Register description

The registers are used to parameterize the DC motor output stages. They can be read or written via the register communication and there is one instance for each terminal channel.

R0: Status word

The status word contains information about internal states, warnings and errors (see "Basic function principles" and "Status-Byte")

Bit

R0.15

R0.14

R0.13

R0.12

R0.11

R0.10

R0.9

R0.8

Name

Misc Error

No Control Power

-

Short Circuit

Over Voltage

Under Voltage

Over Current

Over Temperature

Bit

R0.7

R0.6

R0.5

R0.4

R0.3

R0.2

R0.1

R0.0

Name

-

Saturated

Moving Negative

Moving Positive

Ready

Ready to Enable

-

-

Legend

Bit

Name

Reaction

Description

R0.15

Misc Error

Error

1bin

Fault occurred

R0.14

No Control Power

Error

1bin

Control voltage at the power contacts is less than 12 V

R0.13

-

reserved

R0.12

Short Circuit

Error

1bin

Short circuit in the driver stage

R0.11

Over Voltage

Warning

1bin

Supply voltage 10 % higher than specified in R36

R0.10

Under Voltage

Warning

1bin

  • Supply voltage 80 % lower than specified in register R36 (warning)
  • Supply voltage less than 8 V (error; in addition, registers R0.15 and bit SB1.6 of the status register are set, and both channels are disabled)

R0.9

Over Current

Warning

1bin

The actual current was higher than the rated current over the time specified in register R47.

R0.8

Over Temperature

Warning

1bin

  • Internal terminal temperature is higher than 80 °C (warning)
  • Internal terminal temperature is higher than 100 °C (error; in addition, registers R0.15 and bit SB1.6 of the status register are set, and both channels are disabled)

R0.7

-

reserved

R0.6

Saturated

Warning

1bin

Driver stage is in saturation (max. output value reached)

R0.5

Moving Negative

1bin

Driver stage is activated in negative direction

R0.4

Moving Positive

1bin

Driver stage is activated in positive direction

R0.3

Ready

1bin

Driver stage is activated

R0.2

Ready to Enable

1bin

Driver stage ready for activation

R0.0 - R0.1

-

reserved

R1: Selection for measured value 1 and measured value 2

Preselection of the measured values shown in R2 and R3. The lower byte is allocated to register 2, the upper byte to register 3.
Example: R1 = 0x0602, lower byte = 2 (voltage of motor coil channel 1), upper byte = 6 (current of motor coil channel 1).

Each individual value can be shown in channel 1 and channel 2.

The values are based on the following table:

Selection

Name

Unit

0

Internal status word channel 1

-

1

Internal status word channel 2

-

2

Voltage of motor coil channel 1

1 mV

3

Voltage of motor coil channel 2

4

Motor supply voltage

5

Control voltage (power contacts)

6

Current of motor coil channel 1

1 mA

7

Current of motor coil channel 2

8

Internal temperature of the driver stage

1°C

9

Duty cycle channel 1

1%

10

Duty cycle channel 2

11

Control error channel 1

1 digit

12

Control error channel 2

13

Current limit channel 1

1 mA

14

Current limit channel 2

15

reserved

-

...

reserved

-

254

reserved

-

255

Firmware version of the driver card

-

R2: Measured value 1

Output of measured value 1 (see R1).

R3: Measured value 2

Output of measured value 2 (see R1).

R4: Register page selection (only KL2552, from firmware version 1M)

This register defines which register page is displayed in registers R32 to R63 (default: 0x0000).

The terminal supports two register pages.

R5: Counter specification register

Here you can specify the value to which the counter is set on rising edge at CB1.1 (SetCounter).

R6: Status byte

The status byte of the relevant channel is mapped here in addition.

R7: Command register

Register description 1:

User code word

For the following commands to be executed, it is first necessary for the user code word, 0x1235, to be entered into register R31.

Command 0x7000: Restore Factory Settings

KL2532

An entry of 0X7000 in register R7 sets the following registers for the two channels to the following default values:

R32: 0dec
R33: 0dec
R34: 2500dec
R35: 1500dec
R36: 24000dec

R41: 1500dec
R44: 0dec
R45: 100dcz
R46: 2000dec
R47: 200dec

R48: 100dec
R49: 1500dec
R50: 400dec
R51: 4dec
R52: 0dec
R53: 0dec

KL2552

An entry of 0X7000 in register R7 sets the following registers for the two channels to the following default values:

R32: 0dec
R33: 0dec
R34: 5000dec
R35: 1000dec
R36: 50000dec
R37: 100dec
R38: 0dec
R39: 0dec

R40: 0dec
R41: 2500dec
R42: 0dec
R43: 0dec
R44: 0dec
R45: 100dec
R46: 2000dec
R47: 200dec

R48: 100dec
R49: 2500dec
R50: 400dec
R51: 4dec
R52: 0dec
R53: 0dec
R54: 0dec
R55: 0dec

Register description 2:

Restore Factory Settings resets both channels

The command Restore Factory Settings simultaneously resets both channels of the DC motor output stage terminal to the delivery state, irrespective of which register set it is called!

WARNING

Risk of injury!

This command is used to de-energies the motor. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out!

Command 0x8000: Software Reset

Entering 0x8000 in register R7 initiates a full software reset for the terminal. All internal variables (positions, latched values, errors, etc.) are cleared or are set to defined values that are read from the EEPROM. The internal circuits (ADC, output driver) are reinitialized with a software reset.

WARNING

Risk of injury!

During a software reset the motor is switched current-free. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out!

R8: Terminal type

The terminal identifier is contained in register R8: 0x09F8 (2552dec)

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 cannot be changed.

R16: Hardware version number

Register R16 contains the hardware version of the terminal.

R17: DC link frequency

This is a manufacturer register and cannot be modified by the user.

The DC link frequency is configured here.

R18: PWM dead time

This is a manufacturer register and cannot be modified by the user.

The dead time of the high side and low side transistors is configured here.

R19: Duty cycle limit

This is a manufacturer register and cannot be modified by the user.

The minimum and maximum duty cycle in relation to the DC link frequency is configured here.

R20: Temperature thresholds

This is a manufacturer register and cannot be modified by the user.

The temperature thresholds for evaluating the internal temperature of the driver stage are configured here (warning output/shutdown of the driver stage).

R21: Sample time of the A/D converter

This is a manufacturer register and cannot be modified by the user.

The sample time in relation to the duty cycle is configured here.

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.

Register page 0

Register page 0 is used for saving the configuration data.

R32: Feature register 1

The feature register 1 specifies the terminal's configuration.

Bit

R32.15

R32.14

R32.13

R32.12

R32.11

R32.10

R32.9

R32.8

Name

-

-

-

disEncoder filter

-

enAutoReduce

enOverCurrentError

-

Bit

R32.7

R32.6

R32.5

R32.4

R32.3

R32.2

R32.1

R32.0

Name

-

-

-

-

-

disWatchdog

-

-

Legend

Bit

Name

Description

default

R32.13 - R32.15

-

reserved

R32.12

disEncoder filter

1bin

Input filter for encoder signals deactivated

0bin

R32.11

-

reserved

R32.10

enAutoReduce

0bin

The torque can be reduced manually with bit CB1.0 (see also R40, R49)

0bin

1bin

The torque is reduced automatically (see also R41, R45 or R49, R48)

R32.9

enOverCurrentError

0bin

Overload (R0.9 = 1) generates a warning (SB1.5)

0bin

1bin

Overload (R0.9 = 1) generates an error (SB1.6), and the channel is disabled

R32.3 - R32.8

-

reserved

R32.2

disWatchdog

1bin

Internal 100 ms watchdog deactivated

0bin

R32.0 - R32.1

-

reserved

R33: Feature register 2

The feature register 2 specifies the terminal's configuration.

Bit

R33.15

R33.14

R33.13

R33.12

R33.11

R33.10

R33.9

R33.8

Name

-

-

-

-

-

-

-

-

Bit

R33.7

R33.6

R33.5

R33.4

R33.3

R33.2

R33.1

R33.0

Name

-

-

enOuter Window

enInner Window

Operation Mode

Legend

Bit

Name

Description

default

R33.6 - R33.15

-

reserved

R33.5*

enOuter Window

1bin

Outer window of the I component of the internal velocity control active

0bin

R33.4*

enInner Window

1bin

Inner window of the I component of the internal velocity control active

0bin

R33.0 - R33.3

Operation Mode

0dez

DIRECT MODE

Direct duty cycle control proportional to the process data

0dez

1dez

VELOCITY MODE

Set velocity specification via the process data proportional to the set rated speed in R43

3dez

reserved

14dez

reserved

15dez

CHOPPER MODE

Existing overvoltage (10% > rated voltage R36) is reduced via connected chopper resistor

*) These settings are only supported by the KL2552, not by the KL2532

R34: Maximum permanent motor coil current

This register reflects the maximum constant motor coil current specified by the motor manufacturer.
KL2532/KS2532: Default: 2500dec, range: 0 - 2500 mA
KL2552/KS2552: Default: 8000dec, range: 0 - 8000 mA

The unit is 0.001 A (example: 2500dec = 2.5 A).

R35: Rated current of the motor

This register reflects the rated motor current specified by the motor manufacturer.
KL2532/KS2532: Default: 1500dec, range: 0 - 1500 mA
KL2552/KS2552: Default: 05000dec, range: 0 - 5000 mA

The unit is 0.001 A (example: 1500dec = 1.5 A).

R36: Nominal voltage (supply voltage) of the motor

If the supply voltage increases above the set voltage due to feedback, the respective channel (chopper resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function (see R33) is activated.
KL2532/KS2532: Default: 24000dec, range: 0 V - 24 V
KL2552/KS2552: Default: 50000dec, range: 0 V - 50 V

The unit is 0.001 V (for example: 24000dec = 24 V).

R37: Kp factor (velocity controller, only KL2552)

This register contains the Kp factor for the proportional component of the internal velocity control (default: 100dec).

The unit is 0.001 (example: 1000dec => Kp = 1.00). Value range: 0 - 65535

R38: Ki factor (velocity controller, only KL2552)

This register contains the Ki factor for the integral component of the internal velocity control (default: 0dec).

The unit is 0.001 (example: 1000dec => Ki = 1.00). Value range: 0 - 65535

R39: Inner window of the I component (only KL2552)

The I component of the velocity control reduced linearly towards the zero point (default: 0dec). This register specifies the value from which the attenuation is activated (default: 0dec).

The unit is 1% (for example: 1 = 1%). Value range: 0% - 100 %

R40: Outer window of the I component (only KL2552)

This register specifies the maximum value of the I component (default: 0dec).

The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100 %

R41: Reduced torque (coil current in positive direction of rotation)

This register contains the reduced torque (coil current) in positive direction of rotation. It is activated by CB1.0.
KL2532/KS2532: Default: 1500dec, range: 0 mA - 1500 mA
KL2552/KS2552: Default: 2500dec, range: 0 mA - 5000 mA

The unit is 0.001 A (for example: 500dec = 0.5 A).

R42: Encoder increments (KL2552 only)

This register contains the number of encoder increments per motor revolution (default: 0dec).

Value range: 0 - 65535

R43: Rated motor speed at rated voltage (only KL2552)

This register contains the rated motor speed at rated voltage (default: 0dec).

The unit is 1 RPM. Value range: 0 - 65535 RPM

R44: Internal resistance of the motor

This register contains the internal resistance of the motor (default: 0dec).

The unit is 0.01 Ohm (example: 206dec = 2.06 Ohm). Value range: 0 Ohm - 655,35 Ohm

R45: Threshold for automatic torque reduction (in positive direction of rotation)

This register contains the threshold at which automatic torque reduction is activated (R41) (default: 0dec). Deactivation occurs with a hysteresis of approx. 2% of the full scale (65 digit).

The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100%

R46: Time for current reduction on overload

This register contains the time over which the motor current is reduced from the maximum value to the rated value. This happens based on an I²t function, i.e. the behavior is nonlinear. Depending on the actual motor current, it may take longer than the set time for the rated current to be reached (default: 2000dec).

The unit is 1 ms (for example: 2000dec = 2000 ms). Value range: 1 ms - 65535 ms (if 0 ms is configured, the terminal uses the default value of 2000 ms)

R47: Time to shutdown on overload

This register contains the time after which the output stage is switched off, if overload occurs over the whole interval. (Default: 200dec).

The unit is 1 ms (for example: 200dec = 200 ms). Value range: 0 ms - 65535 ms

R48: Threshold for automatic torque reduction (in negative direction of rotation)

This register contains the threshold (negative direction of rotation), from which the automatic torque reduction is enabled (R49) (default: 100dec). Deactivation occurs with a hysteresis of approx. 2% of the full scale (65 digit).

The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100%

R49: Reduced torque (coil current in negative direction of rotation)

This register contains the reduced torque (coil current) in negative direction of rotation. It is activated by CB1.0.
KL2532/KS2532: Default: 1500dec, range: 0 mA - 1500 mA
KL2552/KS2552: Default: 2500dec, range: 0 mA - 5000 mA

The unit is 0.001 A (for example: 500dec = 0.5 A).

R50: Kp factor (current controller, only KL2552)

This register contains the Kp factor for the proportional component of the internal current control (default: 400dec).

The unit is 0.001 (example: 1000dec => Kp = 1.00). Value range: 0 - 65535

R51: Ki factor (current controller, only KL2552)

This register contains the Ki factor for the integral component of the internal current control (default: 4dec).

The unit is 0.001 (example: 1000dec => Ki = 1.00). Value range: 0 - 65535

R52: Inner window of the I component (current controller)

The I component of the velocity control reduced linearly towards the zero point (default: 0dec). This register specifies the value from which the attenuation is activated (default: 0dec).

The unit is 1% (for example: 1 = 1%). Value range: 0% - 100%

R53: Outer window of the I component (current controller)

This register specifies the maximum value of the I component (default: 0dec).

The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100%

R54: Ka factor (velocity controller, only KL2552)

This register contains the Ka factor for the integral component of the internal velocity control (default: 0dec).

The unit is 0.001 (example: 1000dec => Ki = 1.00). Value range: 0 - 65535

R55: Kd factor (velocity controller, only KL2552)

This register contains the Kd factor of the differential component of the internal velocity control (default: 0dec).

The unit is 0.1 (example: 10dec => Kd = 1.00). Value range: 0 - 65535

Register page 1 (only KL2552, from firmware version 1M)

Register page 1 is used for reading internal measured values.

See register overview