BECKHOFF KL5051 User Manual

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KL5051

BI-SSI Sensor Interface Configuration Instructions

Version 2.1 2006-10-23

Contents

1. Foreword 3

Notes on the documentation 3 Safety Instructions 4

2. Technical data 5

3. Description of functions 6

4. Terminal configuration 7

5. Register description 8

General register description 8 Register communication KL5051 11

6. Data transfer, function 13

7. Annex 15

Mapping in the bus coupler 15 Table of the register 16 Support and Service 17 Beckhoff Headquarters 17

2 KL5051

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.

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.

KL5051

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..

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 KL5051

Contact Assembly

Technical data

RUN -LED

A B

KOM -LED Alarm

C D

Technical data

+ +

D+ D-

Power

Contacts

CI+ CI-

Top View

Technical data KL5051

Sensor connection

Power supply

Current consumption

Sensor supply

Data transfer rate

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

+5 V

0 V

binary input: D+, D-; binary output: Cl+, Cl5 V DC via power contacts (KL9505) typically 85 mA without sensor 5 V DC 1 MHz bidirectional difference signal (RS422) difference signal (RS422) 500 V (K-Bus / field voltage) 75 mA typ. I/O: 2 x 16 bits data, 2 x 8 bits control/status 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

KL5051

Description of functions

The BI-SSI interface terminal KL5051 serves to link the digital digifas®7100/7200 servo amplifier from the Seidel company to the bus coupler or the controller. The interface consists of two logical channels. The drive is positioned via the first channel. With the second channel, release signals are set, parameter data is transferred and status information or parameter values are read.

It is therefore possible for a subordinate access controller to accept the positioning information on Channel 1 while the higher-level controller sets release signals on Channel 2 and performs the monitoring tasks.

LED display

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 transferred by the bus coupler for 100 ms.

Com error On – communication fault, e.g. wire breakage on the data/clock line Off – normal operation

Alarm On – the connected device has sent a malfunction signal. Off – normal operation

Process data

The KL5051 is mapped with 6 bytes of input data and 6 bytes of output data. A0, A1, A2 and E0, E1, E2 constitute the channel for setting and detecting the operating data of the servo.

A3, A4, A5 and E3, E4, E5 constitute the channel for detecting the servo status and for setting the servo control. It is also used to parametrise the servo.

Byte Function Byte Function

A0 A1 A2 A3 A4

Á5

In A1, A2, the speed setpoint is specified as a 16-bit signed integer. Refer to the manual of the servo for details of the maximum setpoint inputs.

The absolute actual position is located in E1, E2 as a 16-bit unsigned integer. The actual position has a resolution of 65536 increments per revolution.

Actual position in E1, E2 Rotation angle

Operating data-control E0 Operating data status Speed setpoint E1 Actual position Speed setpoint E2 Actual position Parameter-control E3 Parameter status Parameter/control-

servo Parameter/control-

servo

0x0000

0x3FFF

0xBFFF

0 90 ° 270 °

E4 Parameter/status-servo

E5 Parameter/status-servo

6 KL5051

Offset Terminal1 Channel1 = 0

Offset Terminal2 Channel1 = 4

Offset Terminal2 Channel2 = 8

User data allocation depending

To the bus terminal

Offset Terminal1 Channel1 = 0

Offset Terminal2 Channel1 = 6

To the bus terminal

Beckhoff Lightbus coupler BK2000

Terminal configuration

The terminal can be configured and parametrized 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 (eg Motorola/ intel format, word alignment,...). For parametrization of a terminal, the control/status byte must als be mapped.

In the case of the Beckhoff Lightbus coupler BK2000, the control /status byte is also always (ie 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 bus coupler BK2000

The terminal is mapped in the bus coupler.

Data H Data L

Terminal configuration

C/S

Data LData H

C/S D4

C/S-3

C/S-0

on mapping.

KL5051

Profibus coupler BK3000

K-Bus

In the case of the Profibus coupler BK3000, the KL5051 is always mapped with 6 bytes of input and 6 bytes of output data.

Profibus bus coupler

The control/status byte must be inserted for

BK3000

The terminal is mapped in the bus coupler

Data L Data H Data L

D4 D5

C/S-3

D1 D2

C/S-0

parameterization .

KL5051

K-Bus

KL5051

Offset Terminal1 Channel1 = 0

Offset Terminal2 Channel1 = 6

To the bus terminal

Interbus coupler BK4000

By default, the Interbus coupler BK4000 maps KL5051 with 6 bytes of input and 6 bytes of output data.

Interbus bus coupler BK4000

The terminal is mapped in the bus coupler

K-Bus

The control/status byte must be inserted for

Data L Data H Data L

D4 D5

C/S-3

D1 D2

C/S-0

parameterization (KS2000).

KL5051

Other bus couplers and further information

Note

Parametrization with the KS2000 software

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.

8 KL5051

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 bidirectionally 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 parametrizable 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

0-7 8-15 16-30 31-47 48-63

Process variables R0 - R7: Registers in the terminal’s internal RAM:

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

Type registers R8 - R15 Registers in the terminal’s internal ROM der Klemme

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.

KL5051

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.

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.

10 KL5051

Terminal´s

Control-/

HHL

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.

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

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

registerconfiguration

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

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).

KL5051

Example

A further example

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

Byte1

Not used

Byte2

Data OUT, high byte

Byte3

Data OUT, low byte

0x88 0xXX 0xXX 0xXX

the terminal returns the following type designation (0x0BCE corresponds to the unsigned integer 3022).

Byte0

Status

Byte1

Not used

Byte2

Data IN, high byte

Byte3

Data IN, low byte

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

Byte1

Not used

Byte2

Data OUT, high byte

Byte3

Data OUT, low byte

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

Byte1

Not used

Byte2

Data IN, high byte

Byte3

Data IN, low byte

0x9F 0x00 0x00 0x00

12 KL5051

Data transfer, function

Operating data status byte E0

MSB

REG=0 ERROR ALARM KOM_ERR CRC_ERR

Parameter control byte A3 when setting the servo control (Bit 7 = 0)

MSB

REG=0 RD_PARH RD_PARL RS_ANS RF /NSTOP /PSTOP

Parameter status byte E3 when detecting the servo status

Communication with the servo amplifier takes place via the process data (A0-A5, E0-E5). A0/E0 is the control/status byte for operating data communication and A3/E3 is the control/status byte for parameter and servo status communication with the device.

The operating data status byte outputs possible error messages of the servo amplifier during process data exchange.

Bit

ERROR ALARM

KOM_ERR

CRC_ERR

Is set when ALARM or KOM_ERR is set. The alarm bit of the servo amplifier is inserted here. A communication disturbance has occurred. No valid data is

being exchanged. Possible causes: the servo interface is not ready or is deenergised, a wire breakage has occurred or the connecting leads of the terminal have been swapped.

Invalid telegrams are occurring during data transfer (possibly EMC problem).

Various actions are executed in the servo amplifier with this control byte.

Bit

REG

RD_PARH

RD_PARL

RS_ANS

/NSTOP

(active low)

/PSTOP

(activw low)

This bit switches bewtween the servo parameters and servo control/status communication.

Read Parameter High Word (parameter address in A4) Read Parameter Low Word (parameter address in A4) Reset of response monitoring or of the following error. If the ser-

vo signals an error, response monitoring has occurred, for example, and the error can be reset by setting this bit. If the error message is not cancelled in the status byte E3 (SERV_ERR) (e.g. interior temperature too high), the servo amplifier must be deenergised (the other error messages can only be reset in this way).

Controller enabling. The output stage is enabled and, at the same time, the brake (if available) is enabled.

Negative setpoints are set to the setpoint zero.

Positve setpoints are set to the setpoint zero.

The activated servo status word is read continuously by the servo and updated.

KL5051

Data transfer, function

MSB

REG=0 KOM_ERR RD_PARH_Q RD_PARL_Q SERV_ERR RF_Q /NSTOP_Q /PSTOP_Q

Bit

REG

KOM_ERR

RD_PARH_Q

RD_PARL_Q

SERV_ERR

RF_Q

/NSTOP_Q

(aktiv low)

/PSTOP_Q

(aktiv low)

0: the channel consisting of A3,A4,A5,E3,E4,E5 is in the operating mode with which the servo control/status is operated.

A data transfer error has occurred. The high word of the requested parameter value is in E4,E5. The low word of the requested parameter value is in E4,E5. The servo amplifier's power section is signalling an error. The output stage and, if available, the brake are enabled. 1: negative sepoints are possible.

0: negative sepoints are set to zero. 1: positive sepoints are possbile.

0: positive setpoints are set to zero.

Parameter control byte A3 in the mode parameter (Bit 7 = 1)

The parameter data is written into a buffer with the parameter address and is transferred to the servo on request. This request can take place with the last buffer entry. The terminal generates the data frame and checks and evaluates the checksum. The parameter consists of up to one double work, but shorter parameter data can also be sent.

MSB

REG=1 RD_PARH RD_PARL PUT_HW PUT_LW TRS_BUFF

Bit

REG

RD_PARH

RD_PARL

PUT_HW

PUT_LW

TRS_BUFF

This bit switches between servo parameter and servo control/status communication.

Read Parameter High Word (parameter address in A4) Read Parameter Low Word (parameter address in A4) Write high word of the parameter into buffer (A4, A5 parameter

high word). Write low word of the parameter into buffer (A4, A5 parameter

high word). Write data from buffer to parameter address defined by A4.

Parameter status byte E3 in the mode parameter

During parameter communication (REG=1) with the servo, various acknowledgemnets are output in the status byte

MSB

REG=1 KOM_ERR RD_PARH_Q RD_PARL_Q SERV_ERR PUT_HW_Q PUT_LW_Q TRS_BUF_Q

Bit

REG

KOM_ERR

RD_PARH_Q

RD_PARL_Q

SERV_ERR

PUT_HW_Q

PUT_LW_Q

TRS_BUF_Q

1: the channel consisting of A3,A4,A5,E3,E4,E5 is in the mode with which parameter communication is taking place.

A data transfer error has occurred. The high word of the requested parameter value is in E4,E5. The low word of the requested parameter value is in E4,E5. The power section of the servo is signalling an error. The high word has been written into the buffer. The low word has been written into the buffer. Data has been transferred successfully.

14 KL5051

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 KL5051 maps itself in the bus coupler depending on the set parameters.

Mapping in the bus coupler

Standard Format

The KL5051 is mapped in the bus coupler depending on the set parameters. The terminal is always evaluated completely, the terminal occupies memory space in the process image of the input and outputs.

Default: CANCAL, CANopen, RS232, RS485, ControlNet, DeviceNet

I/O Offset High Byte Low Byte Complete evaluation = X 3 MOTOROLA format = 0 2 D5 D4 Word alignment = 0 1 CT/ST-3 D2 0 D1 CT/ST-0

Default: Interbus, Profibus

I/O Offset High Byte Low Byte Complete evaluation = X 3 MOTOROLA format = 1 2 D4 D5 Word alignment = 0 1 CT/ST-3 D1 0 D2 CT/ST-0

Default: Lightbus, Bus Terminal Controller (BCxxxx)

I/O Offset High Byte Low Byte Complete evaluation = X 3 D5 D4 MOTOROLA format = 0 2 - CT/ST-3 Word alignment = 1 1 D2 D1 0 - CT/ST-0

I/O Offset High Byte Low Byte Complete evaluation = X 3 D4 D5 MOTOROLA format = 1 2 - CT/ST-3 Word alignment = 1 1 D1 D2 0 - CT/ST-0

Legend

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-0(A0): Control- Byte (appears in the PI of the outputs). ST-0(E0): Status- Byte (appears in the PI of the inputs). CT-3(A3): Control- Byte (appears in the PI of the outputs). ST-3(E3): Status- Byte (appears in the PI of the inputs). D1, D2, D4, D5 = A1, E1, A2, E2, A4, E4, A5, E5

Annex

KL5051

Annex

Table of the register

Address Description Default value R/W Storage medium

not used 0x0000 R

Diagnostic register - not used 0x0000 R

Command register - not used 0x0000 R

Terminal type 5051 R ROM

Software version number 0x???? R ROM

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

Multiplex shift register 0x0218 R ROM Signal channels 0x0130 R ROM Minimum data length 0x3030 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 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 not used 0x0000 R/W SEEROM not used 0x0000 R/W SEEROM

16 KL5051

Annex

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

KL5051

BECKHOFF KL5051 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual