Documentation
KL2791
Single channel speed controller terminals for AC motors
Version:
Date:
2.0.0
2017-08-25
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation........................................................................................................... 5
1.2 Safety instructions .......................................................................................................................... 6
1.3 Documentation issue status............................................................................................................ 7
2 Product overview.......................................................................................................................................8
2.1 Introduction ..................................................................................................................................... 8
2.2 Basic function principles ................................................................................................................. 9
2.3 Technical data .............................................................................................................................. 10
2.4 LED displays................................................................................................................................. 11
3 Mounting and wiring ...............................................................................................................................12
3.1 Installation on mounting rails ........................................................................................................ 12
3.2 Connection.................................................................................................................................... 14
3.2.1 Connection system...........................................................................................................14
3.2.2 Wiring...............................................................................................................................16
3.2.3 Pin assignment.................................................................................................................18
3.3 Notes on operation ....................................................................................................................... 20
4 Application examples - overview ...........................................................................................................21
4.1 KL2791-0000 - application example ............................................................................................. 21
4.2 KL2791-0011 - application example ............................................................................................. 22
5 Configuration Software KS2000.............................................................................................................23
5.1 KS2000 - Introduction ................................................................................................................... 23
5.2 Parameterization with KS2000 ..................................................................................................... 25
5.3 Register ........................................................................................................................................ 27
5.4 Settings......................................................................................................................................... 28
5.5 Process data................................................................................................................................. 30
6 Access from the user program ..............................................................................................................32
6.1 Process image .............................................................................................................................. 32
6.2 Control and status bytes ............................................................................................................... 32
6.3 Register overview ......................................................................................................................... 34
6.4 Register description ...................................................................................................................... 35
6.5 Examples of Register Communication.......................................................................................... 37
6.5.1 Example 1: reading the firmware version from Register 9 ...............................................37
6.5.2 Example 2: Writing to an user register.............................................................................37
7 Appendix ..................................................................................................................................................40
7.1 Support and Service ..................................................................................................................... 40
KL2791 3Version: 2.0.0
Table of contents
KL27914 Version: 2.0.0
Foreword
1 Foreword
1.1 Notes on the documentation
Intended audience
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 documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
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.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
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.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered
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.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
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.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
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.
KL2791 5Version: 2.0.0
Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
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 & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
DANGER
WARNING
CAUTION
Attention
Note
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
KL27916 Version: 2.0.0
1.3 Documentation issue status
Version Comment
2.0.0 • Migration
1.2.0 • Set mode leading edge phase control added
• Installation and wiring updated
• Technical data updated
• Preface updated
1.1.0 Increased power rating of 200VA for KL2791-0000 and KL2791-0011 approved
1.0.0 First public issue
0.1 First internal preliminary version
Firmware and hardware versions
Foreword
Version of the
documentation
2.0.0 3A 05 1B 03
1.2.0 3A 05 1B 03
1.1.0 1B 03 1B 03
1.0.0 1A 00 1A 00
0.1 1A 00 - -
The firmware and hardware versions (delivery state) can be taken from the serial number printed on the side
of the terminal.
Syntax of the serial number
Structure of the serial number: WWYYFFHH
WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with ser. no.: 24 08 1A 00:
24 - week of production 24
08 - year of production 2008
1A - firmware version 1A
00 - hardware version 00
KL2791-0000, KS2791-0000,
KL2791-0011, KS2791-0011
Firmware Hardware Firmware Hardware
KL2791-1200
KL2791 7Version: 2.0.0
Product overview
2 Product overview
2.1 Introduction
Fig.1: KL2791
In many industrialized countries, electric motors account for more than the half the current consumption,
which means there is huge energy-saving potential.
With the aid of speed control, it is quite easily possible to reduce the energy consumption to the level that is
actually required, thereby avoiding energy waste.
Beckhoff has extended its Bus Terminal system for this purpose. The KL2791 Bus Terminal is suitable for
use as a speed controller for single-phase AC motors up to 100VA.
In addition to energy conservation speed reduction offers noise reduction and increased motor service life.
The speed controller is extremely compact and is housed in a standard bus terminal with a width of 12mm.
The KL2791 Bus Terminal can be used in any bus system that is supported by the Beckhoff Bus Terminal
system.
It is designed for direct connection of low-power, single-phase AC motors.
The KL2791 enables speed reduction of typical motors such as capacitor motors, universal motors and
shaded-pole motors.
The KL2791-0011 is a version without power contacts (see ladder diagram on the right). This can be used
for 230V even without a special power feed terminal.
The KL2791-1200 is specifically designed for 120V mains voltage.
Other KS2791 variants feature pluggable wiring.
KL27918 Version: 2.0.0
2.2 Basic function principles
Product overview
Fig.2: Basic KL2791 function principles
The motor is switched on and off with a practice-proven mains-synchronous pattern, so that the motor
consumes less power and the speed falls significantly.
This method is well suited to motors with fixed loads, such as pumps and fans, in order to achieve a control
range for the flow rate from 10% to 100%.
The KL2791 Bus Terminal enables direct connection of single-phase AC motors up to 100VA.
In this way the speed of capacitor, universal and shaded-pole motors can be reduced simply.
The set values are specified via the process data. The required output power is specified via a 16bit
representation. 3 different setting modes are available:
• Full-wave control
• Leading edge phase control is ideal for smooth operation
• Mixed control
Full-wave control is used for targeted switching on and off at optimized points in time.
This protects the connected motor and is particularly suitable for drives with a quadratic load characteristic,
such as fans or pumps.
Leading edge phase control is ideal for smooth operation.
Mixed control offers a compromise between smooth operation and motor protection.
Please follow the operation instructions
Also read the Notes on operation [}20] in the chapter Mounting and wiring.
Attention
KL2791 9Version: 2.0.0
Product overview
2.3 Technical data
Technical data KL2791-0000, KS2791-0000,
KL2791-1200
KL2791-0011, KS2791-0011
Mains voltage 230V
AC
120V
AC
Power rating 200VA (W), max. 0,9A 100VA (W), max.
0,85A
Load types Single-phase AC motors
Types of control Full-wave control, mixed control
Resolution 1%
Leakage current (OFF state) < 1mA
Electrical isolation 500V (K-bus /field voltage), 3750VAC (1min.)
Power supply for the electronics via the K-bus
Current consumption from K-bus typically 95mA
Bit width in the input process image 1 x 16bit data, 1 x 8bit status
Bit width in the output process image 1 x 16bit data, 1 x 8bit control
Configuration via the Bus Coupler or the controller
Weight approx. 60g
Permissible ambient temperature range
0°C ... + 55°C
during operation
Permissible ambient temperature range
-25°C ... + 85°C
during storage
Permissible relative air humidity 95%, no condensation
Dimensions (W x H x D) approx. 15mmx100mmx70mm (width aligned: 12mm)
Mounting on 35mm mounting rail conforms to EN60715
Vibration/shock resistance conforms to EN60068-2-6/ EN60068-2-27
EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP20
Installation position variable
Pluggable wiring for all KSxxxx terminals
Approval CE
KL279110 Version: 2.0.0
2.4 LED displays
Fig.3: LEDs
LED Display
K-Bus run (green) off no data transfer on the K-bus
on Data transmission on the K-bus is active
Sync (green) off • Terminal is not synchronized with the mains*
on • Terminal has synchronized itself with the mains*
ON (green) off Process data are zero
on Process data are not zero
Error (red) on A load-side overcurrent was detected
Product overview
*) Synchronization with the mains can only occur if a load is connected!
Risk of electric shock!
With the Sync LED switched off mains voltage may still be present at the KL2791 output!
WARNING
At this stage, the synchronization was not yet performed!
KL2791 11Version: 2.0.0
Mounting and wiring
3 Mounting and wiring
3.1 Installation on mounting rails
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
WARNING
Assembly
disassembly or wiring of the Bus Terminals!
Fig.4: Attaching on mounting rail
The Bus Coupler and Bus Terminals are attached to commercially available 35mm mounting rails (DIN rails
according to EN60715) by applying slight pressure:
1. First attach the Fieldbus Coupler to the mounting rail.
2. The Bus Terminals are now attached on the right-hand side of the Fieldbus Coupler. Join the components with tongue and groove and push the terminals against the mounting rail, until the lock clicks
onto the mounting rail.
If the Terminals are clipped onto the mounting rail first and then pushed together without tongue and
groove, the connection will not be operational! When correctly assembled, no significant gap should
be visible between the housings.
Fixing of mounting rails
The locking mechanism of the terminals and couplers extends to the profile of the mounting
Note
rail. At the installation, the locking mechanism of the components must not come into conflict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of
7.5mm under the terminals and couplers, you should use flat mounting connections (e.g.
countersunk screws or blind rivets).
KL279112 Version: 2.0.0
Mounting and wiring
Disassembly
Fig.5: Disassembling of terminal
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Pull the terminal by its orange-colored lugs approximately 1cm away from the mounting rail. In doing
so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of
the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal out of the bus terminal block.
Connections within a bus terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:
• The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.
• The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24V)
or for higher voltages via power feed terminals.
Power Contacts
During the design of a bus terminal block, the pin assignment of the individual Bus Termi-
Note
PE power contact
nals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed
Terminals (KL91xx, KL92xx or EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail.
The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first
when plugging together, and can ground short-circuit currents of up to 125A.
KL2791 13Version: 2.0.0
Mounting and wiring
Fig.6: Power contact on left side
Possible damage of the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively
Attention
coupled to the mounting rail. This may lead to incorrect results during insulation testing or
to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing
of a consumer with a nominal voltage of 230V). For insulation testing, disconnect the PE
supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further
feed points for testing, these Power Feed Terminals can be released and pulled at least
10mm from the group of terminals.
Risk of electric shock!
The PE power contact must not be used for other potentials!
WARNING
3.2 Connection
3.2.1 Connection system
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
WARNING
disassembly or wiring of the Bus Terminals!
Overview
The Bus Terminal system offers different connection options for optimum adaptation to the respective
application:
• The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection
level in a single enclosure.
• The terminals of ESxxxx and KSxxxx series feature a pluggable connection level and enable steady
wiring while replacing.
• The High Density Terminals (HD Terminals) include electronics and connection level in a single
enclosure and have advanced packaging density.
KL279114 Version: 2.0.0
Standard wiring (ELxxxx / KLxxxx)
Fig.7: Standard wiring
The terminals of ELxxxx and KLxxxx series have been tried and tested for years.
They feature integrated screwless spring force technology for fast and simple assembly.
Pluggable wiring (ESxxxx / KSxxxx)
Mounting and wiring
Fig.8: Pluggable wiring
The terminals of ESxxxx and KSxxxx series feature a pluggable connection level.
The assembly and wiring procedure for the KS series is the same as for the ELxxxx and KLxxxx series.
The KS/ES series terminals enable the complete wiring to be removed as a plug connector from the top of
the housing for servicing.
The lower section can be removed from the terminal block by pulling the unlocking tab.
Insert the new component and plug in the connector with the wiring. This reduces the installation time and
eliminates the risk of wires being mixed up.
The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3
mm. The maximum height of the terminal remains unchanged.
A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual
connection wires when the connector is removed.
Conductor cross sections between 0.08mm2 and 2.5mm2 can continue to be used with the proven spring
force technology.
The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as
known from ELxxxx and KLxxxx series.
High Density Terminals (HD Terminals)
Fig.9: High Density Terminals
The Bus Terminals from these series with 16 terminal points are distinguished by a particularly compact
design, as the packaging density is twice as large as that of the standard 12mm Bus Terminals. Massive
conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal
point without tools.
KL2791 15Version: 2.0.0
Mounting and wiring
Wiring HD Terminals
The High Density (HD) Terminals of the ELx8xx and KLx8xx series doesn't support plug-
Note
Ultrasonically "bonded" (ultrasonically welded) conductors
gable wiring.
Ultrasonically “bonded" conductors
It is also possible to connect the Standard and High Density Terminals with ultrasonically
Note
"bonded" (ultrasonically welded) conductors. In this case, please note the tables concerning the wire-size width below!
3.2.2 Wiring
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
WARNING
Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx
disassembly or wiring of the Bus Terminals!
Fig.10: Connecting a cable on a terminal point
Up to eight terminal points enable the connection of solid or finely stranded cables to the Bus Terminal. The
terminal points are implemented in spring force technology. Connect the cables as follows:
1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening
above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal point closes automatically when the pressure is released, holding the wire securely and
permanently.
See the following table for the suitable wire size width.
KL279116 Version: 2.0.0
Mounting and wiring
Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx
Wire size width (single core wires) 0.08 ... 2.5mm
Wire size width (fine-wire conductors) 0.08 ... 2.5mm
Wire size width (conductors with a wire end sleeve) 0.14 ... 1.5mm
2
2
2
0.08 ... 2.5mm
0,08 ... 2.5mm
0.14 ... 1.5mm
2
2
2
Wire stripping length 8 ... 9mm 9 ... 10mm
High Density Terminals (HD Terminals [}15]) with 16 terminal points
The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct
plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. The cables are
released, as usual, using the contact release with the aid of a screwdriver. See the following table for the
suitable wire size width.
Terminal housing High Density Housing
Wire size width (single core wires) 0.08 ... 1.5mm
Wire size width (fine-wire conductors) 0.25 ... 1.5mm
Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75mm
Wire size width (ultrasonically “bonded" conductors) only 1.5mm
2
2
2
2
Wire stripping length 8 ... 9mm
KL2791 17Version: 2.0.0
Mounting and wiring
3.2.3 Pin assignment
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminals system into a safe, de-energized state before starting mounting,
WARNING
disassembly or wiring of the Bus Terminals!
Fig.11: Pin assignment
Terminal
point
Output 1 Load (internally connected with terminal point 5) Load (internally connected with
L1 2 Phase (internally connected with terminal point 6
N 3 Neutral conductor (internally connected with
PE 4 Protective conductor (internally connected with
Output 5 Load (internally connected with terminal point 1) Load (internally connected with
L1 6 Phase (internally connected with terminal point 2
N 7 Neutral conductor (internally connected with
PE 8 Protective conductor (internally connected with
Power feed terminal
No. KL2791-0000,
KL2791-1200, connection for
and power contact for L1)
terminal point 7 and power contact for N)
terminal point 8 and power contact for PE)
and power contact for L1)
terminal point 3 and power contact for N)
terminal point 4 and power contact for PE)
KL2791-0011, connection for
terminal point 5)
Phase (internally connected with
terminal point 6)
Neutral conductor (internally
connected with terminal point 7)
Protective conductor (internally
connected with terminal point 8)
terminal point 1)
Phase (internally connected with
terminal point 2)
Neutral conductor (internally
connected with terminal point 3)
Protective conductor (internally
connected with terminal point 4)
A power feed terminal can supply several speed controller terminals.
KL279118 Version: 2.0.0
Mounting and wiring
The mains voltage should only be supplied via a power feed terminal that is
suitable for 230VAC/120VAC!
Attention
To supply the mains voltage (230VAC/120VAC) for the power contacts, it is essential to use
a power feed terminal that is designed for 230VAC/120VAC (e.g.:KL9150, KL9160,
KL9250, KL9260)!
Bus Couplers, Bus Terminal controllers and power feed terminals for 24V are not suitable
for the supply of mains voltage into the power contacts!
They are specifically designed for voltages up to 24V and would be destroyed if
230VAC/120VAC was applied to their power contacts!
Separation terminal
If 24V and 230VAC/120VAC are to be used on the power contacts in a Bus Terminal block,
Note
Short-circuit limitation
The speed controller terminals feature short-circuit limitation. The current is limited to approx. 10 to 15A.
Normally triggering of the fuse is therefore prevented.
The short circuit current flows for less than 0.5ms and is switched on automatically. After a short circuit was
detected the KL2791 tries to switch the system on again and tests the line with a low voltage. Once the short
circuit has been rectified, the speed controller terminal returns to the previous control value.
the KL9080 separation terminal can be used in order to clearly separate the potential
blocks visually from each other.
Short circuits on the line should always be avoided and never be induced deliberately! The short circuit puts
the components in the speed controller terminal under stress. A high number of short circuits reduces the
service life of the speed controller terminal!
Fuses
The speed controller terminal can be protected with fuses up to 10A.
The speed controller terminal protects itself from damage due to short circuit or overload. This built-in
protection is triggered in the event of a short circuit on the connecting line between the speed controller
terminal and the load.
Use overload protection!
However, overload protection must still be provided. The fine-wire fuse often used in de-
Attention
vices with transformers must not be bridged or changed in its value. This could lead to
overheating of the transformer.
KL2791 19Version: 2.0.0
Mounting and wiring
3.3 Notes on operation
Intended use
Mains supply
The KL2791 speed controller terminal is designed for direct mains operation (230VAC/120VAC) without upcircuit transformer.
No upstream transformers!
Excessive inductances in the supply line for the speed controller terminal lead to destruc-
Attention
Attention
Setting mode
tion of the speed controller terminal in the event of a short circuit!
Automatic load detection does not operate reliably with an upstream transformer.
Do not mix capacitive and inductive loads!
Capacitive and inductive loads must not be mixed at a speed controller terminal!
Use the correct setting mode!
Full-wave control:
Attention
Minimum interruption of mains supply
As a basic principle, full-wave control is suitable for single-phase rotary AC motors.
Leading edge phase control:
In motors that are very dynamic, full-wave control can lead to unbalance. The leading edge
phase control operating mode is designed for such motors. It ensures smooth operation, although under certain circumstances it may adversely affect the service life of the motor.
Mixed control:
Mixed control provides strikes a balance between full-wave control and leading edge phase
control and therefore offers a compromise between smooth operation and motor protection.
Minimum mains interruption
Any interruption of the mains supply for the speed controller terminal may not be shorter
Attention
than 3seconds (e.g.switching off and on again of an automatic circuit-breaker)!
With shorter interruptions, the speed controller would not lose its mains synchronization
and may operate the load with the wrong control mode (dueto the switch-on edge).
With wound transformers, this may lead to destruction of the speed controller terminal!
KL279120 Version: 2.0.0
Application examples - overview
4 Application examples - overview
• KL2791-0000 [}21]: Speed controller terminal with power contacts
• KL2791-0011 [}22]: Speed controller terminal without power contacts
4.1 KL2791-0000 - application example
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminals system into a safe, de-energized state before starting mounting,
WARNING
The example illustrates control of an AC motor through a KL2791-0000. The mains voltage (230VAC) is
supplied to the power contacts via the KL9160 power feed terminal.
disassembly or wiring of the Bus Terminals!
Fig.12: KL2791-0000 - application example
Power feed terminal
A power feed terminal can supply several speed controller terminals.
KL2791 21Version: 2.0.0
Application examples - overview
The mains voltage should only be supplied via a power feed terminal that is
suitable for 230VAC/120VAC!
Attention
To supply the mains voltage (230VAC/120VAC) for the power contacts, it is essential to use
a power feed terminal that is designed for 230VAC/120VAC (e.g.: KL9150, KL9160,
KL9250, KL9260)!
Bus Couplers, Bus Terminal controllers and power feed terminals for 24V are not suitable
for the supply of mains voltage into the power contacts!
They are specifically designed for voltages up to 24V and would be destroyed if
230VAC/120VAC was applied to their power contacts!
4.2 KL2791-0011 - application example
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminals system into a safe, de-energized state before starting mounting,
WARNING
The example illustrates control of a motor through a KL2791-0011. The mains voltage (230VAC) is supplied
directly to the speed controller terminal.
disassembly or wiring of the Bus Terminals!
Fig.13: KL2791-0011 - application example
Risk of damage to the device!
Supply of the mains voltage without power feed terminal is only permitted for speed controller terminals without power contacts (KL2791-0011)!
Attention
KL279122 Version: 2.0.0
Configuration Software KS2000
5 Configuration Software KS2000
5.1 KS2000 - Introduction
The KS2000 configuration software permits configuration, commissioning and parameterization of bus
couplers, of the affiliated bus terminals and of Fieldbus Box Modules. The connection between bus coupler/
Fieldbus Box Module and the PC is established by means of the serial configuration cable or the fieldbus.
Fig.14: KS2000 configuration software
Configuration
You can configure the Fieldbus stations with the Configuration Software KS2000 offline. That means, setting
up a terminal station with all settings on the couplers and terminals resp. the Fieldbus Box Modules can be
prepared before the commissioning phase. Later on, this configuration can be transferred to the terminal
station in the commissioning phase by means of a download. For documentation purposes, you are provided
with the breakdown of the terminal station, a parts list of modules used and a list of the parameters you have
modified. After an upload, existing fieldbus stations are at your disposal for further editing.
Parameterization
KS2000 offers simple access to the parameters of a fieldbus station: specific high-level dialogs are available
for all bus couplers, all intelligent bus terminals and Fieldbus Box modules with the aid of which settings can
be modified easily. Alternatively, you have full access to all internal registers of the bus couplers and
intelligent terminals. Refer to the register description for the meanings of the registers.
KL2791 23Version: 2.0.0
Configuration Software KS2000
Commissioning
The KS2000 software facilitates commissioning of machine components or their fieldbus stations: Configured
settings can be transferred to the fieldbus modules by means of a download. After a login to the terminal
station, it is possible to define settings in couplers, terminals and Fieldbus Box modules directly online. The
same high-level dialogs and register access are available for this purpose as in the configuration phase.
The KS2000 offers access to the process images of the bus couplers and Fieldbus Box modules.
• Thus, the coupler's input and output images can be observed by monitoring.
• Process values can be specified in the output image for commissioning of the output modules.
All possibilities in the online mode can be used in parallel with the actual fieldbus mode of the terminal
station. The fieldbus protocol always has the higher priority in this case.
KL279124 Version: 2.0.0
Configuration Software KS2000
5.2 Parameterization with KS2000
Connect the configuration interface of your fieldbus coupler with the serial interface of your PC via the
configuration cable and start the KS2000 Configuration Software.
Click on the Login button. The configuration software will now load the information for the
connected fieldbus station.
In the example shown, this is
• a BK9000 Bus Coupler for Ethernet
• a KL9160 power feed terminal for 230V with diagnostics
• a KL2791 speed controller terminal
• a KL9010 bus end terminal
Fig.15: Display of the fieldbus station in KS2000
The left-hand KS2000window displays the terminals of the fieldbus station in a tree structure.
The right-hand KS2000window contains a graphic display of the fieldbus station terminals.
In the tree structure of the left-hand window, click on the plus-sign next to the terminal whose parameters
you wish to change (item 2 in the example).
KL2791 25Version: 2.0.0
Configuration Software KS2000
Fig.16: KS2000 branch for channel 1 of the KL2791
For the KL2791, the branches Register, Settings and ProcData are displayed:
• Register [}27] permits direct access to the registers of the KL2791.
• Under Settings [}28] you find dialog boxes for parameterization the KL2791.
• ProcData [}30] displays the KL2791 process data.
KL279126 Version: 2.0.0
Configuration Software KS2000
5.3 Register
Under Register you can directly access the registers of the speed controller terminal. The meaning of the
register is explained in the register overview [}34].
The following picture shows the registers of the KL2791.
Fig.17: Register view in KS2000
KL2791 27Version: 2.0.0
Configuration Software KS2000
5.4 Settings
The dialog mask for the parameterization of the KL2791 can be found under Settings.
Fig.18: Settings via KS2000
Operation mode
Watchdog timer active (R32.2 [}35])
Here you can deactivate the watchdog (default: active).
User scaling active (R32.0 [}35])
Here you can activate user scaling (default: inactive).
Register values
User offset (R33 [}36])
You can specify the offset for the user-scaling here (default: 0).
User gain (R34 [}36])
Here you can specify the user scaling gain (default: 1).
Timeout(R36 [}36])
Here you can specify the timeout time for detecting a fieldbus error (default: 100ms).
Control value for timeout (On) (R37 [}36])
Here you can specify the control value for a timeout at which the load was switched on when it occurred
(default: 50%).
KL279128 Version: 2.0.0
Configuration Software KS2000
Control value for timeout(Off) (R38 [}36])
Here you can specify the control value for a timeout at which the load was switched off when it occurred
(default: 0%).
Setting mode (R39 [}36])
Here you can specify the setting mode for the speed controller:
• Full-wave control (default)
• Mixed control (for very dynamic motors, please read Notes on operation [}20]!)
• Leading edge phase control (firmware version 2A or higher)
Behavior after short circuit (R40 [}36])
Here you can specify the behavior of the speed controller terminal after a short circuit at the load output.
The speed controller terminal features short-circuit limitation. The current is limited to approx. 10 to 15A.
Normally triggering of the fuse is therefore prevented. The short circuit current flows for less than 0.5ms and
is switched on automatically.
• Remains switched off:
The user has to switch the system on again after a short circuit.
• Switch on again (default):
After a short circuit was detected, the speed controller terminal tries to resume operation and tests the
line with a low voltage. Once the short circuit has been rectified, the speed controller terminal returns to
the previous control value.
Mains frequency (R41 [}36])
Here you can set the speed controller terminal to your mains frequency; default: 50Hz
KL2791 29Version: 2.0.0
Configuration Software KS2000
5.5 Process data
The Status byte (Status), the Control byte (Ctrl) and the process data (Data) are displayed in a tree structure
under ProcData.
Fig.19: ProcData
The reading glasses mark the data that are currently graphically displayed in the History field.
Fig.20: History field
The current input values are displayed numerically in the Value field.
Fig.21: Value field
Output values can be modified through direct input or by means of the fader control.
Fig.22: Value field
KL279130 Version: 2.0.0
Configuration Software KS2000
Danger for persons, the environment or devices!
Note that changing output values (forcing them) can have a direct effect on your automa-
CAUTION
After pressing the Settings button you can set the format of the numerical display to hexadecimal, decimal or
binary.
Fig.23: Settings
tion application. Only modify these output values if you are certain that the state of your
equipment permits it, and that there will be no risk to people or to the machine!
KL2791 31Version: 2.0.0
Access from the user program
6 Access from the user program
6.1 Process image
The KL2791 is represented in the complex process image with 3bytes of input data and 3bytes of output
data. These are organized as follows:
Byte offset (without
word alignment)
0 0 Byte
1 2 Word DataIN DataOUT
The KL2791 is represented in the compact process image without input data and with 2bytes of output
data. These are organized as follows:
Byte offset (without
word alignment)
0 0 Word - DataOUT
*) Word alignment: The Bus Coupler places values on even byte addresses
Key
SB: Status byte
CB: Control byte
DataIN: input word
DataOUT: output word
In process data mode, the output word DataOUT controls the output power of the speed controller terminal.
Valid values are 0
dec
Byte offset (with word alignment*)
Byte offset (with word alignment*)
to 32767
dec
.
Format Input data Output data
SB [}32] CB [}32]
Format Input data Output data
6.2 Control and status bytes
Process data mode
Control byte (for process data mode)
The control byte(CB) is located in the output image [}32], and is transmitted from the controller to the
terminal.
Bit CB.7 CB.6 CB.5 CB.4 CB.3 CB.2 CB.1 CB.0
Name RegAccess - - - - - - -
Key
Bit Name Description
CB.7 RegAccess 0
CB.6 to CB.0 - 0
Status byte (for process data mode)
The status byte(SB) is located in the input image [}32], and is transmitted from terminal to the controller.
Bit SB.7 SB.6 SB.5 SB.4 SB.3 SB.2 SB.1 SB.0
Name RegAccess Error Temperatur
e warning
Register communication off (process data mode)
bin
reserved
bin
Overload Operation mode Synchrono
us
KL279132 Version: 2.0.0
Access from the user program
Key
Bit Name Description
SB.7 RegAccess 0
SB.6 Error 1
SB.5 Temperature warning 1
Acknowledgment for process data mode
bin
A load-side short circuit was detected
bin
Overtemperature detected (> 80°C): The process data
bin
are limited to 20% (the limitation is automatically reset
when the temperatures falls below 60°C)
SB.4 Overload 1
Overload detected (e.g.when switching higher loads
bin
on)
SB.3 to SB.1 Operation mode 0
1
SB.0 Synchronous 0
Full-wave control
dec
Mixed control
dec
Terminal is not synchronized with the mains or a short
bin
circuit was detected on the load side
1
Terminal has synchronized itself with the mains*
bin
Register communication
Control byte(for register communication)
The control byte(CB) is located in the output image [}32], and is transmitted from the controller to the
terminal.
Bit CB.7 CB.6 CB.5 CB.4 CB.3 CB.2 CB.1 CB.0
Name RegAccess R/W Reg. no.
Key
Bit Name Description
CB.7 RegAccess 1
CB.6 R/W 0
1
Register communication switched on
bin
Read access
bin
Write access
bin
CB.5 to CB.0 Reg. no. Register number:
Enter the number of the register [}34] that you
- want to read with input data wordDataIn [}32] or
- want to write with output data wordDataOUT [}32].
Status byte (for register communication)
The status byte(SB) is located in the input image [}32], and is transmitted from terminal to the controller.
Bit SB.7 SB.6 SB.5 SB.4 SB.3 SB.2 SB.1 SB.0
Name RegAccess R/W Reg. no.
Key
Bit Name Description
SB.7 RegAccess 1
SB.6 R 0
Acknowledgment for register access
bin
Read access
bin
SB.5 to SB.0 Reg. no. Number of the register that was read or written.
KL2791 33Version: 2.0.0
Access from the user program
6.3 Register overview
The registers are used for parameterizing the speed controller terminal. They can be read or written by
means of register communication.
Register no. Comment Default value R/W Memory
R0 reserved - - - -
... ... ... ... ... ...
R6 reserved - - - -
R7 [}35]
R8 [}35]
Command register 0x0000 0
dec
Terminal type KL2791-0000 0x0AE7 2791
dec
KL2791-0011
KL2791-1200
R9 [}35]
R10 Multiplex shift register 0x0118 280
R11 Signal channels 0x0118 280
R12 Minimum data length 0x9800 38912
R13 Data structure 0x0004 4
Firmware version e.g.0x3141 e.g.1A
dec
dec
dec
ASCII
dec
R14 reserved - - - -
R15 Alignment register 0x7F80 32640
R16 [}35]
Hardware version number e.g.0x0000 e.g.0
dec
dec
R17 reserved - - - -
... ... ... ... ... ...
R28 reserved - - - -
R29 Terminal type, special
version
KL2791-0000 0x0000 0
KL2791-0011 0x000B 11
dec
dec
KL2791-1200 0x04B0 1200
dec
R30 reserved - - - -
R31 [}35]
R32 [}35]
R33 [}36]
R34 [}36]
Code word register 0x0000 0
Feature register 0x0000 0
User scaling - offset 0x0000 0
dec
dec
dec
User scaling - gain 0x0100 256
dec
R35 reserved - - - -
R36 [}36]
R37 [}36]
R38 [}36]
R39 [}36]
R40 [}36]
R41 [}36]
Watchdog Timeout 0x000A 10
dec
Control value for timeout (On) 0x3FFF 16383
Control value for timeout (Off) 0x0000 0
Setting mode 0x0000 0
Behavior after short circuit 0x0001 1
Mains frequency KL2791-0000 0x0000 0
dec
dec
dec
(50Hz) R/W EEPROM
dec
dec
KL2791-0011
KL2791-1200 0x0001 1
(60Hz)
dec
R42 reserved - - - -
... ... ... ... ... ...
R63 reserved - - - -
R/W RAM
R ROM
R ROM
R ROM
R ROM
R ROM
R ROM
R/W RAM
R/W EEPROM
R ROM
R/W RAM
R/W EEPROM
R/W EEPROM
R/W EEPROM
R/W EEPROM
R/W EEPROM
R/W EEPROM
R/W EEPROM
R/W EEPROM
KL279134 Version: 2.0.0
Access from the user program
6.4 Register description
All registers can be read or written via register communication [}37]. They are used for the
parameterization of the terminal.
R7: Command register
User code word
For the following commands to be executed, it is first necessary for the user code word,
Note
Command 0x7000: Restore Factory Default Settings
Entering 0x7000 in register R7 restores the delivery state for the following registers:
R33: 0
dec
R34: 256
R35: 3
R36: 10
dec
dec
dec
R37: 16383
R38: 0
dec
R39: 0
dec
R40: 1
dec
R41: 0
dec
0x1235, to be entered into register R31 [}35].
dec
R8: Terminal type
The terminal name is contained in register R8: KL2791
R9: Firmware version
Register R9 contains the ASCII coding of the terminal's firmware version, e.g.0x3141 = '1A'. The '0x31'
corresponds here to the ASCII character '1', while the '0x41' represents the ASCII character 'A'.
This value can not be changed.
R16: Hardware version number
Register R16 contains the hardware version of the terminal.
R29: Terminal type, special version
Register R29 contains the special version of the terminal.
R31: Code word register
If you write values into the user registers without first entering the user code word (0x1235) into the code
word register, the terminal will not accept the supplied data. The code word is reset if the terminal is
restarted.
R32: Feature register
The feature register specifies the terminal's configuration.
Bit R32.15 R32.14 R32.13 R32.12 R32.11 R32.10 R32.9 R32.8
Name - - - - - - - -
Bit R32.7 R32.6 R32.5 R32.4 R32.3 R32.2 R32.1 R32.0
Name - - - - - disWatchdog- enUserSca
le
KL2791 35Version: 2.0.0
Access from the user program
Key
Bit Name Description Default
R32.15 - R32.3 - reserved
R32.2 disWatchdog 1
Internal watchdog (time adjustable) deactivated 0
bin
bin
R32.1 - reserved
R32.0 enUserScale 1
User scaling active (see R33 [}36]+ R34 [}36])
bin
0
bin
R33: User scaling - offset
The offset of the user scaling when the user scaling (R32.0 [}35]=1
) is enabled is entered in this register
bin
(default: 0).
R34: User scaling - gain
The gain of the user scaling when the user scaling (R32.0 [}35]=1
) is enabled is entered in this register.
bin
Example values:
128
= 0x80 = factor 0.5
dec
256
= 0x100 = factor 1.0 (default)
dec
512
= 0x200 = factor 2.0
dec
R36: Watchdog Timeout
This register specifies the timeout in the event of a fieldbus error. The unit is 10ms (default: 10
=100ms).
dec
R37: Control value for timeout (On)
This register specifies the light value that is output in the case of a fieldbus error and current process data >
0 (default: 16383
The unit is 1. (R32.2 [}35]=1
dec
).
).
bin
R38: Control value for timeout (Off)
This register specifies the light value that is output in the case of a fieldbus error and current process data =
0 (default: 0
The unit is 1. (R32.2 [}35]=1
dec
).
).
bin
R39: Setting mode
This register specified the setting mode (see Notes on operation [}20]):
0
:Full-wave control (default)
dec
1
:Mixed control
dec
2
: Leading edge phase control (firmware version 2A or higher)
dec
R40: Behavior after short circuit
This register specifies the behavior after a short circuit:
0
:Remains switched off:
dec
1
:switch on again (default):
dec
R41: Mains frequency
This register specifies the mains frequency:
0
:50Hz (default)
dec
1
:60Hz
dec
KL279136 Version: 2.0.0
Access from the user program
6.5 Examples of Register Communication
The numbering of the bytes in the examples corresponds to the display without word alignment.
6.5.1 Example 1: reading the firmware version from Register 9
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0x89 (1000 1001
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 not set means: reading the register.
• Bits 0.5 to 0.0 specify the register number 9 with 00 1001
• The output data word (byte 1 and byte 2) has no meaning during read access. To change a register,
write the required value into the output word.
Input Data (answer of the bus terminal)
) 0xXX 0xXX
bin
.
bin
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x89 0x33 0x41
Explanation:
• The terminal returns the value of the control byte as a receipt in the status byte.
• The terminal returns the firmware version 0x3341 in the input data word (byte 1 and byte 2). This is to
be interpreted as an ASCII code:
◦ ASCII code 0x33 represents the digit 3
◦ ASCII code 0x41 represents the letter A
The firmware version is thus 3A.
6.5.2 Example 2: Writing to an user register
Code word
In normal mode all user registers are read-only with the exception of Register 31. In order
Note
I. Write the code word (0x1235) into Register 31.
to deactivate this write protection you must write the code word (0x1235) into Register 31. If
a value other than 0x1235 is written into Register 31, write protection is reactivated. Please
note that changes to a register only become effective after restarting the terminal (poweroff/power-on).
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0xDF (1101 1111
) 0x12 0x35
bin
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 set means: writing to the register.
• Bits 0.5 to 0.0 specify the register number 31 with 01 1111
.
bin
• The output data word (byte 1 and byte 2) contains the code word (0x1235) for deactivating write
protection.
KL2791 37Version: 2.0.0
Access from the user program
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x9F (1001 1111
) 0xXX 0xXX
bin
Explanation:
• The terminal returns a value as a receipt in the status byte that differs only in bit 0.6 from the value of
the control byte.
• The input data word (byte 1 and byte 2) is of no importance after the write access. Any values still
displayed are invalid!
II. Read Register 31 (check the set code word)
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0x9F (1001 1111
) 0xXX 0xXX
bin
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 not set means: reading the register.
• Bits 0.5 to 0.0 specify the register number 31 with 01 1111
.
bin
• The output data word (byte 1 and byte 2) has no meaning during read access.
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x9F (1001 1111
) 0x12 0x35
bin
Explanation:
• The terminal returns the value of the control byte as a receipt in the status byte.
• The terminal returns the current value of the code word register in the input data word (byte 1 and byte
2).
III. Write to Register 32 (change contents of the feature register)
Output data
Byte 0: Control byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0xE0 (1110 0000
) 0x00 0x02
bin
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 set means: writing to the register.
• Bits 0.5 to 0.0 indicate register number 32 with 10 0000
.
bin
• The output data word (byte 1 and byte 2) contains the new value for the feature register.
CAUTION
Observe the register description!
The value of 0x0002 given here is just an example!
The bits of the feature register change the properties of the terminal and have a different
meaning, depending on the type of terminal. Refer to the description of the feature register
of your terminal (chapter Register description) regarding the meaning of the individual bits
before changing the values.
KL279138 Version: 2.0.0
Access from the user program
Input data (response from the Bus Terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0xA0 (1010 0000
) 0xXX 0xXX
bin
Explanation:
• The terminal returns a value as a receipt in the status byte that differs only in bit 0.6 from the value of
the control byte.
• The input data word (byte 1 and byte 2) is of no importance after the write access. Any values still
displayed are invalid!
IV. Read Register 32 (check changed feature register)
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0xA0 (1010 0000
) 0xXX 0xXX
bin
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 not set means: reading the register.
• Bits 0.5 to 0.0 indicate register number 32 with 10 0000
.
bin
• The output data word (byte 1 and byte 2) has no meaning during read access.
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0xA0 (1010 0000
) 0x00 0x02
bin
Explanation:
• The terminal returns the value of the control byte as a receipt in the status byte.
• The terminal returns the current value of the feature register in the input data word (byte 1 and byte 2).
V. Write Register 31 (reset code word)
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0xDF (1101 1111
) 0x00 0x00
bin
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 set means: writing to the register.
• Bits 0.5 to 0.0 specify the register number 31 with 01 1111
.
bin
• The output data word (byte 1 and byte 2) contains 0x0000 for reactivating write protection.
Input Data (answer of the bus terminal)
Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte
0x9F (1001 1111
) 0xXX 0xXX
bin
Explanation:
• The terminal returns a value as a receipt in the status byte that differs only in bit 0.6 from the value of
the control byte.
• The input data word (byte 1 and byte 2) is of no importance after the write access. Any values still
displayed are invalid!
KL2791 39Version: 2.0.0
Appendix
7 Appendix
7.1 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 & Co. KG
Huelshorstweg 20
33415 Verl
Germany
Phone: +49(0)5246/963-0
Fax: +49(0)5246/963-198
e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not 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 service
• hotline service
Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
e-mail: service@beckhoff.com
KL279140 Version: 2.0.0
List of illustrations
List of illustrations
Fig. 1 KL2791 ........................................................................................................................................ 8
Fig. 2 Basic KL2791 function principles................................................................................................. 9
Fig. 3 LEDs ............................................................................................................................................ 11
Fig. 4 Attaching on mounting rail ........................................................................................................... 12
Fig. 5 Disassembling of terminal............................................................................................................ 13
Fig. 6 Power contact on left side............................................................................................................ 14
Fig. 7 Standard wiring............................................................................................................................ 15
Fig. 8 Pluggable wiring .......................................................................................................................... 15
Fig. 9 High Density Terminals................................................................................................................ 15
Fig. 10 Connecting a cable on a terminal point ....................................................................................... 16
Fig. 11 Pin assignment ............................................................................................................................ 18
Fig. 12 KL2791-0000 - application example ............................................................................................ 21
Fig. 13 KL2791-0011 - application example ............................................................................................ 22
Fig. 14 KS2000 configuration software .................................................................................................... 23
Fig. 15 Display of the fieldbus station in KS2000 .................................................................................... 25
Fig. 16 KS2000 branch for channel 1 of the KL2791 ............................................................................... 26
Fig. 17 Register view in KS2000.............................................................................................................. 27
Fig. 18 Settings via KS2000 .................................................................................................................... 28
Fig. 19 ProcData ...................................................................................................................................... 30
Fig. 20 History field .................................................................................................................................. 30
Fig. 21 Value field .................................................................................................................................... 30
Fig. 22 Value field .................................................................................................................................... 30
Fig. 23 Settings ........................................................................................................................................ 31
KL2791 41Version: 2.0.0
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