Register overview

The registers are used for the paramétrisation of the stepper motor terminals. They can be read or written by means of register communication.

Registers 0 to 31 always have the same meaning. The content of registers 32 to 63 is specified via the register page selection register (R4).

Register no.	Comment		Default value		R/W	Memory
R0	Actual position (low-order word)		-	-	R	RAM
R1	Actual position (high-order word)		-	-	R	RAM
R2	Setting of the target position or position (low-order word)		-	-	R/W	RAM
R3	Setting of the target position or position (high-order word)		-	-	R/W	RAM
R4	Register page selection register (range: 0 to 2)		0x0000	0_dec	R/W	RAM
R5	Latch value (high-order word)		-	-	R	RAM
R6	Temperature register		e.g. 0x003C	e.g. 60_dec	R	RAM
R7	Command register		0x0000	0_dec	R/W	RAM
R8	Terminal type	KL2531:	0x09E3	2531_dec	R	ROM
R8	Terminal type	KL2541:	0x09ED	2541_dec	R	ROM
R9	Firmware version		e.g. 0x3141	e.g. 1A_ASCII	R	ROM
R10	Multiplex shift register		0x0128	296_dec	R	ROM
R11	Signal channels		0x0128	296_dec	R	ROM
R12	Minimum data length		0x2828	10260_dec	R	ROM
R13	Data structure		0x0004	4_dec	R	ROM
R14	reserved		-	-	-	-
R15	Alignment register		0x7F80	32640	R/W	RAM
R16	Hardware version number		e.g. 0x0000	e.g. 0_dec	R/W	EEPROM
R17	reserved		-	-	-	-
...	...		...	...	...	...
R30	reserved		-	-	-	-
R31	Code word register		0x0000	0_dec	R/W	RAM
R32 to R63	Register for showing register page 0, register page 1, register page 2 or register page 3

Register page 0 (further parameters)

Register no.	Comment	Default value		R/W	Memory
R32	Feature register 1	0x0000	0_dec	R/W	EEPROM
R33	Full motor steps	0x00C8	200_dec	R/W	EEPROM
R34	Encoder increments (KL2541 only)	0x0FA0	4000_dec	R/W	EEPROM
R35	Maximum coil current A	0x0064	100_dec	R/W	EEPROM
R36	Maximum coil current B	0x0064	100_dec	R/W	EEPROM
R37	Number of latch values	0x0014	20_dec	R/W	RAM / EEPROM
R38	Min. velocity v_min	0x000A	10_dec	R/W	RAM / EEPROM
R39	Max. velocity v_max	0x07FF	2047_dec	R/W	RAM / EEPROM
R40	max. acceleration a_acc	0x07FF	2047_dec	R/W	RAM / EEPROM
R41	Acceleration threshold a_th	0x03FF	1023_dec	R/W	EEPROM
R42	Coil current I_S, a > a_th	0x0064	100_dec	R/W	EEPROM
R43	Coil current I_S, a ≤ a_th	0x0064	100_dec	R/W	EEPROM
R44	Coil current I_S, v = 0 (automatic)	0x0032	50_dec	R/W	EEPROM
R45	Coil current I_S (manual)	0x0032	50_dec	R/W	EEPROM
R46	Step size per quarter period	0x0006	6_dec	R/W	EEPROM
R47	Load angle threshold	0x0007	7_dec	R/W	RAM / EEPROM
R48	Kp factor	0x0000	0_dec	R/W	RAM / EEPROM
R49	Kv factor	0x0000	0_dec	R/W	RAM / EEPROM
R50	Emergency acceleration a_e	0x07FF	2047_dec	R/W	RAM / EEPROM
R51	Number of pulses per revolution	0x0001	1_dec	R/W	EEPROM
R52	Feature register 2	0x0000	0_dec	R/W	EEPROM
R53	Referencing velocity backward v_ref,b	0x01F4	500_dec	R/W	EEPROM
R54	Referencing velocity forward v_ref,f	0x0032	50_dec	R/W	EEPROM
R55	Referencing position (low-order word)	0x0000	0_dec	R/W	EEPROM
R56	Referencing position (high-order word)	0x0000	0_dec	R/W	EEPROM
R57	Encoder tolerance (KL2541 only)	0x0000	0_dec	R/W	EEPROM
R58	max. deceleration a_dec	0x07FF	2047_dec	R/W	RAM / EEPROM
R59	reserved	-	-	-	-
...	...	...	...	...	...
R61	reserved	-	-	-	-
R62	Setting the target position or position (low-order word) for extended auto-start	-	-	R/W	RAM / EEPROM
R63	Setting the target position or position (high-order word) for extended auto-start	-	-	R/W	RAM / EEPROM

Register page 1 (user current table)

Register no.	Comment	Default value		R/W	Memory
R32	Current value 4 to 1	0x1100	4352_dec	R/W	EEPROM
R33	Current value 8 to 5	0x3221	12833_dec	R/W	EEPROM
R34	Current value 12 to 9	0x4433	17459_dec	R/W	EEPROM
R35	Current value 16 to 13	0x5554	21844_dec	R/W	EEPROM
R36	Current value 20 to 17	0x7666	30310_dec	R/W	EEPROM
R37	Current value 24 to 21	0x8877	34935_dec	R/W	EEPROM
R38	Current value 28 to 25	0x9998	39320_dec	R/W	EEPROM
R39	Current value 32 to 29	0xAAAA	43690_dec	R/W	EEPROM
R40	Current value 36 to 33	0xBBBB	48059_dec	R/W	EEPROM
R41	Current value 40 to 37	0xCCCC	52428_dec	R/W	EEPROM
R42	Current value 44 to 41	0xDDDC	56796_dec	R/W	EEPROM
R43	Current value 48 to 45	0xEEDD	61149_dec	R/W	EEPROM
R44	Current value 52 to 49	0xEEEE	61166_dec	R/W	EEPROM
R45	Current value 56 to 53	0xFFEE	65518_dec	R/W	EEPROM
R46	Current value 60 to 57	0xFFFF	65535_dec	R/W	EEPROM
R47	Current value 64 to 61	0xFFFF	65535_dec	R/W	EEPROM
R48	reserved	-	-	-	-
...	...	...	...	...	...
R63	reserved	-	-	-	-

Register page 2 (user position table)

Register no.	Comment	Default value		R/W	Memory
R32	Target position 0 (low-order word) (starting value for register 2)	0x0000	0_dec	R/W	EEPROM
R33	Target position 0 (high-order word) (starting value for register 3)	0x0000	0_dec	R/W	EEPROM
R34	Target position 1 (low-order word)	0x0000	0_dec	R/W	EEPROM
R35	Target position 1 (high-order word)	0x0000	0_dec	R/W	EEPROM
...	...	...	...	...	...
...	...	...	...	...	...
R62	Target position 15 (low-order word)	0x0000	0_dec	R/W	EEPROM
R63	Target position 15 (high-order word)	0x0000	0_dec	R/W	EEPROM

Register page 3 (user velocity and acceleration table)

Register no.	Comment	Default value		R/W	Memory
R32	Velocity 0 (starting value for register 39)	0x07FF	2047_dec	R/W	EEPROM
R33	Velocity 1	0x07FF	2047_dec	R/W	EEPROM
...	...	...	...	...	EEPROM
R47	Velocity 15	0x07FF	2047_dec	R/W	EEPROM
R48	Acceleration 0 (starting value for register 40)	0x07FF	2047_dec	R/W	EEPROM
R49	Acceleration 1	0x07FF	2047_dec	R/W	EEPROM
...	...	...	...	...	EEPROM
R63	Acceleration 15	0x07FF	2047_dec	R/W	EEPROM