4-Axis Positioning/Motion Unit KV-XH04ML

Model

KV-XH04ML^*1

Type

Positioning/Motion unit

Number of control axes

4 axes (total including a virtual axis)

Built-in device

Relay: 576 points (36 ch), data memory: 4 words

Output format

MECHATROLINK-III

Connectable CPU units

KV-8000/KV-7500/KV-7300

Refreshes

Automatic refresh, direct refresh, inter-unit synchronisation refresh

Control mode

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

Control period

From 500 µs

Starting time

500 µs

Axis control function execution method

Ladder program, unit program (flow)

Unit program capacity

3 MB (max. number of blocks: approx. 20,000)

Flow

Block Type

Positioning control block, synchronisation control block, speed control block, torque control block,origin return block, current coordinate change block, speed change block, target coordinate change block,continuous positioning start block, continuous point number block, continuous independent/linearinterpolation block, continuous arc interpolation block, continuous positioning completion standby block,calculation block, standby block, program execution block, program stop/restart block,program forced end block, unit interrupt block, cam data reading/writing block, selection branch block,parallel branch block, merge block, GOTO block, start block, end block

Maximum number of flows

256

Number of simultaneous activities

Unlimited

Internal data memory

524,288 words

Position unit

mm, deg (angle), PLS (pulse count), decimal place 0 to 9, 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

Linear 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

Acceleration/deceleration time

0 to 65,535 ms

M-code

1 to 65,000, WITH/AFTER mode

Sensor positioning

External input-based switching control from speed to position

Number of points

100 points/axis (Trace control of 100 points or more using flows is also possible.)

Special functions

Sync type follow-up control, absolute position follow-up control

Synchronisation control

Input

External reference, instruction coordinates, current coordinates

Input filter

Reverse rotation protection function

Clutch

Select from direct, slide, and following

Cam

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

Correction during operation

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

Origin return

Origin return method

Data set type, Dog type (push), Dog type ("With Z phase" or "Without Z phase" can be selected),
Dog type inching ("With Z phase" or "Without Z phase" can be selected), immediate Z phase,
origin sensor and Z phase, limit switch rising edge, origin sensor midpoint/rising edge

JOG/inching

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

Teaching

Current coordinate teaching

Memory data

Point parameters (each axis), synchronisation parameters (each axis), cam data, unit program,
servo parameters, settings can be read and written during RUN (with some restrictions)

Output display

LINK, CONNECT, error status

Self-diagnosis function

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

Parameter setting

Parameters can be set from KV STUDIO, ladder programs, and unit programs

Data backup

Coordinates: Nonvolatile memory backup (unlimited)
Parameter settings: Flash ROM backup (rewritable 20,000 times)

Internal current consumption

160 mA or less

Weight

Approx. 190 g