Beckhoff KL5121, Документация

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Access from the user program
KL5121 33 Version: 3.1.0
5.5 Control and status byte
5.5.1 Process data exchange
Process data
The KL5121 terminal occupies 6 bytes in the coupler’s input process image and 6 bytes in the output
process image. There are two logical channels: data channel 0 and data channel 1.
Data channel 0
Data channel 0 consists of control byte 0, input data word 0, status byte 0 and output data word 0.
Enables for the output functions are communicated through channel 0, and status information is read in.
Parameter data can also be accessed.
Controller output data
CT-0: Control byte 0
D0-0, D1-0: the terminal’s input data word 0
Controller input data
ST-0: Status byte 0
D0-0, D1-0: the terminal’s output data word 0
Control byte 0
Control byte 0 is only used for register access
MSB
REG = 0
Status byte 0
The state of the inputs can be read through status byte 0.
REG = 0 ERROR_BI
T (reserved) A_INPUT B_INPUT LATCH_INPUT
Output data word 0
The current counter value is read in output data word 0 of the terminal. The terminal supplies the output data
word 0.
Bit no. Meaning
Bit 0 - 15 Current encoder counter state
Input data word 0
Input data word 0 of the terminal is used for channel-specific enables. A nibble of the data word is reserved
for each channel.
Channel 1