Specs Programmable Controller KV-7000 series

Model

KV-7500

KV-7300

Image

Type

CPU unit

General specifications

Power voltage

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

Operating ambient temperature

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

Operating ambient humidity

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

Ambient temperature for storage

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

Storage relative humidity

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

Operating environment

No dust or corrosive gas

Altitude

2,000 m or less

Noise immunity

1,500 Vp-p or more, Pulse width: 1 µs, 50 ns (based on noise simulator), IEC standard-compliant (IEC 61000-4-2/3/4/6)

Withstand voltage

1,500 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)

Shock resistance

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

Pollution degree

2

Vibration resistance

Intermittent vibration

Frequency 5 to 9 Hz

Half amplitude: 3.5 mm^*1

Frequency 9 to 150 Hz

Acceleration: 9.8 m/s^2*1

Continuous vibration

Frequency 5 to 11 Hz

Half amplitude: 1.75 mm^*1

Frequency 9 to 150 Hz

Acceleration: 4.9 m/s^2*1

Performance specifications

Arithmetic control mode

Stored program mode

I/O control mode

Refresh mode

Program language

Expanded ladder, KV Script, mnemonic

Number of commands

Basic instruction: 80 classes, 181 instructions
Applied instruction: 50 classes, 67 instructions
Arithmetic operation instruction: 125 classes, 318 instructions
Extended instruction: 76 classes, 131 instructions
Total: 331 classes, 697 instructions

Instruction execution speed

Basic instruction: Min. 0.96 ns
Applied instruction: Min. 5.75 ns
Double precision floating-point instruction: Min. 58 ns

CPU memory capacity

64 MB

21 MB

Program capacity

Approx. 1,500k steps

Approx. 160k steps

Maximum number of units to be installed

16 units (only with KV-7000 Series expansion unit)
48 units (with KV-7000 Series expansion unit, KV-5000/3000 Series expansion unit (with extension unit (KV-EB1))

Maximum number of I/O points

Maximum 3,072 points for expansion (KV-EB1S/KV-EB1R: 2 units used, 64-point unit used)

Bit device

Input relay R

Total 16,000 points 1 bit

Output relay R

Internal auxiliary relay R

Link relay B

32,768 points 1 bit

Internal auxiliary relay MR

64,000 points 1 bit

Latch relay LR

16,000 points 1 bit

Control relay CR

1,280 points 1 bit

Word device

Timer T

4,000 points 32 bits

Counter C

Data memory DM

65,535 points 16 bits

Expansion data memory EM

File register

Current bank FM

524,288 points 16 bits

Dial mode ZF

Link register W

32,768 points 16 bits

Temporary data memory TM

512 points 16 bits

Index register Z

12 points 32 bits

Control memory CM

6,000 points 16 bits

Device comment

Approx. 224,000

Approx. 102,000

Label

Approx. 285,000

Approx. 131,000

Power failure hold function

Program memory

Flash ROM can be written 10,000 times

Device

Nonvolatile RAM

Calendar timer

Backup condenser lasts approx. 15 days (25 °C)
(Approx. 5 years with KV-B1 (battery) (25 °C))

Self-diagnosis function

CPU error, RAM error, other

Internal current consumption

200 mA or less

Weight

CPU unit: Approx. 270 g
Bus-connected unit: Approx. 130 g, KV-B1 (battery): Approx. 10 g

Model

KV-SIR32XT^*1

Image

Type

High-speed I/O unit

External connection mode

Connector (MIL standard)^*2

Input

Number of inputs

32 points

Input mode

24 VDC mode, 5 VDC mode^*3 (Overvoltage protection function included^*4)

Max. input voltage

24 VDC mode: 28.8 VDC, 5 VDC mode: 6.0 VDC

Rated input voltage

24 VDC mode: 24 VDC 5.1 mA, 5 VDC mode: 5 VDC 8.8 mA

Min. ON voltage

24 VDC mode: 19 V, 5 VDC mode: 3.5 V

Max. OFF current

24 VDC mode: 1.5 mA

Max. OFF voltage

5 VDC mode: 1.5 V

Common point mode

16 points/1 common point (2 terminals)^*5

Input time constant

1 µs/10 µs/20 µs/100 µs/500 µs/1 ms/5 ms/10 ms/50 ms

Input impedance

24 VDC mode: 4.4 kΩ, 5 VDC mode: 350 Ω

Output

Number of outputs

32 points

Output form

MOSFET (N-ch) (with overcurrent protection function)^*6

Rated load

30 VDC 0.2 A (1.6 A/1 common point)

Leak current at OFF

100 µA or less

Residual voltage at ON

0.5 VDC or less

Common point mode

16 points/1 common point (2 terminals)^*5

Operating time

OFF to ON: 1 µs or less (Load: 5 mA to 200 mA)
ON to OFF: 5 µs or less (Load: 5 mA to 200 mA)

Internal current consumption

130 mA or less

Weight

Approx. 190 g

Model

KV-SAD04^*1

Image

Type

High-speed analogue input unit

Analogue input point

4 points (differential input)

Analogue input range (resolution)

Voltage

-10 to +10 V (0.5 mV 1/40,000)
-5 to +5 V (0.25 mV 1/40,000)
0 to 10 V (0.5 mV 1/20,000)
0 to 30 V (1.5 mV 1/20,000)
0 to 5 V (0.25 mV 1/20,000)
1 to 5 V (0.25 mV 1/16,000)

Input current

0 to 20 mA (1 µA 1/20,000)
4 to 20 mA (1 µA 1/16,000)

Input impedance

Voltage: 1 MΩ, Current: 250 Ω

Conversion speed

10 µs/ch

Conversion precision

25 °C ±5 °C: ±0.1 % (±20 digit)
0 to 55 °C: ±0.2 % (±40 digit)

Insulation mode

Between unit and CPU: Photocoupler insulation, non-insulation between channels

Absolute max. input

Voltage: -15 V to +35 V, Current: 30 mA

Internal current consumption

80 mA or less

Weight

Approx. 130 g

Model

KV-SDA04^*1

Image

Type

High-speed analogue output unit

Analogue output points

4 points

Analogue output range (resolution)

Voltage

-10 to +10 V (0.5 mV 1/40,000)
0 to 10 V (0.5 mV 1/20,000)
0 to 5 V (0.25 mV 1/20,000)
1 to 5 V (0.25 mV 1/16,000)

Input current

0 to 20 mA (1 µA 1/20,000)
4 to 20 mA (1 µA 1/16,000)

Conversion speed

10 µs/ch

Conversion precision

25 °C ±5 °C: ±0.1 % (±20 digit)
0 to 55 °C: ±0.2 % (±40 digit)

Insulation mode

Between unit and CPU: Photocoupler insulation, non-insulation between channels

Min. load resistance

Voltage: 1 kΩ

Max. load resistance

Current: 500 Ω

Internal current consumption

170 mA or less

Weight

Approx. 140 g

Model

KV-XH16ML^*1

KV-XH04ML^*1

Image

Type

Positioning/Motion unit

Number of control axes

16 axes (total including a virtual axis)

4 axes (total including a virtual axis)

Built-in device

Relay: 2,112 points (132 ch), data memory: 4 words

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 62.5 µs (from 125 µs when using the SV2 Series)

From 500 µs

Starting time

125 µs

500 µs

Axis control function execution method

Ladder program, unit program (flow, C language)

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

400 mA or less

160 mA or less

Weight

Approx. 280 g

Approx. 190 g

Model

KV-SH04PL^*1

Image

Type

High-speed positioning unit

Number of control axes

4 axes

Input

Positive (negative) direction limit switch, origin sensor, stop sensor, continuous instant starting, 1 point per axis for 4 points in total, 24 VDC input possible
Forced stop input, 1 point shared by whole axis, 24 VDC input possible
Z-phase input (+) (-), servo end, servo ready, drive alarm, 1 point per axis for 4 points in total, 5 VDC input possible

Output

Pulse output (differential line driver): equivalent to AM26C31 (max. 20 mA)
Pulse output (open collector): rated load 30 VDC, 0.1 A or less
Drive alarm reset, servo ON, deviation counter clear, rated load: 30 VDC, 0.1 A or less

Output frequency

1 Hz to 8 MHz

Output format

Differential line driver/open collector (switched per axis via hardware switch)
1-pulse mode/2-pulse mode/2-phase 1X/2-phase 2X/2-phase 4X

Control mode

Standard mode, High-speed mode

Control period

Standard mode: 500 µs, High-speed mode: 62.5 µs

Starting time

Standard mode: From 500 µs, High-speed mode: From 8 µs (continuous instant starting: 1 µs)

Basic operation

Standard mode: Origin return/JOG, straight-line interpolation (2 to 4 axes), position control (ABS/INC), speed control (+/- direction)
High-speed mode: Origin return/JOG, position control (ABS/INC), speed control (+/- direction)

Functions

Standard mode:
Speed change, target change, stop sensor, speed override, stop at specified angle,
continuous operation interrupt, force next point, absolute position follow-up control, sync type follow-up control
High-speed mode:
Speed change, target change, stop sensor, continuous instant starting

Position unit

Standard mode: mm, deg (angle), PLS (pulse count) decimal place 0 to 9, unit conversion function
High-speed mode: PLS (pulse count)

Positioning control

Position setting range

-2,147,483,648 to 2,147,483,647

Acceleration/deceleration curve

Standard mode: Straight-line, SIN, High-speed mode: Straight-line

Acceleration/deceleration rate

Acceleration/deceleration individual setting

Acceleration/deceleration time

Standard mode: 0 to 65,535 ms

M-code

0 to 65,000, WITH/AFTER mode

Number of points

100 points/axis

Origin return

Origin return method

Dog type ("With Z phase" or "Without Z phase" can be selected by pushing the button), Dog type inching ("With Z phase" or "Without Z phase)^*2,
origin sensor (edge/midpoint/Z-phase), limit switch edge, immediate Z-phase origin return, data set type

JOG/inching

Inching (number of pulses can be specified)^*2, JOG

Teaching

Current coordinate teaching

24 V power input (I/O)

24 VDC (-15 %/+20 %)

5-V power output

5 VDC (±10 %), 200 mA or less

Other functions

Multi-axis simultaneous starting based on unit interrupt/inter-unit synchronisation

Internal current consumption

200 mA or less, external I/O: 260 mA or less

Weight

Approx. 230 g

Model

KV-SSC02^*1

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Type

High-speed counter unit

Input frequency

4 MHz (16 MHz during 2-phase, 4 times multiplication)

Counting range

32 bits

Number of channels

2 ch

Mode

Input selection

External terminal (CH0, CH1), internal clock (0.05 µs, 1 µs, 10 µs, 100 µs), other CH coincidence output,
Communication: EnDat2.2/22, BiSS (C-mode), YASKAWA serial

Input mode

1-pulse with/without direction, 2-pulse addition/subtraction operation, 2-phase 1X/2X/4X

Counting operation mode

Up-down counting mode, Enable counting mode, Preset counting mode,
Set timer counting mode, Enable accumulative counting mode

Counting mode

Linear, ring

Frequency, revolution counter operation mode

Frequency counting mode, revolution counter B mode (1-revolution time measurement)
Revolution counter A mode (pulse interval measurement)

Input

Count input

A-phase/B-phase/Z-phase (preset), 3 points for each channel, 6 points in total
5/12/24 VDC input possible, line driver input possible, photocoupler insulation

Control input

Enable (also used for input capture) input, 1 point for each channel, 2 points in total 12 to 24 V DC input possible, photocoupler insulatio
Input capture input, 2 point for each channel, 4 points in total 12 to 24 V DC input possible, photocoupler insulation

Output

Comparator coincidence output

2 points for each channel, 4 points in total, photocoupler insulation
Rated load: 30 VDC 0.2 A or less

Input capture function

By external input (max. 4 points)

Buffering function

Buffering period: 1 µs or longer

Input filter function

Input time constant switching (6 types of counting/9 types of control)

Preset function

Possible to select from preset (Z-phase) input and internal relay-based rising edge/falling edge/level (only when an external input is used)

Serial encoder communication function

Supported encoder

Absolute encoders that support EnDat2.2/22, BiSS (C-mode), and YASKAWA serial

Communication cycle

EnDat2.2/22: 50 µs, BiSS (C-mode): 50 µs, YASKAWA serial: 62.5 µs

Input

Equivalent to a differential line receptor that meets the EIA RS485 standard

Output

Equivalent to a differential line driver that meets the EIA RS485 standard

Encoder 5 V power

5 VDC (±5 %), 300 mA or less

Other functions

Unit interrupt, inter-unit synchronisation

Internal current consumption

190 mA or less

Weight

Approx. 130 g