all-in-one PLC

KV Nano Application Guide

Vol. 5

KV Nano Built-In Positioning Function

The KV Nano provides easy operation with more axes!

Points
1. No expansion unit required, built-in positioning function with up to 4 axes.
2. Intuitive parameter registration with the dedicated point parameters.
3. Variable dedicated instructions help significantly reduce programming man hours.
 System Overview

* See "Wiring" on page 5 for details on the connection between servo motors and the KV Nano.

Palletising is performed using the servo motors controlled by the KV Nano’s built-in positioning function.

Operation Contents

Speed

Time

Operations such
as box packing
and assembly

Palletising operation

The machine palletises at each point with reference to the origin.

Workpieces are released at the destination points to perform operations such as box packing and
assembly.

* For the sample ladder, refer to pages 11 to 13.

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Example of applicable equipment
Box packing machine (3 axes) Chip transfer machine (2 to 3 axes)

Workpiece inspection machine (2 axes) Assembly machine (4 axes)

Index table transfer machine (2 to 4 axes) Press fitting machine (2 to 4 axes)

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 Preparation for Wiring
Prepare and connect the required devices.
1. KV-N14/24/40/60A(D)T x 1 unit
2. Servo motor (Amplifier, motor main unit, encoder cable, motor power supply cable)

● 24 VDC needs to be supplied separately when the DC power supply

KV Nano Series model is used.
Notes: ● The KV Nano Series does not support line-driver output. Connect to
the servo motor to the open collector output.

Output assignment when connecting the KV Nano Series with motor drivers

1-pulse mode 2-pulse mode

* Only Axis 1 and 2 can be used with the KV-N14xT/KV-N24xT.

Only Axis 1, 2, and 3 can be used with the KV-N40xT.

One Point Tip

The KV Nano Series is equipped with a maximum of 4 axes (100 kHz), supporting axis control
for multiple applications without the need for expansion units.

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Wiring
This section explains the necessary wiring using KV-N24xT and the KEYENCE SV Series servo motor as
an example.

* The forced stop is assigned

to No.18 of the SV Series,
clockwise limit switch is
assigned to No.42, and
counterclockwise limit switch
is assigned to No.43, as
necessary.
If the wiring connections are
not made, the SV Series
parameter settings are
changed to normal open
contact.

Wiring diagram of the SV Series

forced stop and clockwise/
counterclockwise limit switches

Wiring diagrams showing how to connect to motors manufactured by ORIENTAL

MOTOR, etc., are also available.
Contact us at the telephone number on the last page for details.

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 Positioning Parameter Registration
Positioning ladders for motor ramp-up/down control that conventionally required up to 100 rungs, can
now be programmed easily with “dedicated instructions + parameter registration”.

Point operation
ladder

CPU positioning parameter setting

Positioning Parameter Setting window

Start the KV STUDIO(Ver. 7 or later) and create a new project. Select [Tools] > [CPU Positioning Parameter
Setting]. ([KV-N24] is used as the supported model in this document)

Setting item
Only the following items are set in this document. You may need to set other parameters according to
your specific needs. Set further parameters as necessary.
• Input/output setting • Origin return setting• JOG setting •
Point parameter

One Point Tip

All parameters are assigned to the control memory (CM),
allowing you to change setting values in ladder programmes and on the touch panel.

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Input/Output Setting
These settings configure the pulse output
type (1 pulse/2 pulse), assignment and
polarity for the input relays used in sensors
such as the origin, stop and limit sensors,
and other such parameters.

*1 A ladder programme is required

when using the limit switches.

*2 The output type is selected in accordance with the aforementioned motor driver wiring.

Pulse

1-pulse mode
Rotation direction

CW direction CCW direction

Forward pulse

2-pulse mode

Reverse pulse

CW direction CCW direction

CW direction: Forward direction (clockwise)

CCW direction: Reverse direction (counterclockwise)

* If the motor rotates in the opposite direction even when wired correctly,
check [Output pulse during forward operation].

Forward pulse: Outputs a forward pulse in the forward direction (the direction in which coordinates increase).
Reverse pulse: Outputs a reverse pulse in the forward direction (the direction in which coordinates increase).

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 Origin Return Setting
This setting item configures parameters such as the method, startup speed and acceleration/
deceleration rates and operating speed, etc. for origin return.

* A ladder programme is also required

when using the origin return.

A default value is used here even though more than one method is available for origin return.
Refer to “KV Nano Series User’s Manual” for details on each method.

JOG Setting
This setting item configures parameters such as the startup speed, acceleration/deceleration rates
and high-speed rate, etc. for the JOG operation.

* A ladder programme is required for the

JOG operation.

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Point Parameter Setting
This setting item sets parameters such as the target coordinate/travel and operating speed, etc. that are
required for the point operation.

Function Setting range

Point No. 1 to 20

KV-N14xT: 2 axes
KV-N24xT: 2 axes
Axis No.
KV-N40xT: 3 axes
KV-N60xT: 4 axes

Positioning INC, Positioning ABS

Operation mode
Speed control CW, Speed control CCW

Target coordinate/travel [PLS] -2147483648 to 2147483647

Acceleration rate [Hz/ms] 0.1 to 65535
Deceleration rate [Hz/ms] 0.1 to 65535
Operating speed [Hz] 1 to 100000
Stop sensor setting Enabled/Disabled
Travel after stop sensor input [PLS] 0 to 65535
Comment 32 single-byte characters (16 double-byte characters)

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 How to Execute Other Operations When
Positioning is Complete
In this example, box packing/assembly is executed every time the positioning operation is complete.
This section explains how a signal can be received to recognise completion of the positioning operation.

How to receive a positioning completion signal

After a pulse signal is output, the positioning completion relay turns on when the operation reaches a
specified position.
The rising edge of this pulse output is used to programme the process after the positioning is complete.
Additionally, the running point No. is stored in the control memory.

PSTRT (1) PSTRT (2)

Point No. 1 Point No. 2

Relay during pulse output

Positioning completion
relay

Execution point No.

Axis 1 Axis 2 Axis 3 Axis 4

Relay during pulse output CR8400 CR8500 CR8600 CR8700

Positioning completion relay CR8401 CR8501 CR8601 CR8701

Execution point No. CM8835 CM8875 CM8915 CM8955

Programming Example

Processing programme after

positioning is complete

Execution points are compared to find which point operation the completion signal is output
from.

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Sample Programming
Operation contents
The origin return is executed before starting the operation.
When Operation Start Relay MR000 is turned on, Axis 1 starts moving from the origin to execute
palletising with the value set in DM0. The one-shot signal required for box packing, assembly, etc. is
output every time the operation is executed.
After a specified number of palletising operations is executed, Axis 2 executes inching only once and
then Axis 1 starts the palletising operation again. The operation stops when MR000 is turned off.

Device specifications
Device Device Comment Device Device Comment
R000 Axis1 origin sensor MR005 Axis2 JOG CW

R001 Axis2 origin sensor MR006 Axis2 JOG CCW

R008 CW limit switch MR007 Axis2 JOG high-speed

R009 CCW limit switch MR010 Work release signal

MR000 Operation start DM0·DM1 Palletising movement

MR001 Origin return DM4 Inching cmp time setting (10ms)

MR002 Axis1 JOG CW DM10 Repeat No. setting value

MR003 Axis1 JOG CCW DM20 Repeat No. current value

MR004 Axis1 JOG high-speed

The travel per palletising operation, repeat number, workpiece release time, etc. can be set from external devices such as
the access window and touch panel.
Change the corresponding devices to numeric characters when not setting from an external device.

Axis 2 point 1
Movement of
inching

Axis 1 point 2 Axis 1 point 1 DM0/DM1

(Home position) (Palletisng start position) (Palletising movement)

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 Ladder diagram

Set the input time constant to 10 μs for Input Relay R000,

R001, R008, and R009.

Set the Axis 1 limit switch.

When HIGH is input during the CW/CCW JOG

operation, the high-speed JOG operation is executed.

The origin return is executed

before starting the operation.

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 The Axis 1 palletising operation starts.

(1)

The one-shot signal is output at each point.

Box packing, assembly, etc. can be executed using this one-shot signal.
The ON time of this signal can be set to DM4 in increments of 10 ms.

The Axis 1 palletising

operation is repeated the
number of times set in (2)
DM10. When the number
reaches the set times, the
Axis 2 inching operation is
executed only once. (3)

After the Axis 2 inching operation is complete, the current value

of palletising is reset and the Axis 1 palletising operation starts
again.

* When starting the first operation, Axis 1 performs in the order of (1) -> (3) -> (2) -> (3) -> (2) …
After the repeat number reaches the set value and the Axis 2 inching operation is completed only
once, Axis 1 then performs in order of (2) -> (3) -> (2) -> (3) -> (2) …

Contact the nearest sales office if you would like the above programme.

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 Positioning Monitoring Function
With the KV Nano Series, you can monitor and change positioning-related devices, such as the current
value and current speed of the CPU positioning function, in the list by using the built-in function monitor
of the ladder support software, KV STUDIO (Ver. 7 or later). Additionally, positioning-related devices
can be checked in the access window (available only in the terminal block type), which is particularly
useful for debugging and maintenance.

Built-in Function Monitor

Select [Monitor/Simulator] > [Built-in Function Monitor] from the menu.

Relay status
ON: *
OFF: -

* Positioning-related devices (e.g. current position, current speed, execution point No., and positioning completion relay)
can be checked/monitored in the list.

Registration Monitor
Select [Monitor/Simulator] > [Registration Monitor Window] from the menu.

Register devices in advance

to make debugging even
easier.

Double-click to switch the ON/OFF state.

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Real Time Chart Monitor
It is possible to monitor such items as timing for the positioning completion relay to turn on, the current
number of inching, current coordinates, current speed without using an oscilloscope.

Select [Monitor/Simulator] > [Real time chart monitor] from the menu.

The cursor can be used to find the time

Check the setting value of the current
between two points in units of
number and current value at a glance.
milliseconds.

* The monitoring cycle can be set for each scan to enable checking of all subtle changes in signals that are usually
unnoticed. This function is particularly useful for identifying the cause of problems.

Simply start the real time chart monitor from the built-in function monitor or registration monitor to
register devices that are being monitored as-is into the real time chart monitor.

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