Settings 1

Settings 1 tab for parametrization the KL2531 and KL2541

Operation mode:

Operating mode ( RP0.R32.4, RP0.R32.3)
Select the stepper motor terminal operation mode:

Depending on the selected operating mode, different parameters for configuring the stepper motor terminals are available under General, Encoder (see Settings 2) and Register values.

Ramps
In path control mode, you can additionally specify the ramp type (RP0.R32.5):

This setting is only active during a motion command. In velocity, with ramps mode and in manual path control mode, acceleration is invariably based on linear ramps.

Watchdog timer active ( RP0.R32.2 )
Here you can disable the watchdog (default: enabled).
If the watchdog is active and the stepper motor terminal does not receive process data from the controller for more than 100 ms, the watchdog is triggered and the motor is stopped.

Auto-start function active ( RP0.R32.0 )
Here you can enable the auto-start function.
This feature is only available in path control mode (default: disabled).

Auto-stop function active ( RP0.R32.1 )
Here you can enable the auto-start function.
This feature is only available in path control mode (default: disabled).

Deceleration active ( RP0.R52.1 )
Here you can enable the deceleration ramp.
This feature is only available in path control mode (default: disabled).

Latch event deletes counter ( RP0.R32.8 )
Here you can specify that the occurrence of a latch event when CW.13 is active clears the counter (default: disabled).

Store multiple latch values ( RP0.R32.9 )
Here you can activate storage of multiple latch values (default: disabled).
The number of latch values is specified through register R37.

Invert digital input 1 for N/C contacts ( RP0.R52.14 )
Here you can invert digital input 1 for N/C contacts (default: disabled, configured for N/O contacts).

Invert digital input 2 for N/C contacts ( RP0.R52.15 )
Here you can invert digital input 2 for N/C contacts (default: disabled, configured for N/O contacts).

Latching position registers ( RP0.R52.2 )
Here you can enable the latch function for the position registers R0 and R1 (default: disabled).

Show idle status ( RP0.R52.3 )
Here you can enable the display of the idle bit in the status byte (SB.4) (default: disabled).

Invert position feedback ( RP0.R32.6 )
Here you can invert the position feedback, if the position value originates from an encoder that is mounted on a shaft opposite the stepper motor (default: disabled).

Position feedback with encoder (KL2541 only) ( RP0.R32.11 )
Here you can deactivate the KL2541 encoder input (default: enabled).
This also enables internal position detection.

Max. coil current A ( RP0.R35 )
Here you can specify the current limit for winding A from 0 to 100 % of rated terminal current (default: 100 %).
KL2531-0000: 100 % = 1.5 A
KL2541-0000: 100 % = 5.0 A

Max. coil current B (RP0.R36)
Here you can specify the current limit for winding B from 0 to 100 % of rated terminal current (default: 100 %).
KL2531-0000: 100 % = 1.5 A
KL2541-0000: 100 % = 5.0 A

Number of latch values ( RP0.R37 )
If the option store multiple latch values is activated, the number of saved latch values can be specified here (default: 20, max.: 20).

Min. velocity v_max (RP0.R38)
Here you can specify the coasting velocity for path control mode (default: 10_dec).
The coasting velocity is the maximum velocity from which the stepper motor can stop directly without step errors. It depends on the holding torque of the motor and mass rotating with its shaft.

Max. velocity v_min(RP0.R39)
Here you can specify the maximum velocity for the operating modes velocity, with ramps and path control (default: 2047, max.: 2047).

Max. acceleration a_acc (RP0.R40)
Here you can specify the maximum acceleration for the operating modes velocity, with ramps and path control (default: 2047, max.: 2047).

Max. deceleration a_dec (RP0.R58)
Here you can specify the maximum deceleration for the operating modes velocity, with ramps and path control (default: 2047, max.: 2047).

Max. acceleration for emergency a_e (RP0.R50)
Here you can specify the maximum emergency acceleration for path control mode (default: 2047, max.: 2047).
A rising edge of bit CB.1 results in the motor being brought to a standstill with the emergency acceleration. This happens when a rising edge occurs at digital inputs 1 or 2, if the auto-stop function is enabled (RP0.R32.1 = 1_bin and CB.5 = 1_bin).

Acceleration threshold a_th (RP0.R41)
Here you can specify the acceleration threshold (default: 1023, max.: 2047).

Load angle threshold ( RP0.R47)
Here you can specify the load angle threshold from which the Stall Detect LED starts flashing. (default: 7, max.: 7).
The load angle is a measure for the motor load. It is shown with values between 0 and 7, with 7 representing the maximum load.

Coil current for a > a_th (RP0.R42)
Here you can specify the coil current in 0 to 100 % for the case that the current acceleration is greater than the acceleration threshold (default: 100 %). This value refers to the set coil current of the terminal.
a: current acceleration
a_th: acceleration threshold

Coil current for a ≤ a_th (RP0.R43)
Here you can specify the coil current in 0 to 100 % for the case that the current acceleration is less than or equal to the acceleration threshold (default: 100 %). This value refers to the set coil current of the terminal.

Coil current for v = 0 (automatic) ( RP0.R44 )
Here you can specify the automatic holding current (default: 50 %).
When the motor is at standstill, the coil currents are automatically reduced to this value, in order to prevent unnecessary heating of the motor. This value refers to the set coil current of the terminal.

Coil current for v = 0 (manual) ( Rp0.R45 )
Here you can specify the manual holding current (default: 50 %).
If control bit CB.3 or CW.11 is set, the coil currents can be reduced manually to this value in order to prevent unnecessary heating of the motor. This value refers to the set coil current of the terminal. The automatically and manually reduced coil current values are not added! The manual value has a higher priority than the automatic value!

Number of pulses per revolution (motor) ( RP0.R51 )
Enter the number of sensor with which the motor movement is controlled (default: 1). This factor is taken into account in the calculation of the position error.

Full steps per revolution (motor) ( RP0.R33 )
Enter the number of full steps that the connected stepper motor requires for a complete turn (default: 200).

Increments per revolution (encoder), KL2541 only ( RP0.R34 )
Enter the number of increments issued by the encoder connected to the KL2541 during a complete turn (default: 4000).