BECKHOFF KL5051 User Manual
KL5051
BI-SSI Sensor Interface
Configuration Instructions
Version 2.1
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 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
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.
KL5051
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 KL5051
Contact Assembly
Technical data
13
14
RUN -LED
A
B
KOM -LED Alarm
C
D
D
D
Technical data
+ +
Cl
5
6
7
Cl
8
D+ D-
Power
1
2
3
Contacts
CI+ CI-
4
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
5
Description of functions
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
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