Beckhoff KL2532, Documentation

Page: 60 / 65

Access from the user program
KL2532/KS2532, KL2552/KS2552 60 Version: 3.2.0
R51: Ki factor (current controller, only KL2552)
This register contains the Ki factor for the integral component of the internal current control (default: 4
dec
).
The unit is 0.001 (example: 1000
dec
=> 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: 0
dec
). This register
specifies the value from which the attenuation is activated (default: 0
dec
).
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: 0
dec
).
The unit is 1% (for example: 5
dec
= 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: 0
dec
).
The unit is 0.001 (example: 1000
dec
=> 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: 0
dec
).
The unit is 0.1 (example: 10
dec
=> 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.
See register overview [ } 52]
6.5 Examples of Register Communication
The numbering of the bytes in the examples corresponds to the display without word alignment.
6.5.1 Example 1: reading the firmware version from Register 9
Output Data
Byte 0: Control byte Byte 1: DataOUT1, high byte Byte 2: DataOUT1, low byte
0x89 (1000 1001
bin
) 0xXX 0xXX
Explanation:
• Bit 0.7 set means: Register communication switched on.
• Bit 0.6 not set means: reading the register.
• Bits 0.5 to 0.0 specify the register number 9 with 00 1001
bin
.
• The output data word (byte 1 and byte 2) has no meaning during read access. To change a register,
write the required value into the output word.