Process image

No compact process image

The KL2531 and KL2541 cannot be operated with compact process image (without control and status byte), since the control and status bytes are required for process data mode of the terminals to be meaningful. Even if your Bus Coupler is set to compact process image, the KL2531 and KL2541 are represented with their complete process image!

The KL2531-0000 and KL2541-0000 are represented in the process image with at least 5 bytes of input and output data respectively. These are organized as follows:

Byte offset (without word alignment)

Byte offset (with word alignment*)

Format

Input data

Output data

0

0

Byte

SB

CB

1

2

Word

DataIN

DataOUT

3

4

Word

SW

CW

*) Word alignment: The Bus Coupler places values on even byte addresses

Legend

SB: Status byte
CB: Control byte

DataIN: Input data word (actual position)
DataOUT: Output data word (e.g. set velocity, see process data)

SW: Additional status word
CW: Additional control word

Process data

The data transferred in process data mode within the process data words DataIN and DataOUT depend on the stepper motor terminal operation mode.

Operation mode

DataIN

DataOUT

Velocity, direct

Actual position (lower word).
The full actual position (32 bit) can be read from registers R0 and R1 via register communication.

Velocity value (15 bits and the sign), see formula

Velocity, with ramps

Velocity value (11 bits and the sign), see formula. The terminal only analyses bits 4 to 15.

Position tracking

Set position (15 bits and the sign)

Travel distance control

Manual operation:
Velocity value (11 bits and the sign) for manual mode, see formula. The terminal only analyses bits 4 to 15. In order to be able to manually specify a velocity value, no motion command must be active (CB.2=0)!

Motion command:
The set position (32 bits) for the motion command is entered in registers R2 and R3 via register communication. For starting the motion command DataOUT must be 0!

Special types

Information on the special types KL2531-1000 and KL2541-1000 can be found in a supplementary documentation (KL2531-1000d.chm), which is available on request.