Register description R0 - R31

R0: Actual position (low-order word)
Contains the low-order word of the actual position.
If the latch function is enabled (RP0.R52.2 = 1bin), this register must be read first. In doing so, registers R0 and R1 are cached. Both registers are enabled again during subsequent read of register R1.

R1: Actual position (high-order word)
Contains the high-order word of the actual position.

R2: Setting of the target position or position (low-order word)
Here you can specify the low-order word for the required position (maximum: 65535).

R3: Setting of the target position or position (high-order word)
Here you can specify the high-order word for the required position (maximum: 65535).

R4: Register page selection register
This register is used for specifying which register page is shown in registers R32 to R63 of the KL2531/KL2541:

R5: Latch value (high-order word)
Contains the high-order word of the latch value.
The low-order word of the latch value can only be read in process data mode by setting CW.5.

R6: Temperature register

The internal temperature of the terminal can be read, in °C, through register R6. The terminal sets bit SB.5 as a warning if the temperature exceeds the threshold of 80 °C. SB5 is automatically reset when the temperatures drops below 60 °C.

R7: Command register

  • Standard commands
    To execute a standard command, the user code word 0x1235 must be entered in register R31.

 

Command 0x7000: Restore Factory Settings
Entering 0x7000 in register R7 restores the delivery state for the following registers:

 

Register page 0 (further parameters):
R32: 0
R33: 200
R34: 4000
R35: 100
R36: 100
R37: 20
R38: 10
R39: 2047
R40: 2047
R41: 1023
R42: 100
R43: 100
R44: 50
R45: 50
R46: 6
R47: 7
R48: 8192
R49: 8192

R50: 2047
R51: 1
R52: 0
R53: 500
R54: 50
R55: 0
R56: 0
R57: 0
R58: 2047

Register page 1 (current table):
R32: 0x1100
R33: 0x3221
R34: 0x4433
R35: 0x5554
R36: 0x7666
R37: 0x8877
R38: 0x9998
R39: 0xAAAA
R40: 0xBBBB
R41: 0xCCCC
R42: 0xDDDC
R43: 0xEEDD
R44: 0xEEEE
R45: 0xFFEE
R46: 0xFFFF
R47: 0xFFFF

Register page 2 (position table):
R32-R63: 0

Register page 3 (velocity and acceleration table):
R32-R63: 2047

 

Command 0x8000: Software Reset
Entering 0x8000 in register R7 initiates a full software reset for the terminal. All internal variables (position, latch value, error, etc.) are deleted or set to a new value, which is calculated from the stored EEPROM values. The internal circuits (DAC, output driver) are reinitialized with a software reset.

WARNING
The motor is not-braked during a software reset!

During a software reset, the motor is switched current-free, i.e. the rotor axis can rotate freely. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out!

  • Special commands
    To execute a special command, no code word must be entered in register R31.

 

Command 0x0500: start multiple motion command 'forward'
The entry 0x0500 starts a multiple motion command. Up to 16 positions can be approached, which are specified through a position table. The start position is specified through an offset, which is added to the command code (e.g. use the command code 0x0504 for the start position). The position table is processed in forward direction.

 

Command 0x0510: start multiple motion command 'backward'
The entry 0x0500 starts a multiple motion command. Up to 16 positions can be approached, which are specified through a position table. The start position is specified through an offset, which is added to the command code (e.g. use the command code 0x0518 for the start position). The position table is processed in backward direction.

 

Command 0x0520: start referencing
The entry 0x0520 starts automatic referencing (homing) of the stepper motor. The digital inputs serve as limit switches.

 

Command 0x0530: start self-adjustment
The entry 0x0530 starts automatic self-adjustment of the position.

 

Command 0x0540: stopping or resetting special functions
The entry 0x0540 stops the currently active special command.

R8: Terminal type
The terminal identifier is contained in register R8:
KL2531: 0x09E3 (2531dec)
KL2541: 0x09ED (2541dec)

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 cannot 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.
  • If you write values into the user registers and have previously entered the user code word (0x1235) in the code word register, these values are written into the RAM registers and in the EEPROM registers and are therefore retained if the terminal is restarted.
  • Registers R37, R38, R39, R40, R47, R48, R49, R50 and R58 can be written without user code. The new values are only stored in the RAM.

The code word is reset if the terminal is restarted.