Beckhoff KL5151-0000, KS5151, KL5151-0021, KL5151-0050, KS5152 Documentation

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KL5151/KS5151, KL5152/KS5152

Incremental Encoder Terminals

2.0.0 2016-03-15

Version: Date:

Product overview: incremental encoder interface

1 Product overview: incremental encoder interface

KL5151-0000 [}8]: single-channel incremental encoder terminal

KL5151-0021 [}9]: single-channel incremental encoder terminal with comparator output

KL5151-0050 [}10]: two-channel incremental encoder terminal

KL5152-0000 [}10]: two-channel incremental encoder terminal

KL5151/KS5151, KL5152/KS5152 3Version: 2.0.0

Table of contents

1 Product overview: incremental encoder interface .................................................................................3

2 Foreword ....................................................................................................................................................5

2.1 Notes on the documentation............................................................................................................. 5

2.2 Safety instructions ............................................................................................................................ 6

2.3 Documentation issue status.............................................................................................................. 7

3 Product overview.......................................................................................................................................8

3.1 KL5151-0000 - Introduction .............................................................................................................. 8

3.2 KL5151-0021 - Introduction .............................................................................................................. 9

3.3 KL5152-0000 (KL5151-0050) - Introduction ................................................................................... 10

3.4 Technical data ................................................................................................................................ 11

4 Mounting and wiring ...............................................................................................................................12

4.1 Installation on mounting rails .......................................................................................................... 12

4.2 Connection system ......................................................................................................................... 14

4.3 KL5151-0000 - Connection............................................................................................................. 18

4.4 KL5151-0021 - Connection............................................................................................................. 19

4.5 KL5152-0000 (KL5151-0050) - Connection.................................................................................... 20

4.6 ATEX - Special conditions .............................................................................................................. 21

4.7 ATEX Documentation ..................................................................................................................... 22

5 Configuration software KS2000 .............................................................................................................23

5.1 KS2000 - Introduction ..................................................................................................................... 23

5.2 Parameterization with KS2000 ....................................................................................................... 25

5.3 Settings........................................................................................................................................... 26

6 Access from the user program ..............................................................................................................28

6.1 KL5151-0000 .................................................................................................................................. 28

6.1.1 Process image ....................................................................................................................28

6.1.2 Control and status bytes .....................................................................................................29

6.1.3 Mapping ..............................................................................................................................31

6.2 KL5151-0021 .................................................................................................................................. 33

6.2.1 Process image ....................................................................................................................33

6.2.2 Control and status bytes .....................................................................................................33

6.3 KL5152-0000 (KL5150-0050) ......................................................................................................... 35

6.3.1 Process image ....................................................................................................................35

6.3.2 Control and status bytes .....................................................................................................38

6.3.3 Mapping ..............................................................................................................................40

6.4 Register .......................................................................................................................................... 44

6.4.1 Register overview ...............................................................................................................44

6.4.2 Register description ............................................................................................................45

6.4.3 Examples of Register Communication................................................................................48

7 Appendix ..................................................................................................................................................51

7.1 Support and Service ....................................................................................................................... 51

KL5151/KS5151, KL5152/KS51524 Version: 2.0.0

Foreword

2 Foreword

2.1 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 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 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. 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.

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

© 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.

KL5151/KS5151, KL5152/KS5152 5Version: 2.0.0

Foreword

2.2 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

Serious risk of injury!

Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons.

WARNING

Risk of injury!

Failure to follow the safety instructions associated with this symbol endangers the life and health of persons.

CAUTION

Personal injuries!

Failure to follow the safety instructions associated with this symbol can lead to injuries to persons.

Attention

Damage to the environment or devices

Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.

Note

Tip or pointer

This symbol indicates information that contributes to better understanding.

KL5151/KS5151, KL5152/KS51526 Version: 2.0.0

Foreword

2.3 Documentation issue status

Version Comment

2.0.0 • Migration

• Update revision status

1.3.0 • Technical data updated

• ATEX notes added

• Extended temperature range for KL5151-0000

• Description of control and status bytes of the KL5151-0021 corrected

1.2.0 • Introduction updated

• Description of the parameterization of the KL5151 by means of KS2000 configuration software updated.

• Register description updated

• Mounting description expanded

• KL5151-0021 added

• KL5151-0050 now available as KL5152-0000

1.1.0 • Description of the process images expanded

• Mapping tables added

1.0 • KL5151-0050 added

• Description of the parameterization of the KL5151 by means of KS2000 configuration software added.

0.1 Preliminary version (KL5151-0000 only)

Firmware and hardware versions

Documentation Version

KL5151-0000 KL5151-0021 KL5152-0000 (KL5151-0050)

Firmware Hardware Firmware Hardware Firmware Hardware

2.0.0 4E 09 14 08 4E 09

1.3.0 4C 07 13 07 4C 07

1.2.0 4C 07 13 07 4C 07

1.1.0 3A 02 - - 3A 02

1.0 3A 02 3A 02

0.1 3A 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: WWYYFFHH

WW - week of production (calendar week) YY - year of production FF - firmware version HH - hardware version

Example with ser. no.: 35 04 3A 02:

35 - week of production 35 04 - year of production 2004 3A - firmware version 3A 02 - hardware version 02

KL5151/KS5151, KL5152/KS5152 7Version: 2.0.0

Product overview

3 Product overview

3.1 KL5151-0000 - Introduction

Fig.1: KL5151

The KL5151-0000 Bus Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled.

The KL5151-0000 Bus Terminal can also be used as a 32-bit up/down counter.

Table1: LED indicators

LED Function

Ch. A Lights up when a signal is present at input A.

Ch. B Lights up when a signal is present at input B.

Ch. C Lights up when a signal is present at input C (zero input).

Gate / Latch Lights up when a signal is present at the gate/latch input.

KL5151/KS5151, KL5152/KS51528 Version: 2.0.0

Product overview

3.2 KL5151-0021 - Introduction

Fig.2: KL5151-0021

The KL5151-0021 Bus Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled.

The KL5151-0021 Bus Terminal has an additional comparator output.

Table2: LED indicators

LED Function

Ch. A Lights up when a signal is present at input A.

Output Lights up when the comparator output is switched on.

Ch. B Lights up when a signal is present at input B.

Ch. C Lights up when a signal is present at input C (zero input).

Gate / Latch Lights up when a signal is present at the gate/latch input.

Operation

Referencing

Enter the reference value for referencing via the output double word DataOUT1 [}33] and set bits CB1.0 [}33] (EnLatchC) and CB1.2 [}33] (SetCnt) in the control byte. The reference value is now adopted by the

counter on a rising edge at input C.

Measuring the workpiece

At the beginning of the measurement the filter value is preset in the filter register R0 [}45]. Then set the release bit CB1.1 [}33] (EnMeas) in the control byte. If a plate has been successfully measured, the terminal sets bit SB1.1 [}34] (MeasDone) in the status byte.

The measurement begins on an appropriate edge. If the level already exists, only the position of the end of the board is determined. The start of the measurement is then taken as the start of the board.

Post-forming sawing

The output has a rise time of 10 µs and a 40 µs delay due to the optocoupler.

KL5151/KS5151, KL5152/KS5152 9Version: 2.0.0

Product overview

3.3 KL5152-0000 (KL5151-0050) - Introduction

Fig.3: KL5151-0050

The KL5152-0000 (KL5151-0050) Bus Terminal is an interface with 24 V inputs for the direct connection of two incremental encoders. The terminal can optionally be used as a single-channel or two-channel device.

Table3: LED indicators

Signal LED Function Encoder

Ch. A1 Lights up when a signal is present at input A1. 1

Ch. B1 Lights up when a signal is present at input B1.

Ch. A2 Lights up when a signal is present at input A2. 2

Ch. B2 Lights up when a signal is present at input B2.

KL5151/KS5151, KL5152/KS515210 Version: 2.0.0

Product overview

3.4 Technical data

Technical data KL5151-0000 KL5151-0021 KL5152-0000 (KL5151-0050)

Sensor inputs (channels) 1 2

Encoder connection A, B, C, Gate, 24 V Channel 1: A1, B1

Channel 2: A2, B2

Encoder operating voltage 24 V

Counter 1 x 32 bit binary 2 x 32 bit binary

Limit frequency 100 kHz

Quadrature decoder 4-fold evaluation

Commands read, set, latching,

Compare function for setting the output (KL5151-0021 only)

Supply voltage 24VDC (-15%/+20%)

Comparator output 0 1 0

Current consumption from the power contacts

Typically 100 mA (without sensor load current)

Bit width in the K-bus I/O 4 x 16 bit user data, 1 x 8 bit control/status

Bit width in the input process image

2 data words, 1 status byte

compact [}36] complete [}36]

4 data words 4 data words,

2 status bytes

Bit width in the output process image

2 data words, 1 control byte

2 data words, 2 control bytes, 2 filler bytes

4 data words, 2 control bytes

Power supply for electronic via the K-bus

Current consumption from K-bus

typically 50 mA

Weight approx. 50 g

Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm

Mountin [}12]g

on 35 mm mounting rail conforms to EN 60715

Pluggable wiring [}14]

at all KSxxxx series terminals

Permissible ambient temperature range during operation

-25°C ... +60°C* 0°C ... +55°C (UL)

0°C ... +55°C (ATEX [}21])

0°C ... + 55°C

Permissible ambient temperature range during storage

-40°C ... + 85°C -25°C ... + 85°C

Permissible relative humidity

95%, no condensation

Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27

EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable

Approval

CE, cULus, ATEX [}21]

*) -25°C ... +60°C (extended temperature range) 0°C ... +55°C (according to cULus for Canada and the USA) 0°C ... +55°C (according to ATEX, see special conditions)

KL5151/KS5151, KL5152/KS5152 11Version: 2.0.0

Mounting and wiring

4 Mounting and wiring

4.1 Installation on mounting rails

WARNING

Risk of electric shock and damage of device!

Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the Bus Terminals!

Assembly

Fig.4: Attaching on mounting rail

The Bus Coupler and Bus Terminals are attached to commercially available 35mm mounting rails (DIN rails according to EN60715) 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.

Note

Fixing of mounting rails

The locking mechanism of the terminals and couplers extends to the profile of the mounting 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

7.5mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).

KL5151/KS5151, KL5152/KS515212 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 1cm 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 24V) or for higher voltages via power feed terminals.

Note

Power Contacts

During the design of a bus terminal block, the pin assignment of the individual Bus Terminals 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.

PE power contact

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 125A.

KL5151/KS5151, KL5152/KS5152 13Version: 2.0.0

Mounting and wiring

Fig.6: Power contact on left side

Attention

Possible damage of the device

Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively 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 230V). 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 10mm from the group of terminals.

WARNING

Risk of electric shock!

The PE power contact must not be used for other potentials!

4.2 Connection system

WARNING

Risk of electric shock and damage of device!

Bring the bus terminal system into a safe, powered down state before starting installation, 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 KLxxxx and ELxxxx series with standard wiring include electronics and connection level in a single enclosure.

• The terminals of KSxxxx and ESxxxx 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.

KL5151/KS5151, KL5152/KS515214 Version: 2.0.0

Mounting and wiring

Standard wiring

Fig.7: Standard wiring

The terminals of KLxxxx and ELxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly.

Pluggable wiring

Fig.8: Pluggable wiring

The terminals of KSxxxx and ESxxxx series feature a pluggable connection level. The assembly and wiring procedure for the KS series is the same as for the KLxxxx and ELxxxx 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 0.08mm2 and 2.5mm2 can continue to be used with the proven spring force technology.

The overview and nomenclature of the product names for KSxxxx and ESxxxx series has been retained as known from KLxxxx and ELxxxx series.

High Density Terminals (HD Terminals)

Fig.9: High Density Terminals

The Bus Terminals from these series with 16 connection points are distinguished by a particularly compact design, as the packaging density is twice as large as that of the standard 12mm Bus Terminals. Massive conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without tools.

KL5151/KS5151, KL5152/KS5152 15Version: 2.0.0

Mounting and wiring

Note

Wiring HD Terminals

The High Density (HD) Terminals of the KLx8xx and ELx8xx series doesn't support steady wiring.

Ultrasonically "bonded" (ultrasonically welded) conductors

Note

Ultrasonically “bonded" conductors

It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded" (ultrasonically welded) conductors. In this case, please note the tables concern-

ing the wire-size width [}16] below!

Wiring

Terminals for standard wiring ELxxxx / KLxxxx and terminals for steady wiring ESxxxx / KSxxxx

Fig.10: Mounting a cable on a terminal connection

Up to eight connections enable the connection of solid or finely stranded cables to the Bus Terminals. The terminals are implemented in spring force technology. Connect the cables as follows:

1. Open a spring-loaded terminal by slightly pushing with a screwdriver or a rod into the square opening above the terminal.

2. The wire can now be inserted into the round terminal opening without any force.

3. The terminal closes automatically when the pressure is released, holding the wire securely and permanently.

Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx

Wire size width 0.08 ... 2,5mm

0.08 ... 2.5mm

Wire stripping length 8 ... 9mm 9 ... 10mm

KL5151/KS5151, KL5152/KS515216 Version: 2.0.0

Mounting and wiring

High Density Terminals ELx8xx, KLx8xx (HD)

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 contact 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 (conductors with a wire end sleeve) 0.14... 0.75mm

Wire size width (single core wires) 0.08 ... 1.5mm

Wire size width (fine-wire conductors) 0.25 ... 1.5mm

Wire size width (ultrasonically “bonded" conductors)

only 1.5mm2 (see notice [}16]!)

Wire stripping length 8 ... 9mm

Shielding

Note

Shielding

Analog sensors and actors should always be connected with shielded, twisted paired wires.

KL5151/KS5151, KL5152/KS5152 17Version: 2.0.0

Mounting and wiring

4.3 KL5151-0000 - Connection

WARNING

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, disassembly or wiring of the Bus Terminals.

Fig.11: KL5151-0000

Pin assignment

Terminal point No. In the encoder interface operating mode*

Connection for

In the counter operating mode* Connection for

A 1 Input A Counter input

+24 V 2 Power contact +24 V (internally connected to terminal point 6)

0 V 3 Power contact 0 V (internally connected to terminal point 7)

C 4 Input C or

zero input (in case bit 0 (EnLatchC [}29]) is set in the control byte, a rising edge at this input causes the current counter value to be saved in the latch register as a reference mark).

Counter enable (gate input for the counter operating mode)

B 5 Input B Counting direction (high = down,

low = up)

+24 V 6 Power contact +24 V (internally connected to terminal point 2)

0 V 7 Power contact 0 V (internally connected to terminal point 3)

Gate/Latch 8 Gate input or

Latch input: if

• bit3 (EnLatchRise [}29]) is set in the control byte, a rising

edge

• bit 4 (EnLatchFall [}29]) is set in the control byte, a falling

edge

at this input causes the current counter value to be saved in the latch register as a reference mark.

no function

*) The operating mode is set with bit R32.15 [}46] of the feature register.

KL5151/KS5151, KL5152/KS515218 Version: 2.0.0

Mounting and wiring

4.4 KL5151-0021 - Connection

WARNING

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, disassembly or wiring of the Bus Terminals.

Fig.12: KL5151-0021

Pin assignment

Terminal point

No. Connection for

A 1 Input A

Output 2 Comparator output

0 V 3 Power contact 0 V (internally connected to terminal point 7)

C 4 Input C or

zero input (in case bit 0 (EnLatchC [}33]) is set in the control byte, a rising edge at this input causes the current counter value to be saved in the latch register as a reference mark).

B 5 Input B

+24 V 6 Power contact +24 V

0 V 7 Power contact 0 V (internally connected to terminal point 3)

Gate/Latch 8 Gate input or

Latch input: if

• bit3 (EnLatchRise [}33]) is set in the control byte, a rising edge

• bit 4 (EnLatchFall [}33]) is set in the control byte, a falling edge

at this input causes the current counter value to be saved in the latch register as a reference mark.

KL5151/KS5151, KL5152/KS5152 19Version: 2.0.0

Mounting and wiring

4.5 KL5152-0000 (KL5151-0050) - Connection

WARNING

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, disassembly or wiring of the Bus Terminals.

Fig.13: KL5151-0050

Pin assignment

Terminal point No. Connection for

A1 1 Input A for encoder 1

+24 V 2 Power contact +24 V (internally connected to terminal point 6)

0 V 3 Power contact 0 V (internally connected to terminal point 7)

A2 4 Input A for encoder 2

B1 5 Input B for encoder 1

+24 V 6 Power contact +24 V (internally connected to terminal point 2)

0 V 7 Power contact 0 V (internally connected to terminal point 3)

B2 8 Input B for encoder 2

KL5151/KS5151, KL5152/KS515220 Version: 2.0.0

Mounting and wiring

4.6 ATEX - Special conditions

WARNING

Observe the special conditions for the intended use of Beckhoff fieldbus components in potentially explosive areas (directive 94/9/EU)!

ü Conditions

a) The certified components are to be installed in a suitable housing that guarantees a

protection class of at least IP54 in accordance with EN 60529! The environmental conditions during use are thereby to be taken into account!

b) If the temperatures during rated operation are higher than 70°C at the feed-in points of

cables, lines or pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!

c) Observe the permissible ambient temperature range of 0 - 55°C for the use of Beckhoff

fieldbus components in potentially explosive areas!

d) Measures must be taken to protect against the rated operating voltage being exceeded

by more than 40% due to short-term interference voltages!

e) The individual terminals may only be unplugged or removed from the Bus Terminal sys-

tem if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

f) The connections of the certified components may only be connected or disconnected if

the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

g) The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the

supply voltage has been switched off or if a non-explosive atmosphere is ensured!

h) Address selectors and ID switches may only be adjusted if the supply voltage has been

switched off or if a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

• EN 60079-0: 2006

• EN 60079-15: 2005

KL5151/KS5151, KL5152/KS5152 21Version: 2.0.0

Mounting and wiring

Marking

The Beckhoff fieldbus components certified for potentially explosive areas bear one of the following markings:

II 3 G Ex nA II T4 KEMA 10ATEX0075 X Ta: 0 - 55°C

II 3 G Ex nA nC IIC T4 KEMA 10ATEX0075 X Ta: 0 - 55°C

4.7 ATEX Documentation

Note

Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX)

Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX) that is available in the download

area of the Beckhoff homepage http:\\www.beckhoff.com!

KL5151/KS5151, KL5152/KS515222 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.

KL5151/KS5151, KL5152/KS5152 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.

KL5151/KS5151, KL5152/KS515224 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 Ethernet coupler

• a KL1xx2 digital input terminal

• a KL5151-0000 incremental encoder terminal

• a KL9010 bus end terminal

Fig.15: Display of the fieldbus station in KS2000

The left-hand KS2000 window displays the terminals of the fieldbus station in a tree structure. The right-hand KS2000 window 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).

KL5151/KS5151, KL5152/KS5152 25Version: 2.0.0

Configuration software KS2000

Fig.16: KS2000 tree branches for channel 1 of the KL5151

For the KL5151, the branches Register, Settings and ProcData are displayed:

• Register permits direct access to the registers of the KL5151.

• Under Settings [}26] you find dialog boxes for parameterizing the KL5151.

• ProcData displays the KL5151 process data.

5.3 Settings

The dialog mask for the parameterization of the KL5151-0000 or KL5151-0050 can be found under Settings.

Fig.17: Settings via KS2000

Operation mode

Counter mode active (R32.15 [}46])

You can activate counter mode here (default: inactive). When counter mode is activated, the KL5151-0000 operates as a 32 bit up/down counter.

Display whole process image (R32.6 [}46])

Meaningful operation of the KL5151-0000 is only possible with the full process image (default: active)!

The KL5151-0050 is factory-set to the small (compact) process image. You can activate evaluation of the full process image for the KL5151-0050 here.

A positive level at the gate locks the counter (R32.5 [}46])

You can lock the counter by applying a positive level to the gate input (default: inactive).

KL5151/KS5151, KL5152/KS515226 Version: 2.0.0

Configuration software KS2000

A negative level at the gate locks the counter (R32.4 [}46])

You can lock the counter by applying a negative level to the gate input (default: inactive).

KL5151/KS5151, KL5152/KS5152 27Version: 2.0.0

Access from the user program

6 Access from the user program

6.1 KL5151-0000

6.1.1 Process image

In the process image, the KL5151 is represented with 5 bytes of input and output data. These are organized as follows:

Format Input data Output data

Byte

SB [}30] CB [}29]

Double word

DataIN DataOUT

Legend

SB: Status byte CB: Control byte

DataIN: The current value of the 32-bit counter, or the one stored in the latch (the selection is made with bit CB1.1 [}29] of the control byte)

DataOUT: Value specified for the 32 bit counter

• Please refer to the Mapping [}31] page for the allocation of the bytes and words to the addresses of

the controller.

• The meaning of the control and status bytes is explained on the Control and Status bytes [}29] page.

Note

No compact process image

Operation of the KL5151-0000 with compact process image (without control and status bytes) is not possible, since the control and status bytes are required for useful process data operation of the terminal. Even if you adjust your Bus Coupler to the compact process image, the KL5151-0000 will still be represented with its complete process image!

KL5151/KS5151, KL5152/KS515228 Version: 2.0.0

Access from the user program

6.1.2 Control and status bytes

Channel 1

Process data mode

Control byte 1 in process data mode

Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal.

Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0

Name RegAccess - RS_CNT_LATEnLatchFall EnLatchRise SetCnt ReadLatch EnLatchC

Legend

Bit Name Description

CB1.7 RegAccess 0

bin

CB1.6 - reserved

CB1.5 RS_CNT_LAT*1

bin

The counter is set to zero by an active edge at the latch input [}18]. Bits CB1.4, CB1.3 and CB1.0 specify which edge of the

latch signal is active.

CB1.4 EnLatchFall* 1

bin

The falling edge of the latch input [}18] is active. The counter value is stored in the latch register at the first external latch impulse after the EnLatchFall bit becomes true. The subsequent pulses do not have any effect on the latch register.

CB1.3 EnLatchRise*1

bin

The rising edge of the latch input [}18] is active. The counter value is stored in the latch register on the first external latch pulse after the EnLatchRise bit becomes true (this has priority over EnLatchFall). The subsequent pulses do not have any effect on the latch register.

CB1.2 SetCnt A rising edge at SetCnt will set the counter to the 32 bit value that is written by

the controller into the process output data.

CB1.1 ReadLatch 0

bin

The current value of the 32 bit counter is mapped to the process input data.

bin

The 32 bit value stored in the latch counter is mapped to the process input data.

CB1.0 EnLatchC* 1

bin

The rising edge of the zero input (input C [}18]) is active. The counter value is stored in the latch register at the first external latch impulse after the EnLatchC bit becomes true. The subsequent pulses do not have any effect on the latch register. (see note below)

*) Does not apply to KL5152-0000 (KL5151-0050), since the latch input and zero input are not available in this case. Always set bits CB1.5, CB1.4, CB1.3 and CB1.0 of the KL5152-0000 (KL5151-0050) to 0

bin

Note

EnLatchC or EnLatchRise and EnLatchFall?

If bit CB1.0 (EnLatchC) is set, bit CB1.3 (EnLatchRise) and bit CB1.4 (EnLatchFall) must not be set, otherwise you cannot know which event has caused a counter value to be stored in the latch.

Status byte 1 in process data mode

The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller.

KL5151/KS5151, KL5152/KS5152 29Version: 2.0.0

Access from the user program

Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0

Name RegAccess- - StGate StLatchC SetCnt ReadLatchValLatchC

Legend

Bit Name Description

SB1.7 RegAccess 0

bin

Acknowledgement for process data mode

SB1.6 - reserved

SB1.5 - reserved

SB1.4 StGate

KL5151-0000: Status of the external gate/latch input [}18]

KL5152-0000 (KL5151-0050): reserved

SB1.3 StLatchC

KL5151-0000: Status of the zero input (input C [}18])

KL5152-0000 (KL5151-0050): reserved

SB1.2 SetCnt Acknowledgement that the data for setting the counter has been adopted by

the terminal.

SB1.1 ReadLatch 0

bin

The current value of the 32 bit counter has been mapped to the process data.

bin

The 32 bit value stored in the latch counter has been mapped to the process data.

SB1.0 ValLatchC* 1

bin

A zero-point latch has occurred: a rising edge at the zero input (input C [}18]) has caused the current counter value to be

stored in the latch register as a reference mark. Subsequent pulses do not have any effect on the latch register.

To reactivate the gate/latch input [}18] you must:

• set bit 0 (EnLatchC) in the control byte to 0

bin

• wait until this change has been acknowledged by resetting bit 0 (ValLatchC) in the status byte.

• set bit 0 (EnLatchC) in the control byte to 1

bin

again.

*) Does not apply to KL5152-0000 (KL5151-0050), since the latch input and zero input are not available in this case.

Control byte 1 in register communication

Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal.

Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0

Name RegAccess R/W Reg. no.

Legend

Bit Name Description

CB1.7 RegAccess 1

bin

CB1.6 R/W 0

bin

Read access

bin

Write access

CB1.5 to CB1.0

Reg. no. Register number:

Enter the number of the register [}44] that you

- want to read with input data word 0 or

- write to with output data word 0.

KL5151/KS5151, KL5152/KS515230 Version: 2.0.0

Access from the user program

CAUTION

No valid process data during the register communication!

It is not possible to access the data registers during register communication! Process data that may still be displayed is not valid!

Status byte 1 in register communication

The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller.

Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0

Name RegAccess R Reg. no.

Legend

Bit Name Description

SB1.7 RegAccess 1

bin

Acknowledgement for register access

SB1.6 R 0

bin

Read access

SB1.5 to SB1.0

Reg. no. Number of the register that was read or written.

Channel 2 (KL5152-0000 and KL5151-0050 only)

The control and status bytes of channel 2 (CB2 and SB2) have the same structure as the control and status bytes of channel 1 [}29].

6.1.3 Mapping

The Bus Terminals occupy addresses within the process image of the controller. The assignment of process data (input and output data) and parameterization data (control and status bytes) to the control addresses is called mapping. The type of mapping depends on:

• the fieldbus system used

• the terminal type

• the parameterization of the Bus Coupler such as

- Intel or Motorola format

- word alignment switched on or off

The Bus Couplers (BKxxxx, LCxxxx) and Bus Terminal Controllers (BCxxxx, BXxxxx) are supplied with certain default settings. The default setting can be changed with the KS2000 configuration software or with a master configuration software (e.g. TwinCAT System Manager or ComProfibus).

The following tables show the mapping depending on different conditions. For information about the contents of the individual bytes please refer to the pages Process image [}28] and Control and status byte [}29].

Complete evaluation

Control and status bytes can be accessed.

Complete evaluation in Intel format

Default mapping for CANopen, CANCAL, DeviceNet, ControlNet, Modbus, RS232 and RS485 coupler.

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: n/a

Motorola format: no

Word alignment: no

0 DataIN D0 SB DataOUT D0 CB

1 DataIN D2 DataIN D1 DataOUT D2 DataOUT D1

2 reserved DataIN D3 reserved DataOUT D3

KL5151/KS5151, KL5152/KS5152 31Version: 2.0.0

Access from the user program

Complete evaluation in Motorola format

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: n/a

Motorola format: yes

Word alignment: no

0 DataIN D3 SB DataOUT D3 CB

1 DataIN D1 DataIN D2 DataOUT D1 DataOUT D2

2 reserved DataIN D0 reserved DataOUT D0

Complete evaluation in Intel format with word alignment

Default mapping for EtherCAT, Lightbus and Ethernet coupler as well as Bus Terminal Controllers (BCxxxx, BXxxxx).

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: n/a

Motorola format: no

Word alignment: yes

0 reserved SB reserved CB

1 DataIN D1 DataIN D0 DataOUT D1 DataOUT D0

2 DataIN D3 DataIN D2 DataOUT D3 DataOUT D2

Complete evaluation in Motorola format with word alignment

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: n/a

Motorola format: yes

Word alignment: yes

0 reserved SB1 reserved CB1

1 DataIN D2 DataIN D3 DataOUT D2 DataOUT D3

2 DataIN D0 DataIN D1 DataOUT D0 DataOUT D1

Legend

Complete evaluation: In addition to the process data, the control and status bytes are also mapped into the address space. Motorola format: Motorola or Intel format can be set. Word alignment: In order for the word address range to commence at a word boundary, empty bytes are inserted into the process image as appropriate.

SB: Status byte (appears in the input process image) CB: Control byte (appears in the output process image)

DataIN D0: Input double word, lowest significant data byte DataIN D1: Input double word, ... DataIN D2: Input double word, ... DataIN D3: Input double word, highest significant data byte

DataOUT D0: Output double word, lowest significant data byte DataOUT D1: Output double word, ... DataOUT D2: Output double word, ... DataOUT D3: Output double word, highest significant data byte

reserved: This byte occupies process data memory, although it has no function.

Compact evaluation

Note

No compact process image

KL5151/KS5151, KL5152/KS515232 Version: 2.0.0

Access from the user program

6.2 KL5151-0021

6.2.1 Process image

In the process image, the KL5151 is represented with 5 bytes of input and output data. These are organized as follows:

Format Input data Output data

Byte

SB1 [}33] CB1 [}33]

Double word

DataIN1 DataOUT1

Byte SB2 CB2

Double word

DataIN2 DataOUT2

Legend

SB1: Status byte 1 CB1: Control byte 1 SB1: Status byte 2 (not used) CB1: Control byte 2 (not used)

DataIN1: The current value of the 32-bit counter, or the one stored in the latch (the selection is made with bit CB1.1 [}33] of the control byte) DataOUT1: Compare value for setting the comparator output (enabled by bit CB1.6 [}33] of the control

byte). DataIN2: 32-bit latch DataOUT2: Compare value for resetting the comparator output

• The meaning of the control and status bytes is explained on the Control and Status bytes [}33] page.

Note

No compact process image

Operation of the KL5151-0021 with compact process image (without control and status bytes) is not possible, since the control and status bytes are required for useful process data operation of the terminal. Even if you adjust your Bus Coupler to the compact process image, the KL5151-0021 will still be represented with its complete process image!

6.2.2 Control and status bytes

Control byte 1 and status byte 1

Process data mode

Control byte 1 in process data mode

Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal.

Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0

Name RegAccess EnComp SetOut ReadLatchN ReadLatchP SetCnt EnMeas EnLatchC

KL5151/KS5151, KL5152/KS5152 33Version: 2.0.0

Access from the user program

Legend

Bit Name Description

CB1.7 RegAccess 0

bin

CB1.6 EnComp 0

bin

Compare function for setting and resetting the output not enabled

bin

Compare function for setting and resetting the output enabled

CB1.5 SetOut 0

bin

sets output manually to 0 V SetOut only functions if EnComp =

bin

sets output manually to 24 V

CB1.4 ReadLatchN 1

bin

Read the negative edge

CB1.3 ReadLatchP 1

bin

Read the positive edge

CB1.2 SetCnt A rising edge at SetCnt will set the counter to the 32 bit value that is written

by the controller into the process output data.

CB1.1 EnMeas 0

bin

Workpiece measurement enabled

If the workpiece measurement is enabled, it is read via CB1.3 and CB1.4 and saved in two latch values.

bin

Workpiece measurement not enabled

CB1.0 EnLatchC 1

bin

The rising edge of the zero input (input C [}19]) is active. The counter value is stored in the latch register at the first external latch impulse after the EnLatchC bit becomes true. The subsequent pulses do not have any effect on the latch register. (see note below)

Note

EnLatchC or EnLatchRise and EnLatchFall?

If bit CB1.0 (EnLatchC) is set, bit CB1.3 (EnLatchRise) and bit CB1.4 (EnLatchFall) must not be set, otherwise you cannot know which event has caused a counter value to be stored in the latch.

Status byte 1 in process data mode

The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller.

Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0

Name RegAccess - StOut StGate StLatchC SetCnt MeasDone ValLatchC

Legend

Bit Name Description

SB1.7 RegAccess 0

bin

Acknowledgement for process data mode

SB1.6 - reserved

SB1.5 StOut 0

bin

Status of the output is 0 V

bin

Status of the output is 24 V

SB1.4 StGate

Status of the external gate/latch input [}19]

SB1.3 StLatchC Status of the zero input (input C)

SB1.2 SetCnt Acknowledgement that the data for setting the counter has been adopted by

the terminal.

SB1.1 MeasDone 1

bin

Measurement done

SB1.0 ValLatchC 1

bin

A zero-point latch has occurred: a rising edge at the zero input (input C [}19]) has caused the current counter value to be stored in the

latch register as a reference mark. Subsequent pulses do not have any effect on the latch register. To

reactivate the gate/latch input [}19] you must:

• set bit 0 (EnLatchC) in the control byte to 0

bin

• wait until this change has been acknowledged by resetting bit 0 (ValLatchC) in the status byte.

• set bit 0 (EnLatchC) in the control byte to 1

bin

again.

KL5151/KS5151, KL5152/KS515234 Version: 2.0.0

Access from the user program

Control byte 1 in register communication

Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal.

Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0

Name RegAccess R/W Reg. no.

Legend

Bit Name Description

CB1.7 RegAccess 1

bin

CB1.6 R/W 0

bin

Read access

bin

Write access

CB1.5 to CB1.0 Reg. no. Register number:

Enter the number of the register [}44] that you

- want to read with input data word 0 or

- write to with output data word 0.

CAUTION

No valid process data during the register communication!

It is not possible to access the data registers during register communication! Process data that may still be displayed is not valid!

Status byte 1 in register communication

The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller.

Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0

Name RegAccess R Reg. no.

Legend

Bit Name Description

SB1.7 RegAccess 1

bin

Acknowledgement for register access

SB1.6 R 0

bin

Read access

SB1.5 to SB1.0 Reg. no. Number of the register that was read or written.

Control byte 2 and status byte 2

Control byte 2 and status byte 2 (CB2 and SB2) are not used.

6.3 KL5152-0000 (KL5150-0050)

6.3.1 Process image

The terminal can be operated with variously sized process images:

• compact process image

• compact process image on Bus Coupler that is set to complete process image (e.g. Lightbus)

• complete process image

The compact process image is activated in the delivery condition of the KL5151-0050. The size of the process image can be specified through bit R32.6 [}46] of the feature register.

KL5151/KS5151, KL5152/KS5152 35Version: 2.0.0

Access from the user program

Control byte, status byte and mapping

• The meaning of the control and status bytes is explained on the Control and Status bytes [}29] page.

• Please refer to the Mapping [}40] page for the allocation of the bytes and words to the addresses of

the controller.

Compact process image

For operation with compact process image, you must configure your Bus Coupler to compact mapping and bit R32.6 [}46] of the feature register of the KL5151-0050 must be 1

bin

The KL5151-0050 is represented in the compact process image with 8 bytes of input data and 8 bytes of output data. These are organized as follows:

Input data Output data

Format Contents Format Contents

Double word

DataIN1 Byte

CB1PD [}29]

Byte reserved

Byte

CB2PD [}31]

Byte reserved

Double word

DataIN2 Double

word

DataOUT

Legend

CB1PD: Control byte for process data operation of channel 1 CB2PD: Control byte for process data operation of channel 2

DataIN1: The current value of the 32-bit counter 1, or the one stored in the latch (the selection is made with bit CB1.1 [}29] of the control byte 1)

DataIN2: The current value of the 32-bit counter 2, or the one stored in the latch (the selection is made with bit CB2.1 [}31] of the control byte 2)

DataOUT: 32 bit specification of the value for counter 1 and counter 2

Note

No register communication possible

In this configuration the control bytes are suitable only for process data operation. Register communication is not possible!

Complete process image

For operation with complete process image, you must configure your Bus Coupler to complete mapping and bit R32.6 [}46] of the feature register of the KL5151-0050 must be 0

bin

The KL5151-0050 is represented in the complete process image with 10 bytes of input data and 10 bytes of output data. These are organized as follows:

Input data Output data

Format Contents Format Contents

Byte

SB1 [}30]

Byte

CB1 [}29]

Double word

DataIN1 Double

word

DataOUT1

Byte

SB2 [}31]

Byte

CB2 [}31]

Double word

DataIN2 Double

word

DataOUT2

KL5151/KS5151, KL5152/KS515236 Version: 2.0.0

Access from the user program

Legend

SB1: Status byte for channel 1 SB2: Status byte for channel 2 CB1: Control byte for channel 1 CB2: Control byte for channel 2

DataIN1: The current value of the 32-bit counter 1, or the one stored in the latch (the selection is made with bit CB1.1 [}29] of the control byte 1)

DataIN2: The current value of the 32-bit counter 2, or the one stored in the latch (the selection is made with bit CB2.1 [}31] of the control byte 2)

DataOUT1: 32 bit specification of the value for counter 1 DataOUT2: 32 bit specification of the value for counter 2

Note

In this configuration you can use the control and status bytes alternatively for register communication or process data operation.

Compact process image on Bus Coupler that is set to complete process image

If the KL5151-0050 is operated on a Bus Coupler that is set by default to complete process image (e.g. Lightbus), but bit R32.6 [}46] of the feature register is 1

bin

, the following process image results:

Input data Output data

Format Contents Format Contents

Byte

SB1RC [}31]

Byte

CB1RC [}30]

Double word

DataIN1 Byte

CB1PD [}29]

Byte reserved

Byte

CB2PD [}31]

Byte reserved

Byte

SB2RC [}31]

Byte

CB2RC [}31]

Double word

DataIN2 Double

word

DataOUT

Legend

SB1RC: Status byte for register communication with channel 1 SB2RC: Status byte for register communication with channel 2 CB1RC: Control byte for register communication with channel 1 CB2RC: Control byte for register communication with channel 2

CB1PD: Control byte for process data operation of channel 1 CB2PD: Control byte for process data operation of channel 2

DataIN1: The current value of the 32-bit counter 1, or the one stored in the latch (the selection is made with bit CB1.1 [}29] of the control byte 1)

DataIN2: The current value of the 32-bit counter 2, or the one stored in the latch (the selection is made with bit CB2.1 [}31] of the control byte 2)

DataOUT: 32 bit specification of the value for counter 1 and counter 2

Note

In this configuration you have different control and status bytes for register communication and process data operation. These are only suitable for the respectively specified purpose! You can switch from process data operation to register communication with bit 7 of the control byte for register communication. Bit 7 of the control byte for process data operation is not evaluated.

KL5151/KS5151, KL5152/KS5152 37Version: 2.0.0

Access from the user program

6.3.2 Control and status bytes

Channel 1

Process data mode

Control byte 1 in process data mode

Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal.

Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0

Name RegAccess - RS_CNT_LATEnLatchFall EnLatchRise SetCnt ReadLatch EnLatchC

Legend

Bit Name Description

CB1.7 RegAccess 0

bin

CB1.6 - reserved

CB1.5 RS_CNT_LAT*1

bin

The counter is set to zero by an active edge at the latch input [}18]. Bits CB1.4, CB1.3 and CB1.0 specify which edge of the latch signal is active.

CB1.4 EnLatchFall* 1

bin

CB1.3 EnLatchRise* 1

bin

CB1.2 SetCnt A rising edge at SetCnt will set the counter to the 32 bit value that is written

by the controller into the process output data.

CB1.1 ReadLatch 0

bin

The current value of the 32 bit counter is mapped to the process input data.

bin

The 32 bit value stored in the latch counter is mapped to the process input data.

CB1.0 EnLatchC* 1

bin

Note

EnLatchC or EnLatchRise and EnLatchFall?

If bit CB1.0 (EnLatchC) is set, bit CB1.3 (EnLatchRise) and bit CB1.4 (EnLatchFall) must not be set, otherwise you cannot know which event has caused a counter value to be stored in the latch.

Status byte 1 in process data mode

The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller.

Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0

Name RegAccess - - StGate StLatchC SetCnt ReadLatch ValLatchC

KL5151/KS5151, KL5152/KS515238 Version: 2.0.0

Access from the user program

Legend

Bit Name Description

SB1.7 RegAccess 0

bin

Acknowledgement for process data mode

SB1.6 - reserved

SB1.5 - reserved

SB1.4 StGate

KL5151-0000: Status of the external gate/latch input [}18]

KL5152-0000 (KL5151-0050): reserved

SB1.3 StLatchC

KL5151-0000: Status of the zero input (input C [}18])

KL5152-0000 (KL5151-0050): reserved

SB1.2 SetCnt Acknowledgement that the data for setting the counter has been adopted

by the terminal.

SB1.1 ReadLatch 0

bin

The current value of the 32 bit counter has been mapped to the process data.

bin

The 32 bit value stored in the latch counter has been mapped to the process data.

SB1.0 ValLatchC* 1

bin

A zero-point latch has occurred: a rising edge at the zero input (input C [}18]) has caused the current counter value to be stored in the

latch register as a reference mark. Subsequent pulses do not have any effect on the latch register. To

reactivate the gate/latch input [}18] you must:

• set bit 0 (EnLatchC) in the control byte to 0

bin

• wait until this change has been acknowledged by resetting bit 0 (ValLatchC) in the status byte.

• set bit 0 (EnLatchC) in the control byte to 1

bin

again.

*) Does not apply to KL5152-0000 (KL5151-0050), since the latch input and zero input are not available in this case.

Control byte 1 in register communication

Control byte 1 (CB1) is located in the output image, and is transmitted from the controller to the terminal.

Bit CB1.7 CB1.6 CB1.5 CB1.4 CB1.3 CB1.2 CB1.1 CB1.0

Name RegAccess R/W Reg. no.

Legend

Bit Name Description

CB1.7 RegAccess 1

bin

CB1.6 R/W 0

bin

Read access

bin

Write access

CB1.5 to CB1.0 Reg. no. Register number:

Enter the number of the register [}44] that you

- want to read with input data word 0 or

- write to with output data word 0.

CAUTION

No valid process data during the register communication!

It is not possible to access the data registers during register communication! Process data that may still be displayed is not valid!

KL5151/KS5151, KL5152/KS5152 39Version: 2.0.0

Access from the user program

Status byte 1 in register communication

The status byte 1 (SB1) is located in the input image, and is transmitted from terminal to the controller.

Bit SB1.7 SB1.6 SB1.5 SB1.4 SB1.3 SB1.2 SB1.1 SB1.0

Name RegAccess R Reg. no.

Legend

Bit Name Description

SB1.7 RegAccess 1

bin

Acknowledgement for register access

SB1.6 R 0

bin

Read access

SB1.5 to SB1.0 Reg. no. Number of the register that was read or written.

Channel 2 (KL5152-0000 and KL5151-0050 only)

The control and status bytes of channel 2 (CB2 and SB2) have the same structure as the control and status bytes of channel 1 [}38].

6.3.3 Mapping

• the fieldbus system used

• the terminal type

• the parameterization of the Bus Coupler such as

- compact or full evaluation

- Intel or Motorola format

- word alignment switched on or off

• the parameterization of the KL5152-0000 (KL5151-0050) to compact or complete evaluation (bit R32.6 [}46] of the feature register)

The following tables show the mapping depending on different conditions. For information about the contents of the individual bytes please refer to the pages Process image [}35] and Control and status byte [}29].

Compact evaluation

For operation with compact process image, you must configure your Bus Coupler to compact mapping and bit R32.6 [}46] of the feature register of the KL5152-0000 (KL5151-0050) must be 1

bin

In this configuration the control bytes are suitable only for process data operation. Register communication is not possible!

Compact evaluation in Intel format

Default mapping for CANopen, CANCAL, DeviceNet, ControlNet, Modbus, RS232 and RS485 coupler

KL5151/KS5151, KL5152/KS515240 Version: 2.0.0

Access from the user program

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: no

Motorola format: no

Word alignment: n/a

0 DataIN1 D1 DataIN1 D0 reserved CB1PD

1 DataIN1 D3 DataIN1 D2 reserved CB2PD

2 DataIN2 D1 DataIN2 D0 DataOUT D1 DataOUT D0

3 DataIN2 D3 DataIN2 D2 DataOUT D3 DataOUT D2

Compact evaluation in Motorola format

Default mapping for PROFIBUS and Interbus coupler

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: no

Motorola format: yes

Word alignment: n/a

0 DataIN1 D2 DataIN1 D3 CB2PD reserved

1 DataIN1 D0 DataIN1 D1 CB1PD reserved

2 DataIN2 D2 DataIN2 D3 DataOUT D2 DataOUT D3

3 DataIN2 D0 DataIN2 D1 DataOUT D0 DataOUT D1

Complete evaluation

For operation with complete process image, you must configure your Bus Coupler to complete mapping and bit R32.6 [}46] of the feature register of the KL5151-0050 must be 0

bin

In this configuration you can use the control and status bytes alternatively for register communication or process data operation.

Complete evaluation in Intel format

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: no

Word alignment: no

0 DataIN1 D0 SB1 DataOUT1 D0 CB1

1 DataIN1 D2 DataIN1 D1 DataOUT1 D2 DataOUT1 D1

2 SB2 DataIN1 D3 CB2 DataOUT1 D3

3 DataIN2 D1 DataIN2 D0 DataOUT2 D1 DataOUT2 D0

4 DataIN2 D3 DataIN2 D2 DataOUT2 D3 DataOUT2 D2

Complete evaluation in Motorola format

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: yes

Word alignment: no

0 DataIN1 D3 SB1 DataOUT1 D3 CB1

1 DataIN1 D1 DataIN1 D2 DataOUT1 D1 DataOUT1 D2

2 SB2 DataIN1 D0 CB2 DataOUT1 D0

3 DataIN2 D2 DataIN2 D3 DataOUT2 D2 DataOUT2 D3

4 DataIN2 D0 DataIN2 D1 DataOUT2 D0 DataOUT2 D1

KL5151/KS5151, KL5152/KS5152 41Version: 2.0.0

Access from the user program

Complete evaluation in Intel format with word alignment

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: no

Word alignment: yes

0 reserved SB1 reserved CB1

1 DataIN1 D1 DataIN1 D0 DataOUT1 D1 DataOUT1 D0

2 DataIN1 D3 DataIN1 D2 DataOUT1 D3 DataOUT1 D2

3 reserved SB2 reserved CB2

4 DataIN2 D1 DataIN2 D0 DataOUT2 D1 DataOUT2 D0

5 DataIN2 D3 DataIN2 D2 DataOUT2 D3 DataOUT2 D2

Complete evaluation in Motorola format with word alignment

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: yes

Word alignment: yes

0 reserved SB1 reserved CB1

1 DataIN1 D2 DataIN1 D3 DataOUT1 D2 DataOUT1 D3

2 DataIN1 D0 DataIN1 D1 DataOUT1 D0 DataOUT1 D1

3 reserved SB2 reserved CB2

4 DataIN2 D2 DataIN2 D3 DataOUT2 D2 DataOUT2 D3

5 DataIN2 D0 DataIN2 D1 DataOUT2 D0 DataOUT2 D1

Compact process image on Bus Coupler that is set to complete process image

If the KL5152-0000 (KL5151-0050) is operated on a Bus Coupler that is set by default to complete process image (e.g. Lightbus), but bit R32.6 [}46] of the feature register is 1

bin

(default setting), the following process

image results:

In this configuration you have different control and status bytes for register communication and process data operation. These are only suitable for the respectively specified purpose!

Intel format

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: no

Word alignment: no

0 DataIN1 D0 SB1RC CB1PD CB1RC

1 DataIN1 D2 DataIN1 D1 CB2PD reserved

2 SB2RC DataIN1 D3 CB2RC reserved

3 DataIN2 D1 DataIN2 D0 DataOUT D1 DataOUT D0

4 DataIN2 D3 DataIN2 D2 DataOUT D3 DataOUT D2

Motorola format

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: yes

Word alignment: no

0 DataIN1 D3 SB1RC reserved CB1RC

1 DataIN1 D1 DataIN1 D2 reserved CB2PD

2 SB2RC DataIN1 D0 CB2RC CB1PD

3 DataIN2 D2 DataIN2 D3 DataOUT D2 DataOUT D3

4 DataIN2 D0 DataIN2 D1 DataOUT D0 DataOUT D1

Intel format with word alignment

Default mapping for EtherCAT, Lightbus and Ethernet coupler as well as Bus Terminal Controllers (BCxxxx, BXxxxx)

KL5151/KS5151, KL5152/KS515242 Version: 2.0.0

Access from the user program

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: no

Word alignment: yes

0 reserved SB1RC reserved CB1RC

1 DataIN1 D1 DataIN1 D0 reserved CB1PD

2 DataIN1 D3 DataIN1 D2 reserved CB2PD

3 reserved SB2RC reserved CB2RC

4 DataIN2 D1 DataIN2 D0 DataOUT D1 DataOUT D0

5 DataIN2 D3 DataIN2 D2 DataOUT D3 DataOUT D2

Motorola format with word alignment

Parameterization of the Bus Coupler

Address Input data Output data

Word offset High byte Low byte High byte Low byte

Complete evaluation: yes

Motorola format: yes

Word alignment: yes

0 reserved SB1RC reserved CB1RC

1 DataIN1 D2 DataIN1 D3 CB2PD reserved

2 DataIN1 D0 DataIN1 D1 CB1PD reserved

3 reserved SB2RC reserved CB2RC

4 DataIN2 D2 DataIN2 D3 DataOUT D2 DataOUT D3

5 DataIN2 D0 DataIN2 D1 DataOUT D0 DataOUT D1

Legend

Complete evaluation: In addition to the process data, the control and status bytes are also mapped into the address space. Motorola format: Motorola or Intel format can be set. Word alignment: In order for the channel address range to commence at a word boundary, empty bytes are inserted into the process image as appropriate.

SB n: Status byte for channel n (appears in the input process image). CB n: Control byte for channel n (appears in the output process image).

SB n PD: Status byte for channel n, to be used only for process data operation (appears in the input process image) CB n PD: Control byte for channel n, to be used only for process data operation (appears in the output process image)

SB n RC: Status byte for channel n, to be used only for register communication (appears in the input process image) CB n RC: Control byte for channel n, to be used only for register communication (appears in the output process image)

DataIN n D0: Channel n, input double word, lowest significant data byte DataIN n D1: Channel n, input double word, ... DataIN n D2: Channel n, input double word, ... DataIN n D3: Channel n, input double word, highest significant data byte

DataOUT n D0: Channel n, output double word, lowest significant data byte DataOUT n D1: Channel n, output double word, ... DataOUT n D2: Channel n, output double word, ... DataOUT n D3: Channel n, output double word, highest significant data byte

reserved: This byte occupies process data memory, although it has no function.

KL5151/KS5151, KL5152/KS5152 43Version: 2.0.0

Access from the user program

6.4 Register

6.4.1 Register overview

R0 [}45]

KL5151-0021: Filter register 0x0000 0

dec

R/W RAM

other types: reserved - - - -

R1 to R5 reserved - - - -

R6 Diagnostic register (not used) 0x0000 0

dec

R RAM

R7 Command register (not used) 0x0000 0

dec

R/W RAM

R8 [}45]

Terminal description KL5151-0000: 0x141F 5151

dec

R ROM

KL5151-0023:

KL5151-0050:

KL5152-0000: 0x1420 5152

dec

R9 [}45]

Firmware version e.g. 0x3341 e.g. 3A

ASCII

R ROM

R10 [}45]

Multiplex shift register 0x0228 552

dec

R ROM

R11 [}45]

Signal channels KL5151-0000: 0x0128 296

dec

R ROM

KL5151-0023: 0x0150 336

dec

KL5151-0050: 0x0228 552

dec

KL5152-0000:

R12 [}45]

Minimum data length KL5151-0000: 0x2828 10280

dec

R ROM

KL5151-0023: 0x5050 20560

dec

KL5151-0050: 0xA8A8 43176

dec

KL5152-0000:

R13 [}45]

Data type 0x0006 6

dec

R ROM

R14 reserved - - - -

R15 Alignment register variable variable R/W RAM

R16 [}45]

Hardware version e.g. 0x0000 e.g. 0

dec

R/W SEEROM/RAM

R17 to R30 reserved - - - -

R29 [}46]

Terminal type Special identifier

KL5151-0000: 0x0000 0

dec

R ROM

KL5151-0023: 0x0017 23

dec

KL5151-0050: 0x0032 50

dec

KL5152-0000: 0x0000 0

dec

R31 [}46]

Code word register 0x0000 0

dec

R/W RAM

R32 [}46]

Feature register KL5151-0000: 0x0000 0

dec

R/W SEEROM/RAM

KL5151-0023: 0x0000 0

dec

KL5151-0050: 0x00C0 192

dec

KL5152-0000:

R33 to R34 reserved - - - -

R35 [}48]

KL5151-0021 Filter default 0x0000 0

dec

R/W SEEROM/RAM

other types reserved - - - -

R36 to R63 reserved - - - -

KL5151/KS5151, KL5152/KS515244 Version: 2.0.0

Access from the user program

6.4.2 Register description

R0: Filter register (KL5151-0021 only)

Workpiece lengths are only valid if they are longer than the lengths specified here (specified in increments).

R6: Diagnostic register

Is not used

R7: Command register

Is not used

R8: Terminal description

dec

)

KL5151-0023: 0x141F (5151

dec

)

KL5151-0050: 0x141F (5151

dec

)

KL5152-0000: 0x1420 (5152

dec

)

R9: Firmware version

Register R9 contains the firmware revision level of the terminal in hexadecimal coding, e.g. 0x3341. This is to be interpreted as an ASCII code:

- ASCII code 0x33 represents the digit 3

- ASCII code 0x41 represents the letter A So the firmware version is 3A in this example.

R10: Shift register length

0x0228

R11: Number of signal channels

KL5151-0000: 0x0128 (296

dec

)

KL5151-0023: 0x0150 (336

dec

)

KL5151-0050: 0x0228 (552

dec

)

KL5152-0000: 0x0228 (552

dec

)

R12: Minimum data length

KL5151-0000: 0x2828 (10280

dec

)

KL5151-0023: 0x5050 (20560

dec

)

KL5151-0050: 0xA8A8 (43176

dec

)

KL5152-0000: 0xA8A8 (43176

dec

)

R13: Data type

R15: Alignment register

The terminal in the Bus Coupler is set to a byte limit with the bits of the alignment register.

R16: Hardware version number

dec

KL5151/KS5151, KL5152/KS5152 45Version: 2.0.0

Access from the user program

R29: Terminal type - special identification

KL5151-0000: 0x0000 (0

dec

)

KL5151-0023: 0x0017 (23

dec

)

KL5151-0050: 0x0032 (50

dec

)

KL5152-0000: 0x0000 (0

dec

)

User register

The user registers of the terminal can be written by the user program in order to change the characteristics of the terminal at run-time.

R31: Code word register

• If you write values into the user registers without previously having entered the user code word (0x1235) in the code word register, these values are only stored in the RAM registers, but not in the EPROM registers and are therefore lost if the terminal is restarted.

• If you write values into the user registers and have previously entered the user code word (0x1235) in the code word register, these values are stored in the RAM registers and in the EPROM registers and are therefore retained if the terminal is restarted.

The code word is reset if the terminal is restarted.

R32: Feature register (KL5151-0000, KL5151-0050, KL5152-0000)

The feature register specifies a variety of properties for the terminal.

KL5151/KS5151, KL5152/KS515246 Version: 2.0.0

Access from the user program

Bit Feature Value Explanation Default

R32.15 OperationMode 0

bin

Encoder interface 0

bin

Counter (32-bit up/down)

R32.14 - reserved 0

bin

... ... ... ...

R32.8 - reserved 0

bin

R32.7 - reserved KL5151-0000: 0

bin

KL5151-0021: 0

bin

KL5151-0050: 1

bin

KL5152-0000: 1

bin

R32.6 enCompact

ProcessImage

bin

KL5151-0050, KL5152-0000: complete process image [}36] with status and

control bytes KL5151-0000:

complete process image [}28]with status and control byte

KL5151-0000: 0

bin

KL5151-0021: 0

bin

KL5151-0050: 1

bin

KL5152-0000: 1

bin

KL5151-0050, KL5152-0000: Compact process image [}36] without status byte

but with control byte KL5151-0000: Compact process image without status byte and without control byte Useful operation of the KL5151-0000 with compact process image is not possible, since the

control byte [}29] is required for the control of the counter and the latch!

R32.5 enPosGateLock 0

bin

A positive level at the gate input [}18] does not lock the counter.

bin

A positive level at the gate input [}18] locks the counter.

R32.4 enNegGateLock 0

bin

A negative level at the gate input [}18] does not lock the counter.

bin

A negative level at the gate input [}18] locks the counter.

R32.3 - reserved 0

bin

... ... ... ...

R32.0 - reserved 0

bin

R32: Feature register (KL5151-0021)

The feature register specifies a variety of properties for the terminal.

Bit Feature Value Explanation Default

R32.15 - reserved 0

bin

R32.14 B_MES_INV 0

bin

determine the positive edge first, then the negative

bin

carry out an inverted measurement: i.e. determine the negative edge first, then the positive

R32.13 - reserved 0

bin

... ... ... ...

R32.0 - reserved 0

bin

KL5151/KS5151, KL5152/KS5152 47Version: 2.0.0

Access from the user program

R35: Filter default (KL5151-0021 only)

The value stored here is entered after a reset of the terminal in register R0 [}45] (specified in increments).

6.4.3 Examples of Register Communication

The numbering of the bytes in the examples corresponds to the display without word alignment.

6.4.3.1 Example 1: reading the firmware version from Register 9 of a terminal

Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte

0x89 (1000 1001

bin

) 0xXX 0xXX

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

bin

• 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.

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.

6.4.3.2 Example 2: Writing to a user register

Note

Code word

In normal mode all user registers are read-only with the exception of Register 31. In order 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).

I. Write the code word (0x1235) into Register 31.

Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte

0xDF (1101 1111

bin

) 0x12 0x35

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.

KL5151/KS5151, KL5152/KS515248 Version: 2.0.0

Access from the user program

Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte

0x9F (1001 1111

bin

) 0xXX 0xXX

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)

Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte

0x9F (1001 1111

bin

) 0xXX 0xXX

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.

Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte

0x9F (1001 1111

bin

) 0x12 0x35

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)

Byte 0: Control byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte

0xE0 (1110 0000

bin

) 0x00 0x02

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.

Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte

0xA0 (1010 0000

bin

) 0xXX 0xXX

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!

KL5151/KS5151, KL5152/KS5152 49Version: 2.0.0

Access from the user program

IV. Read Register 32 (check changed feature register)

Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte

0xA0 (1010 0000

bin

) 0xXX 0xXX

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.

Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte

0xA0 (1010 0000

bin

) 0x00 0x02

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)

Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte

0xDF (1101 1111

bin

) 0x00 0x00

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.

Byte 0: Status byte Byte 1: DataIN1, high byte Byte 2: DataIN1, low byte

0x9F (1001 1111

bin

) 0xXX 0xXX

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!

KL5151/KS5151, KL5152/KS515250 Version: 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

KL5151/KS5151, KL5152/KS5152 51Version: 2.0.0

List of illustrations

Fig. 1 KL5151 ...................................................................................................................................... 8

Fig. 2 KL5151-0021 ............................................................................................................................. 9

Fig. 3 KL5151-0050 ............................................................................................................................. 10

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 Mounting a cable on a terminal connection ............................................................................... 16

Fig. 11 KL5151-0000 ............................................................................................................................. 18

Fig. 12 KL5151-0021 ............................................................................................................................. 19

Fig. 13 KL5151-0050 ............................................................................................................................. 20

Fig. 14 KS2000 configuration software .................................................................................................. 23

Fig. 15 Display of the fieldbus station in KS2000 .................................................................................. 25

Fig. 16 KS2000 tree branches for channel 1 of the KL5151.................................................................. 26

Fig. 17 Settings via KS2000 .................................................................................................................. 26

KL5151/KS5151, KL5152/KS515252 Version: 2.0.0

Beckhoff KL5151-0000, KS5151, KL5151-0021, KL5151-0050, KS5152 Documentation

Specifications and Main Features

Frequently Asked Questions

User Manual