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          7. 16-axis ML 2-compatible Positioning Motion Unit

          Programmable ControllerKV-8000 series

          16-axis ML 2-compatible Positioning Motion Unit



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          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


          Connectable CPU units


          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


          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


          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


          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


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


          Select from direct, slide, and follow-up


          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 %)


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


          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


          Approx. 220 g

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