KL2542 - DC motor output stage terminal

Register description

All registers can be read or written via register communication. They are used for the parameterization of the terminal.

 

R0: Status word

The status word contains information about internal states, and provides an indication of errors that have occurred.

 
Bit
R0.15
R0.14
R0.13
R0.12
R0.11
R0.10
R0.9
R0.8
Name
-
NoControl Power
Torque Overload
Over Current
Under Voltage
Over Voltage
Low Voltage
Over Temperature
Bit
R0.7
R0.6
R0.5
R0.4
R0.3
R0.2
R0.1
R0.0
Name
-
-
-
-
-
-
-
-
 
 

Key

 
Bit
Name
Description
R0.15
-
reserved
R0.14
NoControl Power
1bin
The 24 V control voltage is not present at the power contacts
R0.13
Torque Overload
1bin
Torque is greater than specified in R38
R0.12
Over Current
1bin
Overcurrent in the driver stage
R0.11
Under Voltage
1bin
Supply voltage less than 7 V
R0.10
Over Voltage
1bin
Supply voltage greater than 15% of the switch-on voltage (with R39=0) or greater than specified in R39 (with R39<>0)
R0.9
Low Voltage
1bin
The supply voltage is 10 V less than the switch-on voltage
R0.8
Over Temperature
1bin
The internal temperature of the terminal is greater than 80 °C (see R5)
R0.0 - R0.7
-
reserved
 
 

R1: Set position

You can specify the desired position, with which the terminal is to be loaded, here.

 
 

R2: Torque

This register always contains the last and maximum value of the previous milliseconds (register R46) for the current torque. This value is unitless, normalized relative to 1000, and always positive. It is calculated as follows:

1.0
M = | E x 1000 / VC |
 
where
 
 
1.1
E = VC - VG
 
1.2
VC = VS x DataOUT / 32767
 

with

M
Torque (magnitude)
[M] = 1
E
Control error
[E] = 1 V
VS
Supply voltage
[VS] = 1 V
VG
Countervoltage of the motor
[VG] = 1 V
VC
Set velocity (set voltage, relative to the process data)
[VC] = 1 V
 
 

R3: Supply voltage

Enables reading of the motor supply voltage. The unit is 1 mV (for example: 4800 = 48 V).

 
 

R5: Temperature register

The internal temperature of the terminal can be read, in °C, through register R6. The terminal will set bit SB.5 in the status byte as a warning if the temperature exceeds the threshold of 80°C. When the temperature falls back below 60°C, bit SB.5 will automatically be reset.

 
 

R6: Status byte

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

 
 

R7: Command register

 
Note
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

Entering 0x7000 in register R7 restores the factory settings for the following registers of both channels:

R32: 0dec
R33: 0dec
R34: 4096dec
R35: 0dec
R36: 5000dec
R37: 3500dec
R38: 10000dec
R39: 0dec
R40: 100dec
R41: 20dec
R42: 4096dec
R43: 1dec
R44: 5dec
R45: 100dec
R46: 500dec
R47: 10000dec
 
Note
Restore Factory Settings
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!
 
 

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 (D/A converter, output driver) are reinitialized during a software reset.

 
CAUTION
Danger to persons and machines!
During a software reset the motor is de-energized. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out!
 
 

R8: Terminal type

The terminal name is contained in register R8:
0x09EE (2542dec)

 
 

R9: Firmware version

Register R9 contains the ASCII coding of the terminal's firmware version, e.g. 0x3141 = '1A'. The '0x31' corresponds here to the ASCII character '1', while the '0x41' represents the ASCII character 'A'.
This value can not be changed.

 
 

R16: Hardware version number

Register R16 contains the hardware version of the terminal.

 
 

R31: Code word register

If you write values into the user registers without first entering the user code word (0x1235) into the code word register, the terminal will not accept the supplied data. The code word is reset if the terminal is restarted.

 
 

R32: Feature register

The feature register specifies the terminal's configuration.

 
Bit
R32.15
R32.14
R32.13
R32.12
R32.11
R32.10
R32.9
R32.8
Name
disVelocity Controller
disIPart
disIWindow
-
-
enChopper
enTorque Error
enUser StartValue
Bit
R32.7
R32.6
R32.5
R32.4
R32.3
R32.2
R32.1
R32.0
Name
-
-
-
-
enAverage Notation
disWatchdog
enManu Scale
enUser Scale
 
 

Key

 
Bit
Name
Description
default
R32.15
disVelocity Controller
1bin
Velocity control is deactivated (proportional and integral component), see R42
0bin
R32.14
disIPart
1bin
I component of the velocity control is deactivated (see R44 + R45)
0bin
R32.13
disIWindow
1bin
Inner window of the I component is deactivated (see R43)
0bin
R32.11 - R32.12
-
reserved
R32.10
enChopper
1bin
Chopper resistor is active (overvoltage protection, channel 2 only, see R39)
0bin
R32.9
enTorque Error
1bin
Torque cutoff active (see R38)
0bin
R32.8
enUser StartValue
1bin
User switch-on value active (see R35)
0bin
R32.4 - R32.7
-
reserved
R32.3
enAverage Notation
1bin
Signed amount representation active
0bin
R32.2
disWatchdog
1bin
Internal 100 ms watchdog deactivated
0bin
R32.1
enManuScale
1bin
Manufacturer scaling is active
0bin
R32.0
enUserScale
1bin
User scaling active (see R33+ R34)
0bin
 
 

R33: User scaling - offset

Here you can enter the user scaling offset, if user scaling is enabled (R32.0=1) (default: 0x0000). Examples:

 
hex
...
0xFFFD
0xFFFE
0xFFFF
0x0000
0x0001
0x0002
...
Offset
...
-3
-2
-1
0
1
2
...
 
 

R34: User scaling - gain

Here you can enter the user scaling gain, if user scaling is activated (R32.0=1) is (default 4096dec).
Examples:

 
hex
0x0001
0x0800
0x0FFF
0x1000
0x1001
0x1800
0x2000
0xFFFF
dec
1dec
2048dec
4095dec
4096 dec
4097dec
6144dec
8192dec
65535dec
Offset
0.0002
0.5
0.0098
1
1.0002
1.5
2
15.9998
 
 

R35: User's switch-on value

If the activated watchdog (R32.2 = 0bin) is triggered after 100 ms due to a fieldbus or Terminal Bus error, this value becomes the output value.

 
 

R36: Maximum coil current of the motor

This register specifies the maximum coil current of the motor. The unit is 1 mA (example: 1500dec = 1.5 A).
5000 mA max.

 
 

R37: Rated current of the motor

This register specifies the rated current of the motor. The unit is 1 mA (example: 1,000dec = 1.0 A).
3500 mA max.

 
 

R38: Maximum torque

This register is used for configuring the maximum permitted torque for the application (default: 10000dec), see register description R2

If the current value (register R2) exceeds this threshold, with R32.9=0 only a warning is issued (SB1.5=1 and R0.13=1). If torque cutoff is active (R32.9=1), the motor is de-energized and an error is issued (SB1.6=1 and R0.13=1).

 
 

R39: Chopper voltage (channel 2 only)

If the supply voltage increases above the set chopper voltage due to feedback, the second channel (chopper resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function is activated (R32.10=1).

 
 

R40: Internal resistance of the motor

This register contains the internal resistance of the motor (default: 100dec).
The unit is 0.01 ohm (example: 100dec = 1.00 ohm).

 
 

R41: Automatic switch-off threshold for MixedDecay

MixedDecay: To avoid motor resonances at low speed, the motor is controlled via two pulsed transistors per half-wave.

This register contains the threshold at which the MixedDecay function of the motor controller chip is automatically deactivated (default: 20dec).
The unit is 1% (example: 20 = 20%).

 
 

R42: Kp factor

This register contains the Kp factor of the internal velocity control (default: 4096dec).
The unit is 1 / 4096 (example: 4096dec => Kp = 1.00).

 
 

R43: Inner window of the I component

The I-component of the velocity control is reduced towards zero (default: 1dec). This register specifies the value from which the attenuation is activated.
The unit is 1% (example: 1 = 1%).

 
 

R44: Maximum value of the I component

This register specifies the maximum value of the I-component (default: 5dec).
The unit is 1% (example: 5dec = 5%).

 
 

R45: Time constant Tn of the I component

This register controls the dynamic response of the I-controller (default: 100dec).
The unit is 1 (example: 100dec = 100).

 
 

R46: Time constant for deleting or limiting the maximum torque

The maximum torque is stored in register R2 for the time set in this register (default: 500dec).

The unit is 1 ms (example: 500 = 0.5 s).

The saved torque is then deleted and overwritten with the next larger value.
If torque cutoff is active, the motor is de-energized if the current torque for this time is greater than the value set in register R38.

 
 

R47: Time constant for limiting the rated motor current

The terminal energizes a connected motor with increasing mechanical load up to the current set in register R36. If this mechanical load is maintained, the motor current is reduced to the rated current via a 1/T function after this set time (default: 10,000dec).
The unit is 1 ms (example: 10000 = 10 s).

 
 

R62, R63: Internal parameters for current control

These registers are used internally by the terminal for current control and must not be modified!