Register overview
The registers are used to parameterize the DC motor output stages. They can be read or written via the register communication and there is one instance for each terminal channel.
|
Register no. |
Comment |
Default value |
R/W |
Memory | ||
|---|---|---|---|---|---|---|
|
Status word |
0x0000 |
0dez |
R |
RAM | ||
|
Selection for measured value 1 (low byte) and measured value 2 (high byte) |
Channel 1 |
0x0602 |
1538dec |
R/W |
RAM | |
|
Channel 2 |
0x0703 |
1795dez |
R/W |
RAM | ||
|
Measured value 1 |
e.g. 0x0000 |
e.g. 0dec |
R |
RAM | ||
|
Measured value 2 |
e.g. 0x0000 |
e.g. 0dec |
R |
RAM | ||
|
R4* |
Register page selection |
0x0000 |
0dec |
R/W |
RAM | |
|
Counter specification register |
0x0000 |
0dec |
R/W |
RAM | ||
|
Status byte |
e.g. 0x0010 |
e.g. 16dec |
R |
RAM | ||
|
Command register |
0x0000 |
0dec |
R/W |
RAM | ||
|
Terminal type |
KL2532/KS2532 |
0x09E4 |
2532dec |
R |
ROM | |
|
KL2552/KS2552 |
0x09F8 |
2552dec | ||||
|
Firmware version |
e.g. 0x3141 |
e.g. 1AASCII |
R |
ROM | ||
|
R10 |
Multiplex shift register |
0x0130 |
304dec |
R |
ROM | |
|
R11 |
Signal channels |
0x0218 |
536dec |
R |
ROM | |
|
R12 |
Minimum data length |
0x1818 |
6168dec |
R |
ROM | |
|
R13 |
Data structure |
0x0004 |
4dec |
R |
ROM | |
|
R14 |
reserved |
- |
- |
- |
- | |
|
R15 |
Alignment register |
e.g. 0x7F80 |
e.g. 32640dec |
R/W |
RAM | |
|
Hardware version number |
e.g. 0x0000 |
e.g. 0dec |
R/W |
EEPROM | ||
|
DC link frequency |
e.g. 0x7D00 |
e.g. 32000dec |
R |
EEPROM | ||
|
PWM dead time |
KL2532/KS2532 |
e.g. 0x0102 |
e.g. 258dec |
R |
EEPROM | |
|
KL2552/KS2552 |
e.g. 0x0604 |
e.g. 1540 |
R |
EEPROM | ||
|
Duty cycle limit |
e.g. 0x0004 |
e.g. 4dec |
R |
EEPROM | ||
|
Temperature thresholds |
e.g. 0x5064 |
e.g. 20580dec |
R |
EEPROM | ||
|
Sample time of the A/D converter |
e.g. 0x000A |
e.g. 10dec |
R |
EEPROM | ||
|
R22 |
reserved |
- |
- |
- |
- | |
|
... |
... |
... |
... |
... |
... | |
|
R30 |
reserved |
- |
- |
- |
- | |
|
Code word register |
0x0000 |
0dec |
R/W |
RAM | ||
*) Only the KL2552 supports these registers, not the KL2532
Register page 0
|
Register no. |
Comment |
Default value |
R/W |
Memory | |||
|---|---|---|---|---|---|---|---|
|
Feature register 1 |
0x0000 |
0dec |
R/W |
EEPROM | |||
|
Feature register 2 |
0x0000 |
0dec |
R/W |
EEPROM | |||
|
Maximum permanent motor coil current |
KL2532/KS2532 |
0x09C4 |
2500dec |
R/W |
EEPROM | ||
|
KL2552/KS2552 |
0x1F40 |
8000dec |
R/W |
EEPROM | |||
|
Rated current of the motor |
KL2532/KS2532 |
0x05DC |
1500dec |
R/W |
EEPROM | ||
|
KL2552/KS2552 |
0x1388 |
5000dec |
R/W |
EEPROM | |||
|
Nominal voltage (supply voltage) of the motor |
KL2532/KS2532 |
0x5DC0 |
24000dec |
R/W |
EEPROM | ||
|
KL2552/KS2552 |
0xC350 |
50000dec |
R/W |
EEPROM | |||
|
R37* |
Kp factor (velocity controller) |
0x0064 |
100dec |
R/W |
EEPROM | ||
|
R38* |
Ki factor (velocity controller) |
0x0000 |
0dec |
R/W |
EEPROM | ||
|
R39* |
Inner window of the I component (velocity controller) |
0x0000 |
0dec |
R/W |
EEPROM | ||
|
R40* |
Outer window of the I component (velocity controller) |
0x0000 |
0dec |
R/W |
EEPROM | ||
|
Reduced torque (coil current in positive direction of rotation) |
KL2532/KS2532 |
0x05DC |
1500dec |
R/W |
EEPROM | ||
|
KL2552/KS2552 |
0x09C4 |
2500dec |
R/W |
EEPROM | |||
|
R42* |
Encoder increments |
0x0000 |
0dec |
R/W |
EEPROM | ||
|
R43* |
Rated motor speed at rated voltage |
0x0000 |
0dec |
R/W |
EEPROM | ||
|
Internal resistance of the motor |
0x0000 |
0dec |
R/W |
EEPROM | |||
|
Threshold for automatic torque reduction (in positive direction of rotation) |
0x0064 |
100dec |
R/W |
EEPROM | |||
|
Time for current reduction on overload |
0x07D0 |
2000dec |
R/W |
EEPROM | |||
|
Time for shutdown on overload |
0x00C8 |
200dec |
R/W |
EEPROM | |||
|
Threshold for automatic torque reduction (in negative direction of rotation) |
0x0064 |
100dec |
R/W |
EEPROM | |||
|
Reduced torque (coil current in negative direction of rotation) |
KL2532/KS2532 |
0x05DC |
1500dec |
R/W |
EEPROM | ||
|
KL2552/KS2552 |
0x09C4 |
2500dec |
R/W |
EEPROM | |||
|
R50* |
Kp factor (current controller) |
0x0190 |
400dec |
R/W |
EEPROM | ||
|
R51* |
Ki factor (current controller) |
0x0004 |
4dec |
R/W |
EEPROM | ||
|
Inner window of the I component (current controller) |
0x0000 |
0dec |
R/W |
EEPROM | |||
|
Outer window of the I component (current controller) |
0x0000 |
0dec |
R/W |
EEPROM | |||
|
R54* |
Ka factor (velocity controller) |
0x0000 |
0dec |
R/W |
EEPROM | ||
|
R55* |
Kd factor (velocity controller) |
0x0000 |
0dec |
R/W |
EEPROM | ||
|
R56 |
reserved |
- |
- |
- |
- | ||
|
R63 |
reserved |
- |
- |
- |
- | ||
*) Only the KL2552 supports these registers, not the KL2532
Register page 1 (only KL2552, from firmware version 1M)
(see also selection for measured value 1 and measured value 2)
|
Register no. |
Comment |
Default value |
R/W |
Memory | |
|---|---|---|---|---|---|
|
R32 |
Status word channel 1 |
0x0000 |
0dec |
R |
RAM |
|
R33 |
Status word channel 2 |
0x0000 |
0dec |
R |
RAM |
|
R34 |
Voltage of motor coil channel 1 (unit: 1 mV) |
0x0000 |
0dec |
R |
RAM |
|
R35 |
Voltage of motor coil channel 2 (unit: 1 mV) |
0x0000 |
0dec |
R |
RAM |
|
R36 |
Motor supply voltage (unit: 1 mV) |
0x0000 |
0dec |
R |
RAM |
|
R37 |
Control voltage (power contacts)(unit: 1 mV) |
0x0000 |
0dec |
R |
RAM |
|
R38 |
Current of motor coil channel 1 (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R39 |
Current of motor coil channel 2 (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R40 |
Internal temperature of the driver stage (unit: 1 °C) |
0x0000 |
0dec |
R |
RAM |
|
R41 |
Duty cycle channel 1 (unit: 1 %) |
0x0000 |
0dec |
R |
RAM |
|
R42 |
Duty cycle channel 2 (unit: 1 %) |
0x0000 |
0dec |
R |
RAM |
|
R43 |
Control error channel 1 (unit: 1 digit) |
0x0000 |
0dec |
R |
RAM |
|
R44 |
Control error channel 2 (unit: 1 digit) |
0x0000 |
0dec |
R |
RAM |
|
R45 |
Current limit channel 1 (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R46 |
Current limit channel 2 (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R47 |
Current of motor coil channel 1 (amount), (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R48 |
Current of motor coil channel 2 (amount), (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R49 |
Current of motor coil channel 1 (mean amount), (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R50 |
Current of motor coil channel 2 (mean amount), (unit: 1 mA) |
0x0000 |
0dec |
R |
RAM |
|
R51 |
Current offset of motor coil channel 1 (synchronization), (unit: 1 digit) |
0x0000 |
0dec |
R |
RAM |
|
R52 |
Current offset of motor coil channel 2 (synchronization), (unit: 1 digit) |
0x0000 |
0dec |
R |
RAM |
|
R53 |
Duration of overload channel 1 (unit: 1 ms) |
0x0000 |
0dec |
R |
RAM |
|
R54 |
Duration of overload channel 2 (unit: 1 ms) |
0x0000 |
0dec |
R |
RAM |
|
R55 |
Reserved |
- |
- |
- |
- |
|
R62 |
reserved |
- |
- |
- |
- |
|
R63 |
Firmware version of the driver card |
- |
- |
- |
ROM |