16-axis ML 2-compatible Positioning Motion Unit KV-ML16V

Model

KV-ML16V

Type

Positioning/Motion unit

Number of control axes

16 axes (total including a virtual axis)

Built-in device

[16 axes in use]
Relay: 2,688 points (168 ch), Data memory: 222 words (high speed) /1,242 words (simple)
[8 axes in use]
Relay: 1,644 points (104 ch), Data memory: 222 words (high speed) /762 words (simple)
[4 axes in use]
Relay: 1,152 points (72 ch), Data memory: 222 words (high speed) /522 words (simple)

Output format

MECHATROLINK-II

Connectable CPU units

KV-5500/5000/3000

Max. output pulse

-

Control mode

Position control, Torque control, Speed control, ML-II command, I/O control

Control period

0.5 ms (up to 2 axes), 1.0 ms (up to 4 axes), 1.5 ms (up to 6 axes),
2.0 ms (up to 8 axes), 2.5 ms (up to 12 axes), 3.0 ms (up to 16 axes)

External interface

Input: Photocoupler input, Output: Open collector output (30 VDC 50 mA)
MECHATROLINK-II port

Input time constant

Each input is set in 11 stages for each block

Axis control function execution method

Ladder program, motion flow

Motion flow

Program capacity

768 KB

Max. number of blocks

A total of 256 blocks in all flows

Max. number of flows

32

Number of simultaneous activities

Number of connectable axes × 2

Position unit

mm, deg (angle), PLS (pulse count), decimal point position from 0 to 9 digits, unit conversion function available

Cumulative address

-2,147,483,648 to +2,147,483,647 instruction units

Positioning control

Positioning mode

Absolute value/relative value

Position setting range

-2,147,483,648 to +2,147,483,647 instruction units

Interpolation

Straight-line interpolation (up to 16 axes), arc interpolation, helical interpolation

Single operation address

-2,147,483,648 to +2,147,483,647 instruction units

Acceleration/deceleration curve

Straight-line, SIN, Bezier

Acceleration/deceleration time

0 to 65,535 ms

Start-up time

Independent/interpolation: 2 to 3 control periods (When the 1st axis is activated)
Cache start: 1 to 2 control periods

M-code

1 to 65,000, WITH/AFTER mode

Sensor positioning

External input - based switching control from speed to position

Number of points

800 points/axis

Synchronisation control

Input

Counter (KV-MX1 required), instruction coordinates, current coordinates (KV-ML16V only)

Clutch

Select from direct, slide, and follow-up

Cam

Resolution: 2,048 to 32,768, Amount of data: 4 to 64 (Number changes according to the resolution)

Contact output

16 points (including 8 external output points) × 2

Correction during operation

Correction via auxiliary input, phase correction, and lead angle correction

Fine control

Fine data work area

8 MB

Built-in ROM capacity

512 KB

Number of settings

Built-in ROM: 100, SD memory card: 1000

Data capacity of one setting

Built-in ROM: 512 KB, SD memory card: 8 MB (KV-MX1 is required)

Origin return

Origin return method

Origin sensor edge/midpoint, push origin return, Dog type ("With Z phase" or "Without Z phase" can be selected)

Speed control

Speed instruction range

-100,000 to 100,000 (× 0.01 min^-1)

Torque control

Torque instruction range

-80,000 to 80,000 (× 0.01 %)

JOG/inching

Inching (The number of pulses can be specified), JOG (high speed/low speed)

Teaching

Current coordinate teaching and teaching from the counter current value are supported

Memory data

Point parameters 800 points (each axis), synchronisation parameters (each axis), fine setting (built-in ROM: 512 KB, expandable with a SD card),
cam data motion flow setting, etc. can be read and written during RUN (with some restrictions)

High-speed counter

When KV-MX1 is connected: INC 4 ch/ABS Grey, residual Grey, binary 2 ch (switched, based on settings), Max. 6.4 MHz (2-phase, 4 multiplication)

5-V power output

-

Output display

Error status/MECHATROLINK-II communication status

Self-diagnosis function

Diagnosis can be made through hardware error, various parameter errors, error number, and error messages

Parameter setting

Parameters can be set from KV-HPD1, “KV STUDIO,” and ladder programs

Data backup

Coordinates and error/warning history backup, parameter settings backup via flash ROM, 100,000 times switching

Internal current consumption

Main unit: 200 mA or less, external I/O: 120 mA or less

Weight

Approx. 220 g