Register page 0 (user parameters)

R32: Feature register 1
The feature register specifies the terminal's configuration.

Bit

R32.15

R32.14

R32.13

R32.12

R32.11

R32.10

R32.9

R32.8

Name

enCounterMode

disEncFltr

enPosGateLock

enNegGateLock

FeedbackType

enSignalDisplay

enMultiLatchValues

enLatchEventClrPos

Bit

R32.7

R32.6

R32.5

R32.4

R32.3

R32.2

R32.1

R32.0

Name

enUserCurTable

invPosFeedback

RampType

OperationMode

disWdTimer

enAutoStop

enAutoStart

Legend

Bit

Name

Description

default

R32.15

enCounterMode

0bin

Encoder mode active

KL2541 only

The KL2531 does not analyse these bits!

0bin

1bin

Counter mode active

R32.14

disEncFltr

1bin

Input filter for encoder signals disabled

0bin

R32.13

enPosGateLock

1bin

A positive level at the latch/gate input locks the counter.

0bin

R32.12

enNegGateLock

1bin

A negative level at the latch/gate input locks the counter.

0bin

R32.11

FeedbackType

0bin

Use encoder for position feedback

0bin

1bin

Use internal counter for position feedback

R32.10

enSignalDisplay

1bin

The C and gate signals are shown in the status word

0bin

R32.9

enMultiLatchValues

0bin

Only one latch value is saved.

0bin

1bin

Several latch values are saved. The number is specified in register R37.

R32.8

enLatchEventClrPos

1bin

Latch event deletes the current position (with the associated control bits)

0bin

R32.7

enUserCurTable

0bin

Internal current table (sine) active

0bin

1bin

User current table active

R32.6

invPosFeedback

1bin

Inverts the position feedback.
This option is only intended for the path control mode, if an external encoder is installed opposite the stepper motor (e.g. the encoder shows a negative rotation when the motor rotates in positive direction).
If this function is enabled with internal position feedback or if the position detection of the external encoder is incorrect, the path control operates incorrectly!

0bin

R32.5

RampType

0bin

Linear ramps

0bin

1bin

Exponential ramp during deceleration (only for path control)

R32.4 + R32.3

OperationMode

00bin

Velocity, direct

00bin

01bin

Velocity, with ramps

10bin

Position tracking

11bin

Travel distance control

R32.2

disWdTimer

0bin

Watchdog timer is active (the watchdog is triggered if no process data are received for 100 ms)

0bin

1bin

Watchdog timer disabled

R32.1

enAutoStop

1bin

The auto-stop function is enabled

0bin

R32.0

enAutoStart

1bin

The auto-start function is enabled

0bin

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

R34: Encoder increments (KL2541 only)
Enter the number of increments issued by the encoder connected to the KL2541 during a complete turn (default: 4000).

R35: Maximum coil current A
This register specifies the current limit for winding A (0 to 100 % of rated terminal current):
KL2531-0000: 100 % = 1.5 A
KL2541-0000: 100 % = 5.0 A

R36: Maximum coil current B
This register specifies the current limit for winding B (0 to 100 % of rated terminal current):
KL2531-0000: 100 % = 1.5 A
KL2541-0000: 100 % = 5.0 A

R37: Number of latch values
This register specifies the number of stored latch values (default: 20, max.: 20).

R38: Min. velocity vmin
This register specifies the maximum cutoff velocity for the operating modes velocity, with ramps and path control (default: 10, max.: 2047).
The maximum cutoff 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.

R39: Max. velocity v max
This register specifies the maximum velocity for the operating modes velocity, with ramps and path control (default: 2047, max.: 2047).

R40: max. acceleration a acc
This register specifies the maximum acceleration for the operating modes velocity, with ramps and path control (default: 2047, max.: 2047).

R41: Acceleration threshold a th
This register specifies the acceleration threshold for the operating modes velocity, with ramps and path control (default: 2047, max.: 2047).

R42: Coil current, a > ath (in %)
This register specifies the coil current between 0 and 100 % of the set terminal coil current when a > ath (default: 100 %).

R43: Coil current, a ≤ ath (in %)
This register specifies the coil current between 0 and 100 % of the set terminal coil current when a ≤ ath (default: 100 %).

R44: Coil current, v = 0 (automatic) (in %)
This register specifies 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.

R45: Coil current (manual) (in %)
This register specifies the manual holding current (default: 50 %).
If control bit CB.3 or CW.11 is set, the coil currents can be manually reduced to this value while the motor is at standstill or in motion, in order to avoid 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!

R46: Step size
This register specifies the number of steps for a quarter period.

Register value

0x0006

0x0005

0x0004

0x0003

0x0002

0x0001

0x0000

Steps/quarter period

64

32

16

8

4

2

1

Step size

1/64

1/32

1/16

1/8

1/4

1/2 (half step)

1/1 (full step)

R47: Load angle threshold
This register specifies the load angle threshold, at which the Stall Detect LED starts flashing and the status bit SB.5 is set (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. This value is strongly dependent on the set coil current and the current velocity. The most reliable information about the motor load can be gleaned at medium velocities.

R48: Kp factor
This register specifies the Kp factor for the TwinCAT NC cyclic position interface in position tracking mode (in preparation) (default: 8192, max.: 65535).

R49: Kv factor
This register specifies the Kv factor for the TwinCAT NC cyclic position interface in position tracking mode (in preparation) (default: 8192, max.: 65535).

R50: Emergency acceleration a e
This register specifies the emergency acceleration for path control mode (default: 2047, max.: 2047).

R51: Number of pulses per revolution
This register specifies the number of pulses per revolution for position error detection (default: 1).

R52: Feature register 2
The feature register 2 specifies further terminal configurations.

Bit

R52.15

R52.14

R52.13

R52.12

R52.11

R52.10

R52.9

R52.8

Name

revDigInput2

revDigInput1

enManEnc Tolerance

enClrProcess Data

-

-

-

-

Bit

R52.7

R52.6

R52.5

R52.4

R52.3

R52.2

R52.1

R52.0

Name

-

-

disReferenceInput2

disReference Input1

ShowIdle

LatchRegister Position

enDecelaration Ramp

revHoming Direction

Legend

Bit

Name

Description

default

R52.15

revDigInput2

0bin

Evaluate digital input 2 as N/O contact:
HIGH level = active state (SW.1=1bin)

0bin

1bin

Evaluate digital input 2 as N/C contact:
LOW level = active state (SW.1=1bin)

R52.14

revDigInput1

0bin

Evaluate digital input 1 as N/O contact:
HIGH level = active state (SW.0=1bin)

0bin

1bin

Evaluate digital input 1 as N/C contact:
LOW level = active state (SW.0=1bin)

R52.13

enManEnc tolerance (KL2541 only)

0bin

The tolerance of the target position is formed from the quotient of registers R34 / R33 (position feedback with encoder).

The KL2531 does not analyse this bit!

0bin

1bin

The tolerance of the target position is specified in register R57

R52.12

enClrProcess data

1bin

In the event of a watchdog error the input process data are set to zero.

0bin

R52.7 - R52.11

-

reserved

R52.6

enExtAutostart

0bin

First target position = 0
Second target position = register R2/R3

0bin

1bin

First target position = register R62/R63
Second target position = register R2/R3

R52.5

disReferenceInput2

1bin

Digital input 2 disabled as reference input

0bin

R52.4

disReferenceInput1

1bin

Digital input 1 disabled as reference input

0bin

R52.3

ShowIdle

1bin

Idle bit of status byte SB.4 enabled

0bin

R52.2

LatchRegisterPosition

1bin

Latching of position registers R0 and R1 enabled

0bin

R52.1

enDecelaration ramp

0bin

The acceleration and deceleration ramps are specified in register R40.

0bin

1bin

The acceleration ramp is specified in register R40.
The deceleration ramp is specified in register R58.

R52.0

revHoming direction

0bin

approach the limit switch with negative velocity (Vref,f < 0),
move away from the limit switch with positive velocity (Vref,b > 0)

0bin

1bin

approach the limit switch with positive velocity (Vref,f > 0),
move away from the limit switch with negative velocity (Vref,b < 0)

 

R53: Referencing velocity backward v ref,b
For the referencing function (homing) this register specifies the velocity with which the terminal approaches the limit switch (default: 500, max.: 2047).
In this case backward means that the terminal controls the motor with falling position values.

R54: Referencing velocity forward v ref,f
For the referencing function (homing) this register specifies the velocity with which the terminal moves away from the limit switch (default: 50, max.: 2047).
In this case forward means that the terminal controls the motor with rising position values.

R55: Referencing position (low-order word)
Here you can specify the low-order word for the referencing position (default: 0, max.: 65535).

R56: Referencing position (high-order word)
Here you can specify the high-order word for the referencing position (default: 0, max.: 65535).

R57: Encoder tolerance (KL2541 only)
For position feedback via encoder, this register specifies the tolerance of the motion for the target approach, at which bit SW.3 is set (default: 0, max.: 65535).

R58: max. deceleration a dec
Here you can specify the maximum deceleration for the operating modes velocity, with ramps and path control (default: 0, max.: 2047).

R62: Setting the target position or position (low-order word) for extended auto-start
Here you can specify the low-order word for the required position (maximum: 65535).
Without code word this value is written into the RAM, with code word written into the EEPROM.

R63: Setting the target position or position (high-order word) for extended auto-start
Here you can specify the high-order word for the required position (maximum: 65535).
Without code word this value is written into the RAM, with code word written into the EEPROM.