(BCxxxx)
Legend
In the alternative format the KL5001 is mapped with 4 or 6 data bytes. If
the terminal is evaluated completely, the terminal occupies memory space
in the process image of the input and outputs.
I/O Offset High Byte Low Byte
Complete evaluation = 0 3
MOTOROLA format = 0 2
Word alignment = 0 1 D3 D2
0 D1 D0
I/O Offset High Byte Low Byte
Complete evaluation = 0 3
MOTOROLA format = 1 2
Word alignment = 0 1 D2 D3
0 D0 D1
I/O Offset High Byte Low Byte
Complete evaluation = 1 3
MOTOROLA format = 0 2 D3 D2
Word alignment = 0 1 - D1
0 D0 CT/ST
I/O Offset High Byte Low Byte
Complete evaluation = 1 3
MOTOROLA format = 1 2 D2 D3
Word alignment = 0 1 - D0
0 D1 CT/ST
I/O Offset High Byte Low Byte
Complete evaluation = 1 3 D3 D2
MOTOROLA format = 0 2 - Word alignment = 1 1 D1 D0
0 - CT/ST
I/O Offset High Byte Low Byte
Complete evaluation = 1 3 D2 D3
MOTOROLA format = 1 2 - Word alignment = 1 1 D0 D1
0 - CT/ST
Complete evaluation: The terminal is mapped with control / status byte.
Motorola format: The Motorola or Intel formal can be set.
Word alignment: The terminal is at a word limit in the bus coupler.
CT: Control- Byte (appears in the PI of the outputs).
ST: Status- Byte (appears in the PI of the inputs).
D0 – D3: Data bytes
14 KL5001
Table of the register
Register set
Address Description Default value R/W Storage medium
R0
R1
R2
R3
R4
R5
R6
R7
R8
R9
R10
R11
R12
R13
R14
R15
R16
R17
R18
R19
R20
R21
R22
R23
R24
R25
R26
R27
R28
R29
R30
R31
R32
R33
R34
R35
R36
R37
R38
R39
R40
R41
R42
R43
R44
R45
R46
R47
not used 0x0000 R
not used 0x0000 R
not used 0x0000 R
not used 0x0000 R
not used 0x0000 R
not used 0x0000 R
Diagnostic register variable R RAM
Command register - not used 0x0000 R
Terminal type 5001 R ROM
Software version number 0x???? R ROM
Multiplex shift register 0x0218 R ROM
Signal channels 0x0128 R ROM
Minimum data length 0x00A8 R ROM
Data structure 0x0000 R ROM
not used 0x0000 R
Alignment register variable R/W RAM
Hardware version number 0x???? R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
Code word register variable R/W RAM
Feature register 0x0007 R/W SEEROM
Baud rate 0x0002 R/W SEEROM
Data length 0x0018 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
not used 0x0000 R/W SEEROM
Annex
KL5001
15
Support and Service
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
Eiserstr. 5
33415 Verl
Germany
phone: + 49 (0) 5246/963-0
fax: + 49 (0) 5246/963-198
e-mail: info@beckhoff.com
web: www.beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you no 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 servive
• hotline service
hotline: + 49 (0) 5246/963-460
fax: + 49 (0) 5246/963-479
e-mail: service@beckhoff.com
16 KL5001
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