Online parameterization of KL terminals via CoE
In the same way as with the CoE startup entry (CANopen over EtherCAT), online access to a KL terminal is also possible via the CoE directory of the BK11x0/BK1250 EtherCAT coupler used. Using this route, access to the coupler-internal tables or to the registers in the terminals is possible.
The coupler-internal tables are displayed in the CoE directory; the terminal registers can be dynamically displayed and edited via the 0x4280ff indices.
The CoE directory (B) of the BK11x0 (A) includes the coupler tables (C) and the terminal-specific registers (D).
Coupler tables
- from CoE 0x4000
Terminal register
- Set terminal number CoE 0x427F: 0 as a 2-byte value
- Address register in CoE 0x4280 - 0x4287
- a KL terminal has a maximum of 4 channels [0 - 3], which have n registers
the registers 0 - 63 are each in channel n (LO)
the registers > 63 (if available) are each in channel n (HI) - the sub-index corresponds to the register number: Subindexhex = Register number + 1
- specify values /data as a 2-byte value
 | Online display based on Fig. Online CoE directory of the BK11x0 The online display of register values, as shown in Fig. 1 in the CoE directory from CoE objects 0x4280ff, only works for KL terminals with register communication. If a terminal number is specified in CoE object 0x427F: - which does not exist - whose terminals do not feature register communication the System Manager logger window shows "SDO Abort". |
Example
Download (example file)
In this example program (TwinCAT 2.11, BK1120 with firmware 08), AoE and CoE register communication with a KL3314 (thermocouple terminal) is executed in the PLC. Here, register R34 (user scaling, offset) in Channel 1 is repeatedly incremented - success can be verified with the KS2000 software or via the visualization page; to do this, connect a type K thermocouple to channel 1.
Note: In the startup list of the BK1120, entries are available that set the user offset to a start value at each switch-on or INIT-OP transition.