BECKHOFF KL5101-0000 User Manual
Documentation for
KL5101-0000, KL5101-0012
Interface Terminals for Incremental Encoder
Version: 2.3
Date: 2014-12-30
Contents
Contents
1 Foreword 1
1.1 Notes on the documentation 1
1.1.1 Disclaimer 1
1.1.2 Delivery conditions 1
1.1.3 Trademarks 1
1.1.4 Patent Pending 1
1.1.5 Copyright 1
1.2 Safety Instructions 2
1.2.1 State at Delivery 2
1.2.2 Description of safety symbols 2
2 Product overview 3
2.1 Technical data 3
2.2 Functional description 4
2.3 Special terminals 6
2.3.1 KL5101-0012 6
3 Terminal configuration 6
3.1 Register overview 6
3.2 Register description 7
3.2.1 General register description 7
3.2.2 Terminal-specific register description 10
3.3 Control-/Status-Byte 11
3.3.1 Control byte in process transfer 11
3.3.2 Status byte in process data trans fer 12
3.4 Register communication 13
3.5 Mapping in the bus coupler 15
3.5.1 Examples 16
4 Appendix 18
4.1 ATEX - Special conditions 18
4.2 Support and Service 19
4.2.1 Beckhoff's branch offices and representatives 19
4.2.2 Beckhoff Headquarters 19
2 KL5101
Foreword
1 Foreword
1.1 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 describe d satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines an d standards.
1.1.1 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.
1.1.2 Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH apply.
1.1.3 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.
1.1.4 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.
1.1.5 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
KL5101 1
Foreword
1.2 Safety Instructions
1.2.1 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.
1.2.2 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!
Failure to follow the safety instructions associated with this symbol directly endangers
DANGER
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 KL5101
Product overview
2 Product overview
14 16
13 15
Signal - LEDs Control - L ED s
A
B
A
A
Ue
C
D
Uo
++
5
Sensor
Suppl y
6
Inpu t s A
1
B
B
2
Inputs B + 24 V (2x)
C
C
3
7
Inputs C 0 V ( 2x)
G1 G2
Logic Inputs Shield (1x )
4
Top View Contact Assembly
Sensor connection A, A(inv), B, B(inv), zero, zero(inv),
Sensor operating voltage
Sensor output current
Quadrature decoder
Current consumption from power contacts
Bit width in the process image
Current consumption from K-Bus
Permissible ambient
temperature range
Vibration/shock resistance
EMC resistance Burst / ESD
Installation position
*) extended temperature range, but only
0°C ... +55°C (according to cULus for Canada and USA)
0°C ... +55°C (according to ATEX, see special conditions)
SS
I1
8
Status Input
2.1 Technical data
Technical data KL5101-0000 KL5101-0012
difference signal (RS 485); Status input
5 V DC
0.5 A
Counter
Cut off frequency
Zero pulse latch
Commands
Supply voltage
Weight approx..
during operation
during storage
Relative humidity
Type of protection
Approvals
16 bits binary
1 MHz (at 4 time evaluation)
1-2-4 time evaluation
16 bits
read, set, activate
24 V DC (20 V ... 29 V)
0.1 A (without sensor load current)
I/O: 2 x 16 bits data, 1 x 8 bits control/status
25 mA
85 g
-25°C ... +60°C* 0°C ... +55°C
-40°C ... +85°C* -25°C ... +85°C
95%, no condensation
conforms to EN 60068-2-6 / EN 60068-2-27
conforms to EN 61000-6-2 / EN 61000-6-4
any
IP20
CE, cULus, ATEX CE
A, A
B, B
C, C
G1, G2
Ue, Uo
+ 24 V
0 V
Status Input,Shield
KL5101 3
Product overview
The incremental encoder interface terminal KL5101 enables the connection
Assignments of
terminal contacts
2.2 Functional description
of any incremental encoders to the bus coupler or the PLC. A 16-bit
counter with a quadrature decoder and a 16-bit latch can be read, set or
activated. Besides the decoder inputs A, B, C, an additional latch input G1
(24 V) and a gate input G2 (24 V) for disabling the counter are available.
The 16-bit up / down counter mode can also be selected. In this mode of
operation, input B is the counting input.
1-fold, 2-fold or 4-fold evaluation of the encoder signals A, B, C in simple or
complementary form can be parameterized via the field bus.
The terminal is supplied as a 4-fold quadrature decoder with
complementary evaluation of the encoder signals A, B, C. For operation of
the encoder interface, the operating voltage of 24 V DC must be connected
to the terminal contacts in addition to the encoder inputs.
Starting from hardware state 03 (beginning from 6.18.98) the KL5101 has
new, additional features:
Incremental encoder with fault alarm outputs can be connected to the
Status input of the KL5101.
A period measurement with a resolution of 200 ns can also be performed.
LED-input C
LED-input A
LED-input B
LED Status input
Input A, /A
13 15
A
B
A
1
B
14 16
A
Ue
++
B
Uo
C
D
Run-LED
Latch-LED
Gate-LE D
5
Ue, Uo
2
6
Input B, /B + 24 V (2x)
C
C
3
7
Input C, /C 0 V (2x)
G1 G2
ext. Latch 24 V
ext. Gate 24 V
Inputs A, /A
Pulse input in the terminal’s encoder and counter mode.
Inputs B, /B
Phase-shifted pulse input in the terminal’s encoder mode.
Counting direction input in the terminal’s counter mode.
Counting direction:
+ 5 V (or open contact): up
0 V: down
4
Beckhoff KL5101
S
SI1
8
Status input
Shield (1x )
4 KL5101
Product overview
Inputs C, /C
Zero point pulse input for the terminal’s latch register.
This input is activated via the EN_LATC bit in the terminal’s control byte.
External Latch 24 V
Additional latch input of the terminal.
This input is activated via the EN_LAT_EXT bit in the terminal’s control
byte.
The counter value is latched when this input is alerted and an edge change
takes place from 0 V to 24 V.
External Gate 24 V
A high level at this contact suppresses counting by the terminal.
Status Input 5 V
Incremental encoder with fault alarm outputs can be connected to the
Status input of the KL5101.
Ue
Voltage supply for the encoder (+5 V).
Uo
Voltage supply for the encoder (0 V).
0 V, 24 V
A supply of 0 V and 24 V voltage must be applied to these contacts for
operation of the terminal.
Operating modes These can be set via the feature register (default: incremental encoder):
A, B, zero pulse incremental encoder (default)
Up/down counter with:
- A = Count , the positive edges of the input pulses are counted
- B = Up/down input
B = 0: up counting direction
B = 1: down counting direction
- C = Gate input
C = 0: counter enabled
C = 1: counter disabled
Functions - Counting
- Counter setting
- Arming the zero pulse and storing the valid value
- Determining the period between two pulses with a resolution of two
200 ns (the time between two positive edges of the input signal A is
evaluated)
- Indication of a counter overflow or underflow.
LED display The signal LEDs indicate the status of the encoder inputs A, B, C, Status
input and of the logic inputs of the gate and of the additional external latch.
The RUN LED indicates cyclic data transfer with the higher-level controller.
The RUN LED goes off if no process data is exchanged for 100 ms.
Process data The KL5101 always occupies 6 bytes of input data and 6 bytes of output
data. The control / status byte is at the least significant byte offset.
The data word D0/D1 contains the counter value (read/set) and the data
word D3/D4 contains the latch word (read).
In the period measurement mode the value can be found in D2 together
with D3 and D4.
KL5101 5
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