BECKHOFF KL5121 User Manual

KL5121

Incremental Encoder Interface
with programmable Outputs
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
Terminal-specific register description 11
Register communication KL5121 12

6. Data transfer, function 13

7. Annex 16

Mapping in the bus coupler 16
Table of the register 17
Support and Service 19
Beckhoff Headquarters 19

2 KL5121

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.

KL5121

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

Attention

environment.
This symbol indicates information that contributes to better understanding.

Note

4 KL5121

Contact Assembly

O1, O2

Latch, Gate

Technical data

13 15

A, B

Latch, Gate

14 16

A
B

C
D

O1A B

O2

Technical data

O1, O2
O3, O4

A, B O1, O2

Gate

1

+

2

3

L

G

4

5

+ ++

6

7

O4O3

8

Latch

Top View

Technical data KL5121

Sensor connection

Sensor operating voltage

Counter

Cut off frequency

Output voltage

Max. current per output

Switching time of the outputs

Supply voltage

Current consumption of Power contacts

Bit width in the Process image

Current consumption from K-Bus

Weight approx..

Operating temperature

Storage temperature

Relative humidity

Vibration/shock resistance

EMC resistance Burst / ESD

Installation position

Type of protection

A, B

+24 V (2x)+24 V (2x)

0 V (2x)0 V (2x)

0 V

O3, O4

A, B, Latch, Gate
24 V DC
16 bits binary
1 MHz
24 V DC

0.5 A
< 100 µs
24 V DC (20 V ... 29 V)

0.1 A (without sensor load current)
I/O: 2 x 16 bits data, 2 x 8 bits control/status
30 mA
60 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

+24 V+24 V

0 V

O3, O4

KL5121

5

Description of functions

Operating modes

LED display

Process data

Connections

Description of functions

Four-channel linear path control can be implemented with the KL5121
function terminal. For this purpose the terminal reads in the incremental
signal (which is either supplied by an encoder or by a pulse generator),
obtains the position of the workpiece from another input (latch), and
switches on the outputs at defined counter states which have previously
been stored in the form of a table. Automatic speed correction is carried
out separately for each channel (adjustable by means of registers in the
terminal). The workpiece’s sensor edge can be configured, so that rising
edges, falling edges or both may be used. The switching times for the
individual output channels are < 100 µS. A maximum of 60 switching
values can be entered, and the number for each channel can vary from 0
to 60. The counter is limited to 16 bits, a tracking of the workpieces is not
possible.

Set by the control byte:

- linear path control with 4 output channels

- alternative: PWM type of output with pre-set on and off times (nozzle
test)

The signal LEDs indicate the state of the sensor inputs A and B, the latch
and gate logic inputs and of the four outputs O1, O2, O3 and O4.

The KL5121 always occupies 6 bytes of input data and 6 bytes of output
data. The control/status byte is located at the lowest byte offset.
There are two logical data channels: data channel 0 to enable the output
functions and for reading in the status information, while data channel 1 is
used to transmit the switch values in the terminal’s output table.

The KL5121 has 4 logical 24 V inputs and 4 logical 24 V outputs, as well as
8 contacts for the 24 V DC supply of external devices.

A, B: sensor inputs (incremental encoder or pulse generator)
Latch (workpiece sensor input): the latch input recognises the workpiece,
with the result that the 16 bit counter is set to zero when the latch input is
activated. The latch input can be configured by way of the feature register.
Gate (enable input): the gate enables the latch input. The gate input can be
configured by way of the feature register.
O1, O2, O3, O4: 24 V switch output
24 V/0 V: 24 V DC supply voltage for the external devices (e.g. encoder)

6 KL5121