Beckhoff KL6581, Documentation, Page: 29 / 41

Programming
KL6581 and KL6583 29 Version: 2.0.0
5.2.2 Mapping
The Bus Terminals occupy addresses within the process image of the controller. The assignment of process
data (input and output data) and parameterization data (control and status bytes) to the control addresses is
called mapping. The type of mapping depends on:
• the fieldbus system used
• the terminal type
• the parameterization of the Bus Coupler (conditions) such as
◦ Intel or Motorola format
◦ word alignment switched on or off
The Bus Couplers (BKxxxx, LCxxxx) and Bus Terminal Controllers (BCxxxx, BXxxxx) are supplied with
certain default settings. The default setting can be changed with the KS2000 configuration software or with a
master configuration software (e.g. TwinCAT System Manager or ComProfibus).
The following tables show the mapping depending on different conditions. For information about the contents
of the individual bytes please refer to the pages
Process image and Control and status byte .
Complete evaluation
For complete evaluation, the analog input terminals occupy addresses in the input and output process
image. Control and status bytes can be accessed. The terminal always occupies 12 bytes of input data and
12 bytes of output data. The KL6583 itself does not occupy any K-bus data, since it is addressed via the
process data of the KL6581.
Complete evaluation
Address Input data Output data
Requirements Word offset High-Byte Low-Byte High-Byte Low-Byte
Complete evaluation: any
Motorola format: any
Word alignment: any 0 CNODE SB CNODE CB
1 DB0 ORG DB0 ORG
2 DB2 DB1 DB2 DB1
3 ID0 DB3 ID0 DB3
4 ID2 ID1 ID2 ID1
5 STATUS ID3 STATUS ID3
Key
Complete evaluation: In addition to the process data, the control and status bytes are also mapped into the
address space.
Motorola format: Motorola or Intel format can be set.
Word alignment: In order for the word address range to commence at a word boundary, empty bytes are
inserted into the process image as appropriate.
SB : Status byte (appears in the input process image)
CB : Control byte (appears in the output process image)