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          Programmable Controller

          KV-7000 series

          Select Language

          High-speed I/O unit

          Model

          KV-SIR32XT*1

          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

          *1 For KV-7000 Series
          *2 Connectors for connector-type I/O units are not included. MIL40-pin slender connector kit OP-51404 and MIL40-pin connector kit OP-22184 are available separately.
          *3 5 VDC mode can only be used with IN100 to IN115.
          *4 If an overvoltage is detected, all inputs (IN100 to IN115) in the shared commons will be turned OFF until the power is cycled or until PRG is switched to RUN.
          *5 The four input and output COMs (input COM0 and COM1, and output COM2 and COM3) are independent. For each COM, those with two terminals are short-circuited internally.
          *6 Even if an overcurrent is detected at only one point, protection operation (output OFF) will be enforced for all of the outputs in the shared commons (COM2: OUT200 to 215, COM3: OUT300 to 315) and automatic recovery will be repeated until the cause is eliminated.

          High-speed analogue input unit

          Model

          KV-SAD04*1

          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

          *1 For KV-7000 Series

          High-speed analogue output unit

          Model

          KV-SDA04*1

          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

          *1 For KV-7000 Series

          Positioning/Motion unit

          Model

          KV-XH04ML

          KV-XH16ML

          Type

          Positioning/Motion unit

          Number of control axes

          4 axes (total including a virtual axis)

          16 axes (total including a virtual axis)

          Built-in device

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

          Relay: 2,112 points (132 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

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

          Starting time

          500 µs

          125 µs

          Axis control function execution method

          Ladder program, unit program (flow)

          Ladder program, unit program (flow, C language)

          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

          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

          400 mA or less

          Weight

          Approx. 190 g

          Approx. 280 g

          High-speed positioning unit

          Model

          KV-SH04PL*1

          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

          *1 For KV-7000 Series
          *2 High-speed mode cannot be set.

          High-speed counter unit

          Model

          KV-SSC02*1

          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

          *1 For KV-7000 Series

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