Beckhoff KL2532, Documentation

Page 1: ...Documentation KL2532 KS2532 KL2552 KS2552 Two channel power stage terminals for DC motors 3 2 0 2019 09 23 Version Date...

Page 2: ......

Page 3: ...nical load capacity 23 4 4 Installation position for operation with or without fan 24 4 5 Connection 27 4 5 1 Connection system 27 4 5 2 Wiring 29 4 5 3 Shielding 30 4 6 UL notice Compact Motion 30 4...

Page 4: ...Table of contents KL2532 KS2532 KL2552 KS2552 4 Version 3 2 0 7 1 Support and Service 64...

Page 5: ...e modification of products that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT G EtherCAT...

Page 6: ...nded for trained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instruc...

Page 7: ...532 updated Technical data updated 2 5 0 Technical data updated Register overview corrected Register description expanded 2 4 0 Basic function principles updated Register description expanded Technica...

Page 8: ...3 1M 04 2 2 0 1A 1A 02 1C 1E 00 1C 1E 00 2 1 0 1A 1A 02 1C 1E 00 1C 1E 00 2 0 0 1A 1A 00 1C 1E 00 1C 1E 00 1 1 0 1B 1D 00 1B 1D 00 1 0 0 1A 1A 00 1A 1A 00 0 2 1A 1A 00 1A 1A 00 0 1 1A 1A 00 1A 1A 00 T...

Page 9: ...ing on the product it can be found in the following places on the packaging unit directly on the product if space suffices on the packaging unit and the product The BIC is machine readable and contain...

Page 10: ...identifiers are used by Beckhoff and serve internal processes Structure of the BIC Example of composite information from item 1 to 4 and 6 The data identifiers are marked in red for better display BT...

Page 11: ...motors The set speed is specified by the automation device with a resolution of 16 bit The output stage is protected against overload and short circuit and is electrically isolated from the K bus Both...

Page 12: ...rload and short circuit and is electrically isolated from the K bus A servo axis can easily be realized by connecting an incremental encoder Typical motor parameters can be set in order to avoid criti...

Page 13: ...ins voltage Supply voltage for internal electronic via the K bus and through the power contacts Current consumption from K bus 5 V typ 50 mA typ 70 mA typ 120 mA Current consumption from the power con...

Page 14: ...al temperature has risen to more than 80 C or the power supply voltage has dropped Error A red on There is an error at channel 1 Power green off The power supply voltage is absent less than 7 V on The...

Page 15: ...here is a signal at input B for encoder B Input 2 green on There is a signal at input 2 Right LED prism LED Display Drv Rdy green on Motor driver ready to operate Enable A green off Channel 1 is eithe...

Page 16: ...the latch events is activated as follows Setting the control bit CB1 2 47 activates the rising edge at the digital input highest priority Setting the control bit CB1 3 47 activates the falling edge a...

Page 17: ...7 1 Undervoltage R0 10 53 This bit is set if the motor voltage falls below 8 V Overvoltage R0 11 53 This bit is set if the motor voltage exceeds a value that is 10 greater than the value configured in...

Page 18: ...xcess energy in the form of heat When the voltage reaches 110 of the rated voltage register R36 58 e g 55 V for KL2552 the correctly set output stage sends a fast pulsed current through the brake resi...

Page 19: ...ctice The motor thus converts 80 of the rated electrical power into kinetic energy when accelerating Conversely when braking the motor as a generator converts 80 of the kinetic energy into electrical...

Page 20: ...id contact with highly insulating materials synthetic fibers plastic film etc Surroundings working place packaging and personnel should by grounded probably when handling with the devices Each assembl...

Page 21: ...until the lock clicks onto the mounting rail If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When c...

Page 22: ...the components The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field elect...

Page 23: ...feed points for testing these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other...

Page 24: ...must be set at 5 cm intervals Use countersunk head screws to fasten the mounting rail The free length between the strain relief and the wire connection should be kept as short as possible A distance...

Page 25: ...nformation regarding the operation without fan refer to the Technical Data of the terminal Standard installation position for operation with fan The standard installation position for operation with f...

Page 26: ...with fan Other installation positions Due to the enforced effect of the fan on the ventilation of the terminals other installation positions see Fig Other installation positions example 1 2 may be pe...

Page 27: ...the respective application The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection level in a single enclosure The terminals of ESxxxx and KSxxxx series featu...

Page 28: ...dividual connection wires when the connector is removed Conductor cross sections between 0 08 mm2 and 2 5 mm2 can continue to be used with the proven spring force technology The overview and nomenclat...

Page 29: ...nately don t toggle 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal point closes automatically when the pressure is released holding the wire securely a...

Page 30: ...142 For devices with Ethernet connectors Not for connection to telecommunication circuits Notes on motion devices Motor overtemperature Motor overtemperature sensing is not provided by the drive Appl...

Page 31: ...plying with NEC class 2 A voltage source complying with NEC class 2 may not be connected in series or parallel with another NEC class 2compliant voltage supply These requirements apply to the supply o...

Page 32: ...ion A1 B1 2 Motor B connection B1 24 V 3 e g encoder supply for positive power contact Input 1 4 Digital input 1 24 VDC The current counter value is saved as a reference mark in the latch register if...

Page 33: ...r A connection A Encoder B A 2 Encoder B connection A Encoder Power 24 V 3 Encoder supply from positive power contact Input 1 4 Digital input 1 24 VDC The current counter value is stored as reference...

Page 34: ...maximum 50 VDC Power Motor 50 V 4 Motor supply feed maximum 50 VDC Motor A A2 5 Motor A connection A2 Motor B B2 6 Motor B connection B2 Power Motor 0 V 7 Motor supply feed 0 VDC Power Motor 0 V 8 Mot...

Page 35: ...connection A Encoder Power 5 V 3 Encoder supply via switching controller of positive power contact Input 1 4 Digital input 1 24 VDC The current counter value is stored as reference mark in the latch r...

Page 36: ...maximum 50 VDC Power Motor 50 V 4 Motor supply feed maximum 50 VDC Motor A A2 5 Motor A connection A2 Motor B B2 6 Motor B connection B2 Power Motor 0 V 7 Motor supply feed 0 VDC Power Motor 0 V 8 Mot...

Page 37: ...ized state before starting mounting disassembly or wiring of the Bus Terminals Brake resistor The brake resistor connected to channel 2 of the second EL7342 uses the brake energy of the motors connect...

Page 38: ...he Fieldbus Box Modules can be prepared before the commissioning phase Later on this configuration can be transferred to the terminal station in the commissioning phase by means of a download For docu...

Page 39: ...pler s input and output images can be observed by monitoring Process values can be specified in the output image for commissioning of the output modules All possibilities in the online mode can be use...

Page 40: ...ieldbus station terminals In the tree structure of the left hand window click on the plus sign next to the terminal whose parameters you wish to change item 2 in the example Fig 25 KS2000 tree branche...

Page 41: ...00 KL2532 KS2532 KL2552 KS2552 41 Version 3 2 0 5 3 Register You can access the registers of the KL2552 directly under Register The meaning of the register is explained in the register overview 50 Fig...

Page 42: ...minal supports the following operating modes Velocity direct Velocity control Brake resistor 18 chopper General Watchdog timer active R32 2 56 Here you can deactivate the watchdog default active If th...

Page 43: ...shold up to which the inner window is activated default 0 Ka factor R54 60 only KL2552 Here you can specify the Kp factor a part for the internal velocity control default 0 Kd factor R55 60 only KL255...

Page 44: ...current R35 58 Here you can specify the rated motor current default 5000 mA Rated voltage R36 58 Here you can specify the rated motor voltage default 50 V Rated speed R43 59 only KL2552 Here you can...

Page 45: ...e displayed in a tree structure under ProcData Fig 28 ProcData The reading glasses mark the data that are currently graphically displayed in the History field Fig 29 History field The current input va...

Page 46: ...lues forcing them can have a direct effect on your automation application Only modify these initial values if you are certain that the state of your equipment permits it and that there will be no risk...

Page 47: ...ddresses Legend SB n status byte channel n CB n Control byte of channel n DataIN n Input word of channel n DataOUT n Output word of channel n Complex process image The KL2532 KL2552 cannot be operated...

Page 48: ...1 2 SB1 1 SB1 0 Name RegAcce ss Error Warning Ready LatchDat a LatchValid SetCounter Ready Reduced Torque Ready Input E1 Legend Bit Name Description SB1 7 RegAccess 0bin Acknowledgement for process da...

Page 49: ...data word DataOut 47 Status byte 1 in register communication The status byte 1 SB1 is located in the input image 47 and is transmitted from terminal to the controller Bit SB1 7 SB1 6 SB1 5 SB1 4 SB1...

Page 50: ...ommand register 0x0000 0dec R W RAM R8 55 Terminal type KL2532 KS2532 0x09E4 2532dec R ROM KL2552 KS2552 0x09F8 2552dec R9 56 Firmware version e g 0x3141 e g 1AASCII R ROM R10 Multiplex shift register...

Page 51: ...KL2552 KS2552 0x09C4 2500dec R W EEPROM R42 58 Encoder increments 0x0000 0dec R W EEPROM R43 59 Rated motor speed at rated voltage 0x0000 0dec R W EEPROM R44 59 Internal resistance of the motor 0x000...

Page 52: ...hannel 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 RA...

Page 53: ...in Supply voltage 80 lower than specified in register R36 warning Supply voltage less than 8 V error in addition registers R0 15 and bit SB1 6 48 of the status register are set and both channels are d...

Page 54: ...ersion of the driver card R2 Measured value 1 Output of measured value 1 see R1 53 R3 Measured value 2 Output of measured value 2 see R1 53 R4 Register page selection only KL2552 from firmware version...

Page 55: ...R52 60 0dec R53 60 0dec R54 60 0dec R55 60 0dec Restore Factory Settings resets both channels The command Restore Factory Settings simultaneously resets both channels of the DC motor out put stage ter...

Page 56: ...ink 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...

Page 57: ...re 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 Wind...

Page 58: ...ins 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 KL...

Page 59: ...hed 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 re...

Page 60: ...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 different...

Page 61: ...nges to a register only become effective after restarting the terminal power off power on I Write the code word 0x1235 into Register 31 Output Data Byte 0 Control byte Byte 1 DataOUT1 high byte Byte 2...

Page 62: ...cate register number 32 with 10 0000bin The output data word byte 1 and byte 2 contains the new value for the feature register CAUTION Observe the register description The value of 0x0002 given here i...

Page 63: ...Register 31 reset code word Output Data Byte 0 Control byte Byte 1 DataOUT1 high byte Byte 2 DataOUT1 low byte 0xDF 1101 1111bin 0x00 0x00 Explanation Bit 0 7 set means Register communication switche...

Page 64: ...tion for Beckhoff components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Su...

Page 65: ...position for operation with fan 26 Fig 13 Other installation positions example 1 26 Fig 14 Other installation positions example 2 27 Fig 15 Standard wiring 27 Fig 16 Pluggable wiring 28 Fig 17 High D...