Programmable Logic ControllerKV-7000 series

KV-XH04ML

4-Axis Positioning/Motion Unit

SPECIFICATIONS

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Model

KV-XH04ML

General specifications

Power voltage

KV-5000/3000 Series System configuration using an expansion unit: 24 VDC (±10%)*1
KV-7000 Series System configuration using only an expansion unit: 24 VDC (−15% +20%)*1

Internal current consumption

160 mA or less

Operating ambient temperature

KV-5000/3000 Series System configuration using an expansion unit: 0 to +50°C (no freezing)*2*3
KV-7000 Series System configuration using only an expansion unit: 0 to +55°C (no freezing)*2*3

Operating ambient humidity

KV-5000/3000 Series System configuration using an expansion unit: 10 to 95% RH (no condensation)*2
KV-7000 Series System configuration using only an expansion unit: 5 to 95% RH (no condensation)*2

Storage ambient temperature

KV-5000/3000 Series System configuration using an expansion unit: -20 to +70°C*2
KV-7000 Series System configuration using only an expansion unit: -25 to +75°C*2

Storage ambient humidity

KV-5000/3000 Series System configuration using an expansion unit: 10 to 95% RH (no condensation)*2
KV-7000 Series System configuration using only an expansion unit: 5 to 95% RH (no condensation)*2

Operating atmosphere

No dust or corrosive gas

Operating altitude

2000 m or less

Pollution degree

2

Noise resistance

1500 Vpp or more, pulse width: 1 µs, 50 ns (based on noise simulator)
IEC standard-compliant (IEC 61000-4-2/3/4/6)

Withstand voltage

1500 VAC for 1 minute (between the power terminals and the I/O terminals,
and between the external terminals and the housing)

Insulation resistance

50 MΩ or more
(between the power terminals and the I/O terminals, and between the external terminals and the housing, with 500 VDC megohmmeter)

Vibration resistance

Intermittent vibration

Frequency: 5 to 9 Hz

Half amplitude: 3.5 mm*4

Frequency: 9 to 150Hz

Acceleration: 9.8 m/s2*4

Continuous vibration

Frequency: 5 to 9 Hz

Half amplitude: 1.75 mm*4

Frequency: 9 to 150 Hz

Acceleration: 4.9 m/s2*4

Impact resistance

Acceleration: 150 m/s2, Operation time: 11 ms, 2 times in each of the X, Y, and Z directions

Weight

Approx. 190 g

Performance specifications

No. of control axes

4 axes (total including virtual axes)

Connectable CPU unit

KV-7500/7300

Max. number of connectable units

16

Appropriated device

Relay: 576 points (36 channels)
Data memory: 4 words

Refresh

Automatic refresh, direct refresh, synchronous refresh between units

Output format

MECHATROLINK-III

Control mode

Positioning control
Torque control
Speed control
ML-III command
I/O control

Control period

500 µs or more

Start-up time

500 µs

Axis control function execution method

Ladder program, unit program (flow)

Unit program capacity

3 MB (Max. number of blocks: 20000)

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/linear interpolation block,
continuous–arc interpolation block,
continuous positioning complete standby block, calculation block,
standby block, program execute block,
program stop/restart block,
force close program block,
unit interrupt block, cam data read/write block,
selection branch block, parallel branch block, merge block,
GOTO block, start block, end block

Max. number of flows

256

Number of simultaneous activities

No upper limit

Internal data Memory

524288 words

Position unit

mm, deg (angle), PLS (number of pulses)
Decimal point position from 0 to 9 digits, unit conversion function available

Cumulative address

-2147483648 to +2147483647 specification units

Positioning control

Positioning mode

Absolute value/relative value

Position setting range

-2147483648 to +2147483647 specification units

Interpolation

Linear interpolation, arc interpolation, helical interpolation

Single operation address

-2147483648 to +2147483647 specification units

Acceleration/deceleration curve

Linear, SIN

Acceleration/deceleration time

0 to 65535 ms

M-code

1 to 65000, WITH/AFTER mode

Sensor positioning

External input-based switching control from speed to position

Number of points

100 points/axis
(Trajectory control at 100 points or more possible with flows)

Special function

Synchronous tracking control, absolute position tracking control

Synchronization control

Input

External reference, instruction coordinates, current coordinates

Input filter

Interference prevention function

Clutch

Select from direct, slide, and follow-up

Cam

Resolution: 2048 to 32768
Data points: 4 to 64 (changes according to the resolution)

Compensation during operation

Compensation via auxiliary input, phase compensation,
and step angle compensation

Origin return

Origin return method

Data set type, dog type (push),
dog type (selectable from "with Z phase" or "without Z phase"),
dog type sizing (selectable from "with Z phase" or "without Z phase"),
immediate Z phase, origin sensor and Z phase,
rising edge of limit switch,
origin sensor midpoint/rising edge

JOG/inching

JOG (high speed/low speed), inching (specifiable pulses)

Teaching

Current coordinate teaching

Memory data

Point parameters (each axis), synchronisation parameters (each axis),
cam data, unit program, servo parameters,
setting read/write during RUN (with some restrictions)

Output display

LINK, CONNECT, error status

Self-diagnosis function

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

Parameter setting

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

Data backup

Coordinates: nonvolatile memory backup (unlimited)
Parameter settings: flash ROM backup (20000 switches)

Communication specifications

Communication standard

MECHATROLINK-III

Transmission speed

100 Mbps

Number of ports

1

Max. distance between stations

100 m*5

Min. distance between stations

0.2 m

Transmission media/cable

Category 5e-compliant, STP cross cable

Number of connected stations

4 max.
Control period: 500 µs (up to 4 stations)

Number of transmitted bytes

48 bytes (standard servo profile),
48 bytes (standard stepper motor drive profile),
64 byte (standard inverter drive profile),
16/32/48/64 bytes (standard I/O profile)

*1 Supplied via the CPU unit or expansion unit.
*2 Guaranteed range in which the system can be used.
*3 Specified according to the temperature in the control panel on the lower side of the unit.
*4 JIS B 3502, Compliant with IEC 61131-2, Number of scanning operations: 10 times in each of the X, Y, and Z directions (for 100 min.)
*5 For instances with 30 m or more, use ferrite cores (OP-84409) with 2 turn-winding.

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