Beckhoff BK11 0 Series, Документация

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Parameterization and commissioning
BK11x0, BK1250 50 Version: 4.1
6.3.2 Configuration of KL terminals via EtherCAT
The following is an explanation of how register communication with the KL terminals is parameterized during
the EtherCAT start-up.
This ensures that the KL terminal used always contains the desired register set, even if the terminal
(hardware) is exchanged, because the register data is written to the KL terminal again at the next start-up of
the system or EtherCAT.
The principle:
• a set of calls is stored in the CoE startup list of the BK11x0/BK1250 for each terminal to be
parameterized.
• the entering and cancelling of the code word must thereby be included if required.
• the startup entries are processed in succession by the TwinCAT EtherCAT master during the start-up.
• in doing so, confirmed mailbox communication takes place, so that the next entry will be initiated only
when the previous one has been successfully completed.
• no check is made of whether certain values already exist in the KL terminal; the defined startup entries
will be written to the terminal position in all cases.
• the startup entries are to be sent in the PREOP -> SAFEOP transition.
This is the process to be adhered to for each terminal:
• entry of the terminal number to CoE 0x427F: 00 as a 2-byte value
the first KL terminal after the BK11x0/BK1250 also has the number 1; accordingly consecutive.
• if necessary: set the code word in register 31
0x4280:20 = 0x1235.
• List the register values sequentially; subindex
hex
= register 1
e.g. 0x4280: 21 = 0x0800
See table, among others, for the required CoE index.
• if the code word was needed: delete the code word in order to accept data
0x4280:20 = 0.
• deselect terminal selection by CoE 0x427F: 00 = 0
Information for the register values
• a KL terminal can have a maximum of 4 parameterisable channels/register pages; see the
corresponding terminal documentation.
• each channel/register page has n registers, 0 – 63 is usual.
• each register is accessible via the CoE sub-index: Subindex
hex
= Register 1 .
• the following assignments apply to the channels/register pages:
Channel Register CoE Index
Channel /Register page 0 Register 0 - 63 0x4280
Register > 63 (if available) 0x4281
Channel /Register page 1 Register 0 - 63 0x4282
Register > 63 (if available) 0x4283
Channel /Register page 2 Register 0 - 63 0x4284
Register > 63 (if available) 0x4285
Channel /Register page 3 Register 0 - 63 0x4286
Register > 63 (if available) 0x4287
Note
Code word
The user parameters in registers 32 - 47 can only be changed if the code word 0x1235 is
written in register 31. Register 31 must be set back to 0 for non-volatile storage of the modi-
fied user parameters in the terminal.
Please refer to the corresponding terminal documentation for access to the register.