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
390
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
DRCX
Robot Language Table
Command Description
MOVA Moves to point data position.
MOVI Moves from current position by amount of point data.
MOVF Moves until specifi ed DI input is received.
JMP Jumps to a specifi ed label in a 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 a 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 a point variable.
P+ Adds 1 to a point variable.
P- Subtracts 1 from a point variable.
SRVO Turns the servo on or off for all axes or a specifi ed axis.
STOP Temporarily stops program execution.
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 of 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.
ORGN Executes return-to-origin on all axes or a specifi ed axis.
ACHA Defi nes an arch motion by setting a position.
ACHI Defi nes an arch motion by setting a distance.
DRVA Moves a specifi ed axis to a specifi ed point data position.
DRVI
Moves a specifi ed axis a distance equal to specifi ed
point data from current position.
SHFT
Shifts the coordinate position by amount of specifi ed
point data.
TON Runs a specifi ed task.
TOFF Stops a specifi ed task.
JMPP
Jumps to a specifi ed label when the axis positional
relation meets the specifi e.
MOVL Executes linear interpolation motion.
MOVC Executes circular interpolation motion.
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
I/O connector
Model KR4-M4421-00