LCLS Beckhoff Hardware Documentation
References
Configuring the Beckhoff BK9000 Network Parameters
Configuring the Beckhoff BK9050 Network Parameters
Beckhoff KL9020/KL9050 Network Topology
Beckhoff KL9020/KL9050 Example
Special Instructions for Digital Output Module
Manuals
BK9000
KL331x+Kl3302
KL9020 and KL9050
KL3162 Memory Map
KL3162 Registers