Specifications

APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
376
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
Connector I/O signals
Terminal number Signal name Function
A-1 ABS-PT Move the point from the origin position
B-1 INC-PT Move the point from the current position
A-2 AUTO-R Start automatic operation
B-2 STEP-R Start step operation
A-3 ORG-S Return to the origin
B-3 RESET Reset
A-4 SERVO Return to servo on
B-4 LOCK Interlock
A-5 DI 0 General input 0
B-5 DI 1 General input 1
A-6 DI 2 General input 2
B-6 DI 3 General input 3
A-7 DI 4 General input 4
B-7 DI 5 General input 5
A-8 DI 6 General input 6
B-8 DI 7 General input 7
A-9 DI 8 General input 8
B-9 DI 9 General input 9
A-10 DI 10 General input 10
B-10 DI 11 General input 11
A-11 DI 12 General input 12
B-11 DI 13 General input 13
A-12 DI 14 General input 14
B-12 DI 15 General input 15
A-13 +IN COM Controller external+24V power input
B-13 +IN COM Controller external+24V power input
A-14 RESERVE Use by the user prohibited
B-14 RESERVE Use by the user prohibited
A-15 0V Input/output standard 0V
B-15 0V Input/output standard 0V
A-16 DO 0 General output 0
B-16 DO 1 General output 1
A-17 DO 2 General output 2
B-17 DO 3 General output 3
A-18 DO 4 General output 4
B-18 END End normal execution
A-19 BUSY Executing the command
B-19 READY Ready for operation
A-20 DO 5 General output 5
B-20 DO 6 General output 6
A-21 DO 7 General output 7
B-21 DO 8 General output 8
A-22 DO 9 General output 9
B-22 DO 10 General output 10
A-23 DO 11 General output 11
B-23 DO 12 General output 12
A-24 ENG 1
Emergency stop input 1, used with EMG2 as a pair
B-24 ENG 2 Emergency stop input 2, used with EMG1 as a pair
Robot Language Table
Command Description
MOVA Moves to a point data position.
MOVI Moves from current position by amount of point data.
MOVF Moves until a specifi ed DI input is received.
JMP Jumps to a specifi ed label in the specifi ed program.
JMPF
Jumps to a specifi ed label in a specifi ed program
according to the input condition.
JMPB
Jumps to a specifi ed label when general-purpose
input or memory input is in the specifi ed state.
L
Defi nes the jump destination for a JMP or JMPF
statement, etc.
CALL Runs another program.
DO
Turns general-purpose output or memory output on and off.
WAIT
Waits until general-purpose input or memory input is
set in the specifi ed state.
TIMR
Waits the specifi ed amount of time before advancing
to the next step.
PDefi nes point variable.
P+ Adds 1 to a point variable.
P- Subtracts 1 from a point variable.
SRVO Turns a servo on and off.
STOP Temporarily stops program execution.
ORGN Performs return-to-origin.
TON Runs a specifi ed task.
TOFF Stops a specifi ed task.
JMPP
Jumps to a specifi ed label when the axis position
relation meets the specifi ed conditions.
MAT Defi nes a matrix.
MSEL Specifi es a matrix to move.
MOVM Moves to a specifi ed pallet work position on matrix.
JMPC
Jumps to a specifi ed label when counter array
variable C equals the specifi ed value.
JMPD
Jumps to a specifi ed label when counter variable D
equals the specifi ed value.
CSEL Specifi es the array element for counter array variable C.
CDefi nes counter array variable C.
C+ Adds a specifi ed value to counter array variable C.
C-
Subtracts a specifi ed value from counter array variable C.
DDefi nes counter variable D.
D+ Adds a specifi ed value to counter variable D.
D- Subtracts a specifi ed value from counter variable D.
SHFT
Shifts the coordinate position by a distance equal to
specifi ed point data.
ERCX
Absolute battery B1 / B2
These batteries are for backing up the absolute data. B1 and B2 differ in the capacity. Select either one to be suitable for equipment stop time.
(Select from either B1 or B2 when ordering.)
Dimensions
B1 battery
47
Approx. 300
(250)
52
43
15
29
152
Approx. 300
(250)
Dimensions
B2 battery
Battery B1 / B2 basic specifi cations
Item B1 B2
Model KR4-M4252-10 KR4-M4252-00
Battery type Ni-Cd battery
Battery capacity 3.6V/700mAh 3.6V/2,000mAh
Data holding time
Note
120 hours 340 hours
Dimensions W52 × D47 × H15mm
ϕ
29 × L152mm
Weight 80g 280g
Cable length 300mm 300mm
When power is turned OFF with fully charged battery mounted.Note.
Standard accessories Options
Power connector
Model KR4-M4875-00
I/O connector
Model KR4-M4421-00
I/O checker
With this checker, not only input and output status
can be checked by LEDs but also the input signal
can be simulated with the toggle switch.
Model KD1-M4530-01