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          Programmable Logic ControllerKV-7000 series

          KV-XH04ML

          4-Axis Positioning/Motion Unit

          SPECIFICATIONS

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          Model

          KV-XH04ML

          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-7500/7300

          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

          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

          Single operation address

          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

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