Model
KV-ML16V
Type
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
MECHATROLINK-II
Connectable CPU units
KV-5500/5000/3000
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
32
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
Interpolation
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
M-code
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
Input
Counter (KV-MX1 required), instruction coordinates, current coordinates (KV-ML16V only)
Clutch
Select from direct, slide, and follow-up
Cam
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 %)
JOG/inching
Inching (The number of pulses can be specified), JOG (high speed/low speed)
Teaching
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
Weight
Approx. 220 g
