Register description
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.
R0: Status word
The status word contains information about internal states, warnings and errors (see "Basic function principles" and "Status-Byte")
|
Bit |
R0.15 |
R0.14 |
R0.13 |
R0.12 |
R0.11 |
R0.10 |
R0.9 |
R0.8 |
|
Name |
Misc Error |
No Control Power |
- |
Short Circuit |
Over Voltage |
Under Voltage |
Over Current |
Over Temperature |
|
Bit |
R0.7 |
R0.6 |
R0.5 |
R0.4 |
R0.3 |
R0.2 |
R0.1 |
R0.0 |
|
Name |
- |
Saturated |
Moving Negative |
Moving Positive |
Ready |
Ready to Enable |
- |
- |
Legend
|
Bit |
Name |
Reaction |
Description | |
|---|---|---|---|---|
|
R0.15 |
Misc Error |
Error |
1bin |
Fault occurred |
|
R0.14 |
No Control Power |
Error |
1bin |
Control voltage at the power contacts is less than 12 V |
|
R0.13 |
- |
reserved | ||
|
R0.12 |
Short Circuit |
Error |
1bin |
Short circuit in the driver stage |
|
R0.11 |
Over Voltage |
Warning |
1bin |
Supply voltage 10 % higher than specified in R36 |
|
R0.10 |
Under Voltage |
Warning |
1bin |
|
|
R0.9 |
Over Current |
Warning |
1bin |
The actual current was higher than the rated current over the time specified in register R47. |
|
R0.8 |
Over Temperature |
Warning |
1bin |
|
|
R0.7 |
- |
reserved | ||
|
R0.6 |
Saturated |
Warning |
1bin |
Driver stage is in saturation (max. output value reached) |
|
R0.5 |
Moving Negative |
1bin |
Driver stage is activated in negative direction | |
|
R0.4 |
Moving Positive |
1bin |
Driver stage is activated in positive direction | |
|
R0.3 |
Ready |
1bin |
Driver stage is activated | |
|
R0.2 |
Ready to Enable |
1bin |
Driver stage ready for activation | |
|
R0.0 - R0.1 |
- |
reserved | ||
R1: Selection for measured value 1 and measured value 2
Preselection of the measured values shown in R2 and R3. The lower byte is allocated to register 2, the upper byte to register 3.
Example: R1 = 0x0602, lower byte = 2 (voltage of motor coil channel 1), upper byte = 6 (current of motor coil channel 1).
Each individual value can be shown in channel 1 and channel 2.
The values are based on the following table:
|
Selection |
Name |
Unit |
|---|---|---|
|
0 |
Internal status word channel 1 |
- |
|
1 |
Internal status word channel 2 |
- |
|
2 |
Voltage of motor coil channel 1 |
1 mV |
|
3 |
Voltage of motor coil channel 2 | |
|
4 |
Motor supply voltage | |
|
5 |
Control voltage (power contacts) | |
|
6 |
Current of motor coil channel 1 |
1 mA |
|
7 |
Current of motor coil channel 2 | |
|
8 |
Internal temperature of the driver stage |
1°C |
|
9 |
Duty cycle channel 1 |
1% |
|
10 |
Duty cycle channel 2 | |
|
11 |
Control error channel 1 |
1 digit |
|
12 |
Control error channel 2 | |
|
13 |
Current limit channel 1 |
1 mA |
|
14 |
Current limit channel 2 | |
|
15 |
reserved |
- |
|
... |
reserved |
- |
|
254 |
reserved |
- |
|
255 |
Firmware version of the driver card |
- |
R4: Register page selection (only KL2552, from firmware version 1M)
This register defines which register page is displayed in registers R32 to R63 (default: 0x0000).
The terminal supports two register pages.
- Register page 0 is used for saving the configuration data (see from register R32)
- Register page 1 is used for reading internal measured values (additional mechanism for reading the measured values via registers R2 and R3)
R5: Counter specification register
Here you can specify the value to which the counter is set on rising edge at CB1.1 (SetCounter).
R6: Status byte
The status byte of the relevant channel is mapped here in addition.
R7: Command register
 | User code word For the following commands to be executed, it is first necessary for the user code word, 0x1235, to be entered into register R31. |
Command 0x7000: Restore Factory Settings
KL2532
An entry of 0X7000 in register R7 sets the following registers for the two channels to the following default values:
R48: 100dec |
KL2552
An entry of 0X7000 in register R7 sets the following registers for the two channels to the following default values:
|
R32: 0dec |
R40: 0dec |
R48: 100dec |
| Restore Factory Settings resets both channels The command Restore Factory Settings simultaneously resets both channels of the DC motor output stage terminal to the delivery state, irrespective of which register set it is called! |
| |
Risk of injury! This command is used to de-energies the motor. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out! |
Command 0x8000: Software Reset
Entering 0x8000 in register R7 initiates a full software reset for the terminal. All internal variables (positions, latched values, errors, etc.) are cleared or are set to defined values that are read from the EEPROM. The internal circuits (ADC, output driver) are reinitialized with a software reset.
| |
Risk of injury! During a software reset the motor is switched current-free. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out! |
R8: Terminal type
The terminal identifier is contained in register R8: 0x09F8 (2552dec)
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.
R17: DC link frequency
This is a manufacturer register and cannot be modified by the user.
The DC link frequency is configured here.
R18: PWM dead time
This is a manufacturer register and cannot be modified by the user.
The dead time of the high side and low side transistors is configured here.
R19: Duty cycle limit
This is a manufacturer register and cannot be modified by the user.
The minimum and maximum duty cycle in relation to the DC link frequency is configured here.
R20: Temperature thresholds
This is a manufacturer register and cannot be modified by the user.
The temperature thresholds for evaluating the internal temperature of the driver stage are configured here (warning output/shutdown of the driver stage).
R21: Sample time of the A/D converter
This is a manufacturer register and cannot be modified by the user.
The sample time in relation to the duty cycle is configured here.
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. The code word is reset if the terminal is restarted.
Register page 0
Register page 0 is used for saving the configuration data.
R32: Feature register 1
The feature register 1 specifies the terminal's configuration.
|
Bit |
R32.15 |
R32.14 |
R32.13 |
R32.12 |
R32.11 |
R32.10 |
R32.9 |
R32.8 |
|
Name |
- |
- |
- |
disEncoder filter |
- |
enAutoReduce |
enOverCurrentError |
- |
|
Bit |
R32.7 |
R32.6 |
R32.5 |
R32.4 |
R32.3 |
R32.2 |
R32.1 |
R32.0 |
|
Name |
- |
- |
- |
- |
- |
disWatchdog |
- |
- |
Legend
|
Bit |
Name |
Description |
default | |
|---|---|---|---|---|
|
R32.13 - R32.15 |
- |
reserved | ||
|
R32.12 |
disEncoder filter |
1bin |
Input filter for encoder signals deactivated |
0bin |
|
R32.11 |
- |
reserved | ||
|
R32.10 |
enAutoReduce |
0bin |
The torque can be reduced manually with bit CB1.0 (see also R40, R49) |
0bin |
|
1bin |
The torque is reduced automatically (see also R41, R45 or R49, R48) | |||
|
R32.9 |
enOverCurrentError |
0bin |
Overload (R0.9 = 1) generates a warning (SB1.5) |
0bin |
|
1bin |
Overload (R0.9 = 1) generates an error (SB1.6), and the channel is disabled | |||
|
R32.3 - R32.8 |
- |
reserved | ||
|
R32.2 |
disWatchdog |
1bin |
Internal 100 ms watchdog deactivated |
0bin |
|
R32.0 - R32.1 |
- |
reserved | ||
R33: Feature register 2
The feature register 2 specifies the terminal's configuration.
|
Bit |
R33.15 |
R33.14 |
R33.13 |
R33.12 |
R33.11 |
R33.10 |
R33.9 |
R33.8 |
|
Name |
- |
- |
- |
- |
- |
- |
- |
- |
|
Bit |
R33.7 |
R33.6 |
R33.5 |
R33.4 |
R33.3 |
R33.2 |
R33.1 |
R33.0 |
|
Name |
- |
- |
enOuter Window |
enInner Window |
Operation Mode | |||
Legend
|
Bit |
Name |
Description |
default | ||
|---|---|---|---|---|---|
|
R33.6 - R33.15 |
- |
reserved | |||
|
R33.5* |
enOuter Window |
1bin |
Outer window of the I component of the internal velocity control active |
0bin | |
|
R33.4* |
enInner Window |
1bin |
Inner window of the I component of the internal velocity control active |
0bin | |
|
R33.0 - R33.3 |
Operation Mode |
0dez |
DIRECT MODE |
Direct duty cycle control proportional to the process data |
0dez |
|
1dez |
VELOCITY MODE |
Set velocity specification via the process data proportional to the set rated speed in R43 | |||
|
3dez |
reserved | ||||
|
14dez |
reserved | ||||
|
15dez |
CHOPPER MODE |
Existing overvoltage (10% > rated voltage R36) is reduced via connected chopper resistor | |||
*) These settings are only supported by the KL2552, not by the KL2532
R34: Maximum permanent motor coil current
This register reflects the maximum constant motor coil current specified by the motor manufacturer.
KL2532/KS2532: Default: 2500dec, range: 0 - 2500 mA
KL2552/KS2552: Default: 8000dec, range: 0 - 8000 mA
The unit is 0.001 A (example: 2500dec = 2.5 A).
R35: Rated current of the motor
This register reflects the rated motor current specified by the motor manufacturer.
KL2532/KS2532: Default: 1500dec, range: 0 - 1500 mA
KL2552/KS2552: Default: 05000dec, range: 0 - 5000 mA
The unit is 0.001 A (example: 1500dec = 1.5 A).
R36: Nominal voltage (supply voltage) of the motor
If the supply voltage increases above the set voltage due to feedback, the respective channel (chopper resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function (see R33) is activated.
KL2532/KS2532: Default: 24000dec, range: 0 V - 24 V
KL2552/KS2552: Default: 50000dec, range: 0 V - 50 V
The unit is 0.001 V (for example: 24000dec = 24 V).
R37: Kp factor (velocity controller, only KL2552)
This register contains the Kp factor for the proportional component of the internal velocity control (default: 100dec).
The unit is 0.001 (example: 1000dec => Kp = 1.00). Value range: 0 - 65535
R38: Ki factor (velocity controller, only KL2552)
This register contains the Ki factor for the integral component of the internal velocity control (default: 0dec).
The unit is 0.001 (example: 1000dec => Ki = 1.00). Value range: 0 - 65535
R39: Inner window of the I component (only KL2552)
The I component of the velocity control reduced linearly towards the zero point (default: 0dec). This register specifies the value from which the attenuation is activated (default: 0dec).
The unit is 1% (for example: 1 = 1%). Value range: 0% - 100 %
R40: Outer window of the I component (only KL2552)
This register specifies the maximum value of the I component (default: 0dec).
The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100 %
R41: Reduced torque (coil current in positive direction of rotation)
This register contains the reduced torque (coil current) in positive direction of rotation. It is activated by CB1.0.
KL2532/KS2532: Default: 1500dec, range: 0 mA - 1500 mA
KL2552/KS2552: Default: 2500dec, range: 0 mA - 5000 mA
The unit is 0.001 A (for example: 500dec = 0.5 A).
R42: Encoder increments (KL2552 only)
This register contains the number of encoder increments per motor revolution (default: 0dec).
Value range: 0 - 65535
R43: Rated motor speed at rated voltage (only KL2552)
This register contains the rated motor speed at rated voltage (default: 0dec).
The unit is 1 RPM. Value range: 0 - 65535 RPM
R44: Internal resistance of the motor
This register contains the internal resistance of the motor (default: 0dec).
The unit is 0.01 Ohm (example: 206dec = 2.06 Ohm). Value range: 0 Ohm - 655,35 Ohm
R45: Threshold for automatic torque reduction (in positive direction of rotation)
This register contains the threshold at which automatic torque reduction is activated (R41) (default: 0dec). Deactivation occurs with a hysteresis of approx. 2% of the full scale (65 digit).
The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100%
R46: Time for current reduction on overload
This register contains the time over which the motor current is reduced from the maximum value to the rated value. This happens based on an I²t function, i.e. the behavior is nonlinear. Depending on the actual motor current, it may take longer than the set time for the rated current to be reached (default: 2000dec).
The unit is 1 ms (for example: 2000dec = 2000 ms). Value range: 1 ms - 65535 ms (if 0 ms is configured, the terminal uses the default value of 2000 ms)
R47: Time to shutdown on overload
This register contains the time after which the output stage is switched off, if overload occurs over the whole interval. (Default: 200dec).
The unit is 1 ms (for example: 200dec = 200 ms). Value range: 0 ms - 65535 ms
R48: Threshold for automatic torque reduction (in negative direction of rotation)
This register contains the threshold (negative direction of rotation), from which the automatic torque reduction is enabled (R49) (default: 100dec). Deactivation occurs with a hysteresis of approx. 2% of the full scale (65 digit).
The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100%
R49: Reduced torque (coil current in negative direction of rotation)
This register contains the reduced torque (coil current) in negative direction of rotation. It is activated by CB1.0.
KL2532/KS2532: Default: 1500dec, range: 0 mA - 1500 mA
KL2552/KS2552: Default: 2500dec, range: 0 mA - 5000 mA
The unit is 0.001 A (for example: 500dec = 0.5 A).
R50: Kp factor (current controller, only KL2552)
This register contains the Kp factor for the proportional component of the internal current control (default: 400dec).
The unit is 0.001 (example: 1000dec => Kp = 1.00). Value range: 0 - 65535
R51: Ki factor (current controller, only KL2552)
This register contains the Ki factor for the integral component of the internal current control (default: 4dec).
The unit is 0.001 (example: 1000dec => Ki = 1.00). Value range: 0 - 65535
R52: Inner window of the I component (current controller)
The I component of the velocity control reduced linearly towards the zero point (default: 0dec). This register specifies the value from which the attenuation is activated (default: 0dec).
The unit is 1% (for example: 1 = 1%). Value range: 0% - 100%
R53: Outer window of the I component (current controller)
This register specifies the maximum value of the I component (default: 0dec).
The unit is 1% (for example: 5dec = 5%). Value range: 0% - 100%
R54: Ka factor (velocity controller, only KL2552)
This register contains the Ka factor for the integral component of the internal velocity control (default: 0dec).
The unit is 0.001 (example: 1000dec => Ki = 1.00). Value range: 0 - 65535
R55: Kd factor (velocity controller, only KL2552)
This register contains the Kd factor of the differential component of the internal velocity control (default: 0dec).
The unit is 0.1 (example: 10dec => Kd = 1.00). Value range: 0 - 65535
Register page 1 (only KL2552, from firmware version 1M)
Register page 1 is used for reading internal measured values.