As 48117 KV-H20S H40S Um - GB WW 0025-1

Positioning Unit
KV-H20S/H40S
User's Manual
This manual provides a brief description of the
KV-H20S/H40S Positioning Unit and the
KZ-HP1/KV-HPD1 Teaching Unit, and describes
specifications, installation, parameter setup,
and how to program the units.
Contents
Chapter 1 OUTLINE
1-1 Checking the Contents of the Package ............................................................. 1-1
1-2 Names and Functions of Parts ........................................................................... 1-2
KV-H20S/H40S Positioning Unit ................................................................................ 1-2
KZ-HP1 Teaching Unit ............................................................................................... 1-3
KV-HPD1 Teaching Unit ............................................................................................ 1-4
Chapter 2 SPECIFICATIONS
2-1 Specifications ....................................................................................................... 2-1
KV-H20S/H40S Positioning Unit ................................................................................ 2-1
KZ-HP1 Teaching Unit ............................................................................................... 2-4
KV-HPD1 Teaching Unit ............................................................................................ 2-5
Chapter 3 WIRING
3-1 Items to Prepare for Wiring ................................................................................. 3-1
Applicable Lead Wire ................................................................................................. 3-1
Pressure-contact Tool ............................................................................................... 3-1
Cable Connector Parts .............................................................................................. 3-1
Connector Conversion Unit with Terminal Block & Exclusive Cable ......................... 3-2
Crimped Terminal ...................................................................................................... 3-2
3-2 Connecting the Drive Unit and Input Devices ................................................... 3-3
Wiring the Drive Unit and Input Devices .................................................................... 3-3
3-3 Wiring I/O Connectors ......................................................................................... 3-5
Wiring I/O Connectors ............................................................................................... 3-5
Chapter 4 TYPES OF PARAMETERS

4-1 Types of Parameters ............................................................................................ 4-1
Types of Parameters ................................................................................................. 4-1
4-2 System Parameters ............................................................................................. 4-4
System Parameter Categories .................................................................................. 4-4
Unit Setting ................................................................................................................ 4-6
Run Speed Setting .................................................................................................... 4-9
Jog Speed Setting ................................................................................................... 4-14
Origin Return Setting ............................................................................................... 4-16
Input Polarity Setting ............................................................................................... 4-20
Setting of Time Constant ......................................................................................... 4-22
Other Operation Settings ......................................................................................... 4-23
4-3 Parameters Common to All Axes ..................................................................... 4-26
Parameters to be Set Up ......................................................................................... 4-26
Parameters Common to All Axes (1) ....................................................................... 4-27
1
4-4 Speed Parameters ............................................................................................. 4-30
Parameters to be Set ............................................................................................... 4-30
4-5 Point Parameters ............................................................................................... 4-31
About the Run Mode ................................................................................................ 4-33
Setting Up Parameters ............................................................................................ 4-36
Chapter 5 MAKING LADDER PROGRAMS

5-1 List of Devices ...................................................................................................... 5-1
List of I/O Relays ....................................................................................................... 5-1
List of Memories for Communications ..................................................................... 5-12
5-2 Ladder Program for Changing Parameter Setups .......................................... 5-27
Changing Point Parameters .................................................................................... 5-27
Changing System Parameters ................................................................................. 5-32
Changing Speed Parameters .................................................................................. 5-35
Chapter 6 KZ-HP1/KV-HPD1 OPERATION

6-1 Using the KZ-HP1 ................................................................................................. 6-2
About the Functions of the KZ-HP1 ........................................................................... 6-2
Monitor Functions ...................................................................................................... 6-9
Explanation of Each Screen .................................................................................... 6-10
Test Functions ......................................................................................................... 6-13
Explanation of Each Screen .................................................................................... 6-14
Setting Point Parameters ......................................................................................... 6-17
Details of Screen Settings ....................................................................................... 6-19
System Parameter Settings ..................................................................................... 6-21
Speed Parameter Setup .......................................................................................... 6-27
Jog Function ............................................................................................................ 6-29
Teaching Function ................................................................................................... 6-31
Help Function .......................................................................................................... 6-35
Key Lock Function ................................................................................................... 6-36
Buzzer Control Function .......................................................................................... 6-36
Display Language Function ..................................................................................... 6-36
Label No. Setting Function ...................................................................................... 6-36
Screen for Remedying Errors .................................................................................. 6-37
6-2 Using the KV-HPD1 ............................................................................................ 6-38
About the Functions of the KV-HPD1 ...................................................................... 6-38
Monitor Functions .................................................................................................... 6-43
Test Functions ......................................................................................................... 6-45
System Parameter Settings ..................................................................................... 6-47
Input Monitor Functions ........................................................................................... 6-49
Output Monitor Functions ........................................................................................ 6-49
Option ...................................................................................................................... 6-50
Point Parameter Settings ......................................................................................... 6-51
Jog Function ............................................................................................................ 6-52
2
Teaching Function ................................................................................................... 6-54
Help Function .......................................................................................................... 6-55
Screen Displayed during an Error ........................................................................... 6-55
Chapter 7 TROUBLESHOOTING
7-1 Remedy Errors ..................................................................................................... 7-1
Remedying Errors ...................................................................................................... 7-1
7-2 List of Error Codes and Error Details ................................................................ 7-2
List of Errors .............................................................................................................. 7-2
APENDICES
1 Drive Unit Wiring Diagrams ................................................................................... A-1
2 List of Connector Conversion Units with Terminal Blocks ................................ A-7
3 Details of Origin Return Path ................................................................................ A-9
Detailed Explanation ................................................................................................. A-9
3
MEMO
4
1 OUTLINE
1 1-1 Checking the Contents of the Package 1
OUTLINE
The package contains the following items. Before you start using the KV-H20S/H40S, make sure
that the package contains everything that it is supposed to contain.
■ KV-H20S/H40S Unit ■ Instruction Manual

K
C
LO
KV-1000/700
Series
(Special Unit)
Instruction Manual
Instruction Manual
Unit
1-1
1-2 Names and Functions of Parts
1 1-2 Names and Functions of Parts

OUTLINE
This section describes the names and functions of parts on the KV-H20S/H40S Positioning Unit
and the KZ-HP1/KV-HPD1 Teaching Unit.
KV-H20S/H40S Positioning Unit

KV-H20S KV-H40S
(1)Direct access switch indicator
(2)Teaching Unit connector

The connector can be
accessed on the rear by
lifting up the direct access
switch indicator section.
(3)X1/Y1 connector X1/Y1 connector
X2/Y2 connector
No. Name Explanation

(1) Direct access switch When you press the direct access switch, the direct access switch
indicator blinks, and KV-H20S/H40S information is displayed on the
CPU access window.
(2) Teaching Unit This connector is for connecting the KZ-HP1/KV-HPD1.
connector
(3) X1/Y1 connector These connectors are for connecting the drive units, sensor switches
X2/Y2 connector on each axis.
1-2
KZ-HP1 Teaching Unit

1
OUTLINE
(4)Sliding hook
(1)Screen
FAST X Y
INDEX STOP STOP EMG
MENU HELP PREV NEXT
X X Y Y
(2)Operation
7 8 9 CLR
keys
4 5 6 DEL
TEACH
1 2 3 JOG
0 ENT
(3)Connector

(1) Screen This screen displays the parameter name, operating state of the
positioning system, error details, and other information in alphanumerics.
(2) Operation keys These keys are used for operating the KZ-HP1.
For details on how to use keys, “6-1 Using the KZ-HP1” (page 6-2)
(3) Connector This connector is for connecting the connector of the KV-H20S/H40S
Teaching Unit connector cable.
(4) Sliding hook When you are not using the KZ-HP1, pull out this hook and use it, for
example, for hooking the KZ-HP1 on the wall.
* The KZ-HP1 is sold separately.
* The KZ-HP1 is provided with a 3 m connector cable (model No.: OP-27282). This cable,
however, cannot be used on the KV-H20S/H40S.
When using the KV-H20S/H40S, use the connector cable (1.5 m: OP-42380, 3 m: OP-42381,
5 m: OP-42382, 10 m: OP-42383).
1-3
KV-HPD1 Teaching Unit

1
OUTLINE
(1)Screen
(2)JOG dial (7)Screw holes
(3)EMG button
(4)HELP button
(5)ESC button
(6)JOG/TEACH button (8)Rotating connector

(1) Screen This screen displays the parameter name, operating state of the
positioning system, error details, and other information in alphanumerics.
(2) JOG dial/ENTER This dial functions as both the JOG dial and the ENTER key. This dial
allows you to easily select menus and change setting values.
(3) EMG button This is the emergency stop button. Use it to apply an emergency stop on
all of the axes of the unit.
(4) HELP button This displays the Help screen.
(5) ESC button This button returns you to the previous screen. It can also be used to
cancel an error when one occurs.
(6) JOG/TEACH button This displays the jog operation or teaching screen.
(7) Screw holes Use these for mounting the unit on a panel.
(8) Rotating This connector can be rotated 90° upwards and fixed in place. This is
connector handy, for example, when the unit is mounted on a panel.
* The KV-HPD1 is sold separately.
* The connector cable is not provided. Use the connector cable (1.5 m: OP-42380, 3 m: OP-
42381, 5 m: OP-42382, 10 m: OP-42383).
1-4
1
2 SPECIFICATIONS
1 2-1 Specifications 1
This section describes the specifications and presents the external dimensions of the KV-
H20S/H40S Positioning Unit and the KZ-HP1/KV-HPD1 Teaching Unit.
2
SPECIFICATIONS
KV-H20S/H40S Positioning Unit
■ General specifications
Item Specifications
Power voltage Unit side: Supplied from CPU Unit, I/O side: 24 VDC±10%
Power KV-H20S: 120 mA or less, 200 mA or less when HP1/HPD1 is connected, I/O side: 90 mA or less
consumption KV-H40S: 130 mA or less, 220 mA or less when HP1/HPD1 is connected, I/O side: 180 mA or less
Operating ambient 0 to 50°C (freezing not allowed)*1, *2
environment
Storage temperature -20 to 70°C*1
Operating ambient 35 to 85%RH (condensation not allowed)*1
humidity
Noise resistance 1500 V peak-to-peak, pulse width 1 µs, 50 ns (by noise simulator)
Withstand voltage 1500 VAC (1 min.) across power terminal and I/O terminals, and across all external
terminals and case
Insulation 50 MΩ or more
resistance (across PLC power terminal and I/O terminals, and all external terminals and case
by 500 VDC megger)
Permissible momentary 2 ms (During operation. Basically, compliant with CPU Unit specifications)
power interruption
Vibration JIS B 3502/ When intermittent vibration is present Number of sweeps
resistance IEC61131-2 Frequency Acceleration Amplitude 10 times in
compliant each X, Y and
10 to 57 Hz — 0.075 mm
Z directions
57 to 150 Hz 9.8 m/s2 —
(for 80 minutes)
When continuous vibration is present
Frequency Acceleration Amplitude
10 to 57 Hz — 0.035 mm
2
57 to 150 Hz 4.9 m/s —
Operating atmosphere Excessive dirt, dust or corrosive gases not allowed
Weight KV-H20S: approx. 150g KV-H40S: approx. 200g
Safety standards IEC61131-2, UL508 Listed
*1 Assured range as a system
*2 Specified by the temperature on the bottom side of the unit in a control panel
2-1
2-1 Specifications
■ Performance specifications
Specifications
Item
KV-H20S KV-H40S
2 Model KV-H20S Positioning Unit KV-H40S Positioning Unit
SPECIFICATIONS
Number of Simultaneous 2 axes (linear Simultaneous 2 to 4 axes (linear

controlled axes interpolation), independent 2 axes interpolation), independent 4 axes
Applicable PLC KV-1000/700
Max. number (Extension Unit is required for 16 or more units.)
of coupled units 48 units (96 axes) 24 units (96 axes)
Occupied devices 6 input channels and 6 output channels 12 input channels and 12 output channels
(positioning) per 2 axes, channel data memory 320 words per 4 axes, channel data memory 600 words
Number of memory points 400 (each axis) 200 (each axis)
Position setting unit mm, angle, number of pulses, w/ unit conversion function, 0 to 7 digits past decimal point
Position setting range ±99999999
Positioning modes Absolute coordinates, incremental coordinates, speed control→positioning,
positioning→speed control, speed control (independent operation only)
Accumulated addresses -2147483648 to +2147483647 pulses
Single-operation address -2147483648 to +2147483647 pulses
Speed setting range 1 to 1000000 p/s. 1 to 99999999 can be set when setting unit is mm/s or deg/s.
Acceleration/decele- Linear, sine
ration curves
Acceleration/decele- 1 to 65000 mm/s/ms, deg/s/ms, p/s/ms
ration setting range (immediate acceleration/deceleration when 65000 is set)
Acceleration/decele- Independent operation, linear interpolation: 2 ms
ration control unit
Continuous operation Standby after deceleration, immediate start after deceleration, continuous
acceleration/deceleration without deceleration
Pulse output mode Line driver output, 1/2 pulse mode switching
Startup time Independent operation: 1.5 ms, linear interpolation: 1.8 ms Independent operation: 1.5 ms, linear interpolation: 1.8 ms
1 µs or less when the zero start function is used (excluding response delay time of input circuit)
External interface Input: Photocoupler input/output: 30 VDC 50 mA open collector output
Input time constant Each input is categorized as semi-high speed and low speed. Can be set to each block in 8 steps.
5V power supply 5V ±5%, max. 20 mA (Total of X1/Y1 and X2/Y2 is max. 20 mA in case of KV-H40S.)
Data backup Parameters: flash ROM, rewritable 100,000 times (writing at next power ON) *Write time: typ. 1.5 s
Current coordinates are retained for 2 months by a super capacitor (at 25°C).
Teaching Teaching of current coordinates by jog operation, PLC, and external teaching from MOTION BUILDER
Sensor positioning Arbitrary point positioning by stop sensor
When setting value is 0, immediate stop.
When preset travel is 4 ms/min or more, axis stops by preset travel.
Otherwise, axis stops after travel between 4 ms.
Servo stop pulse compensation function, input detection by selection of both edges of stop sensor
Palletizing Repeated increment addition, return function
Pulse output display Displayed on access window of CPU Unit
Error display Output of error details to KZ-HP1, KV-HPD1, and CPU Unit
2-2
2-1 Specifications
Specifications
Item
KV-H20S KV-H40S
Origin return 2 types: high-speed origin return, and CCW limit switch and origin sensor shared type origin return
mode Origin detection can be set by origin sensor and AND condition of Z-phase. 2
Automatic origin return function at power ON
SPECIFICATIONS
Automatic move to home function after end of origin return
Positioning to origin by detection of both edges of the origin sensor is possible.
M codes Nos. 1 to 255, WITH/AFTER mode
Momentary power Axis movement is stopped after momentary power interruption error is generated.
interruption detection
Self-diagnostic Diagnostics possible by hardware error, various parameter errors, error No. and messages
function
Parameter setup Possible by setting data memory and controlling relays by KZ-HP1, KV-HPD1, or MOTION BUILDER
■ External dimensions
KV-H20S 2.8 KV-H40S 2.8
27.3
90 90 35.9
80
3.5 3.5 96.3
9 29 3 9 35 3 (130) 4.4
Unit: mm
2-3
2-1 Specifications
KZ-HP1 Teaching Unit
2
Item Specifications
SPECIFICATIONS
Model KZ-HP1 Teaching Unit

Applicable unit KV-H20/H20S/H40S
Display functions 16-digit, 4-line LCD w/ LED backlight, Japanese (katakana)/English display
Item Specifications
Power voltage 5 VDC supplied from KV-H20S/H40S
Power consumption Approx. 90 mA (at conversion to 24 VDC)
Operating ambient 0 to 50°C (freezing not allowed)
environment
Operating ambient 35 to 85% (condensation not allowed)
humidity
Vibration resistance Conforming with KV-H20S/H40S
Weight Approx. 210g
93.5 30
171
69.5 26.5
Unit: mm
2-4
2-1 Specifications
KV-HPD1 Teaching Unit
2
Item Specifications
SPECIFICATIONS
Model KV-HPD1 Teaching Unit
Applicable unit KV-H20S/H40S
Display functions 16-digit, 4-line LCD (two colors: green, red) w/ LED backlight, Japanese (katakana)/English display
Item Specifications
Power voltage 5 VDC supplied from KV-H20S/H40S
Power consumption Approx. 90 mA (at conversion to 24 VDC)
Operating ambient 0 to 50°C (freezing not allowed)
environment
Operating ambient 35 to 85% (condensation not allowed), according to absolute humidity of 40°C at
humidity 40°C or higher
Vibration resistance Conforming with KV-H20S/H40S
Weight Approx. 120g
75 28.3
4 x φ3.5 holes
16.5
100
φ30
+0.5
-0
111
23.2
45 25
2.3
50
(21.6) (8)
Panel cutout
Unit: mm
2-5
2-1 Specifications
MEMO
2
SPECIFICATIONS
2-6
3
1 WIRING
1 3-1 Items to Prepare for Wiring 1

Before you wire the connections from the KV-H20S/H40S Positioning Unit to I/O devices such as
the drive unit and switches, prepare the following items. Also, the KV-HTC Connector
Conversion Unit with Terminal Block is handy as it makes wiring easier.
3 3
WIRING
Applicable Lead Wire
Use the following wire for connecting the drive unit and other I/O devices.
Standard (packaged with optional connector set) Fine-lead contacts (when OP-30594 is used)
• Lead size: AWG22 to 24 • Lead size: AWG26 to 28
• Cross-section area: 0.2 to 0.3 mm2 • Cross-section area: 0.08 to 0.14 mm2
• Sheath O.D.: φ 1.1 to φ 1.5 • Sheath O.D.: φ 1.1 to φ 1.3
Pressure-contact Tool
The Exclusive Pressure-contact Tool comes in handy when wiring the drive unit, sensors, and
other I/O devices. The lead must be soldered if you do not have the Exclusive Pressure-contact
Tool.
Exclusive Pressure-contact Tool

(model: OP-21734)
Cable Connector Parts

The KV-H20S/H40S Positioning Unit is not provided with cables or lead wires for connecting to
the drive unit, switches or other I/O devices. Prepare a separate 40-pin connector set (model:
OP-22184 or OP-51404). This is a MIL-compliant connector.
Remove the cover.
Housing
OP-22184 OP-51404
3-1
3-1 Items to Prepare for Wiring
Connector Conversion Unit with Terminal Block & Exclusive Cable

To simplify wiring of the KV-H20S/H40S Positioning Unit, the KV-HTC Connector Conversion
Unit with Terminal Block and a exclusive cable for connecting the KV-H20S/H40S to the KV-HTC
are provided.
3
CPU Unit KV-H20S
WIRING
Motor
Connector Conversion Unit Driver
with Terminal Block
Connector cable for

Positioning Unit Connector cable
for motor driver
Positioning Unit
Board Module
List of Models
Connector Conversion Unit with Terminal Block KV-HTC1 to 6
Board Module KV-HM1 to 6
Connector Between Conversion Unit and KV H20S/H40S KV-HC1
cable Between Conversion Unit and Motor Driver KV-HC2 to 4
* For details on compatible motor driver, contact your agent.
Crimped Terminal
When connecting the KV-HTC Connector Conversion Unit with Terminal Block to electrical lead
wire or I/O devices such as limit switch, use 2-pronged terminals of sizes shown below.
B
d2
Descriptions of indicated
dimensions of 2-pronged Applicable dimensions
terminal B: 6 mm or less
B: Distance between L: 13 mm or less
L
external flats d2: 3.2 mm or more
d1: Lead insertion section
d2: Distance between
internal flats (screw
gripping section)
L: Total length
d1
Recommended terminals
Manufacturer Model No. B d1 d2 L Applicable lead wire

Nippon Tanshi Co., Ltd. VD1.25-3 5.5 1.7 3.3 11.5 0.25 to 1.65 mm2 (AWG22 to 16)
DAIDO SOLDERLESS F1.25-C3.5 6.0 1.7 3.7 12.8 0.25 to 1.65 mm2 (AWG22 to 16)
TERMINAL MFG. CO., LTD.
NICHIFU Co., Ltd. 0.3Y-3 5.2 1.0 3.2 12.0 0.3 to 0.5 mm2 (AWG22 to 20)
JST Mfg. Co., Ltd. 0.5-3A 5.0 1.0 3.2 12.5 0.2 to 0.5 mm2 (AWG22 to 26)
3-2
3-2 Connecting the Drive Unit and Input Devices

Wiring the Drive Unit and Input Devices
This section describes how to wire the drive unit. For wiring diagrams for drive units made by
major manufacturers, “A-1 Drive Unit Wiring Diagrams” (page A-1). For details on the wiring 3
diagrams of other drive units, refer to the User’s Manual for the respective device.
WIRING
■ Wiring the drive unit and input devices
In the case of the KV-H20S, wire the drive signals of the X1/Y1 axes and input devices such as
limit switches as follows.
CPU Unit KV-H20S Drive unit
M X-axis
X1/Y1 connector
Pin No. Signal Name Function I/O

1 X1 CW LSW X1 axis CW limit switch Input
2 X1 CCW LSW X1 axis CCW limit switch Input
3 X1 ORG X1 axis origin sensor Input
4 X1 STOP X1 axis stop sensor Input
5 X1 ZEROST X1 axis zero start signal input Input
6 X1 Z+ X1 axis positioning Z-phase plus logic Input *4
7 X1 Z- X1 axis positioning Z-phase minus logic Input
8 X1 SVEND*1 X1 axis servo end Input
9 X1 SVRDY*1 X1 axis servo ready Input
10 X1 ALM X1 axis driver alarm (general-purpose input) Input
11 X1 ALMRES X1 axis driver alarm reset (general-purpose output 1) Output Load
12 X1 SVON*1 X1 axis servo ON (general-purpose output 0) Output Load
X1/Y1 connector 13 X1 CLR*1 X1 axis deviation counter clear Output Load
14 X1 CW+ X1 axis CW direction pulse output plus logic Output Pulse
15 X1 CW- X1 axis CW direction pulse output minus logic Output input
1 21 16 X1 CCW+ X1 axis CCW direction pulse output plus logic Output Pulse
2 22
3 23 17 X1 CCW- X1 axis CCW direction pulse output minus logic Output input
4 24
5 25 18 — Free —
6 26
7 27 19 +5V_OUT Power supply 5 VDC Output
8 28
9 29 20 +COM Power supply 24 VDC Input
10 30 21 Y1 CW LSW Y1 axis CW limit switch Input
11 31
12 32 22 Y1 CCW LSW Y1 axis CCW limit switch Input
13 33
14 34 23 Y1 ORG Y1 axis origin sensor Input
15 35
16 36 24 Y1 STOP Y1 axis stop sensor Input
17 37
18 38 25 Y1 ZEROST Y1 axis zero start signal input Input
19 39
20 40
26 Y1 Z+ Y1 axis positioning Z-phase plus logic Input *4
27 Y1 Z- Y1 axis positioning Z-phase minus logic Input
28 Y1 SVEND*1 Y1 axis servo end Input
29 Y1 SVRDY*1 Y1 axis servo ready Input
30 Y1 ALM Y1 axis driver alarm (general-purpose input) Input
31 Y1 ALMRES Y1 axis driver alarm reset (general-purpose output 1) Output Load
32 Y1 SVON*1 Y1 axis servo ON (general-purpose output 0) Output Load
33 Y1 CLR*1 Y1 axis deviation counter clear Output Load
34 Y1 CW+ Y1 axis CW direction pulse output plus logic Output Pulse 24 VDC
35 Y1 CW- input
Y1 axis CW direction pulse output minus logic Output
36 Y1 CCW+ Y1 axis CCW direction pulse output plus logic Output Pulse
37 Y1 CCW- input
Y1 axis CCW direction pulse output minus logic Output
38 EMG/-*3 Emergency stop input/free Input
39 -COM*2 Power supply 0 VDC input Input
40 -COM*2 Power supply 0 VDC input Input
*1 Connection is not required when using a stepping motor.
*2 -COM is common internally.
*3 Becomes “- (free)” in the case of the KV-H40S X2/YS connector.
*4 When an open collector is connected, see page 3-10.
For details on wiring the drive unit and input devices, “3-3 Wiring I/O Connectors” (page 3-5).
3-3
In the case of the KV-H40S, the layout of the X1/Y1 connector and X2/Y2 connector pins are as
follows.
CPU Unit KV-H20S Drive unit
3 M X-axis
WIRING
X1/Y1 connector
X2/Y2 connector
Pin No. Signal Name Function I/O Pin No. Signal Name Function I/O
1 X1 CW LSW X1 axis CW limit switch Input 21 Y1 CW LSW Y1 axis CW limit switch Input
X1/Y1 connector 2 X1 CCW LSW X1 axis CCW limit switch Input 22 Y1 CCW LSW Y1 axis CCW limit switch Input
3 X1 ORG X1 axis origin sensor Input 23 Y1 ORG Y1 axis origin sensor Input
4 X1 STOP X1 axis stop sensor Input 24 Y1 STOP Y1 axis stop sensor Input
1 21
5 X1 ZEROST X1 axis zero start signal input Input 25 Y1 ZEROST Y1 axis zero start signal input Input
2 22 6 X1 Z+ X1 axis positioning Z-phase plus logic Input 26 Y1 Z+ Y1 axis positioning Z-phase plus logic Input
3 23
4 24 7 X1 Z- X1 axis positioning Z-phase minus logic Input 27 Y1 Z- Y1 axis positioning Z-phase minus logic Input
5 25
6 26 8 X1 SVEND*1 X1 axis servo end Input 28 Y1 SVEND*1 Y1 axis servo end Input
7 27
8 28 9 X1 SVRDY*1 X1 axis servo ready Input 29 Y1 SVRDY*1 Y1 axis servo ready Input
9 29
10 30 10 X1 ALM X1 axis driver alarm (general-purpose input) Input 30 Y1 ALM Y1 axis driver alarm (general-purpose input) Input
11 31
12 32
11 X1 ALMRES X1 axis driver alarm reset (general-purpose output 1) Output 31 Y1 ALMRES Y1 axis driver alarm reset (general-purpose output 1) Output
13 33 12 X1 SVON*1 X1 axis servo ON (general-purpose output 0) Output 32 Y1 SVON*1 Y1 axis servo ON (general-purpose output 0) Output
14 34
15 35 13 X1 CLR*1 X1 axis deviation counter clear Output 33 Y1 CLR*1 Y1 axis deviation counter clear Output
16 36
17 37 14 X1 CW+ X1 axis CW direction pulse output plus logic Output 34 Y1 CW+ Y1 axis CW direction pulse output plus logic Output
18 38
19 39 15 X1 CW- X1 axis CW direction pulse output minus logic Output 35 Y1 CW- Y1 axis CW direction pulse output minus logic Output
20 40
16 X1 CCW+ X1 axis CCW direction pulse output plus logic Output 36 Y1 CCW+ Y1 axis CCW direction pulse output plus logic Output
17 X1 CCW- X1 axis CCW direction pulse output minus logic Output 37 Y1 CCW- Y1 axis CCW direction pulse output minus logic Output
18 — Free — 38 EMG Emergency stop input Input
19 +5V_OUT Power supply 5 VDC output Output 39 -COM*2 Power supply 0 VDC input Input
20 +COM*2 Power supply 24 VDC input Input 40 -COM*2 Power supply 0 VDC input Input
Pin No. Signal Name Function I/O Pin No. Signal Name Function I/O
1 X2 CW LSW X2 axis CW limit switch Input 21 Y2 CW LSW Y2 axis CW limit switch Input
X2/Y2 connector 2 X2 CCW LSW X2 axis CCW limit switch Input 22 Y2 CCW LSW Y2 axis CCW limit switch Input
3 X2 ORG X2 axis origin sensor Input 23 Y2 ORG Y2 axis origin sensor Input
4 X2 STOP X2 axis stop sensor Input 24 Y2 STOP Y2 axis stop sensor Input
1 21 5 X2 ZEROST X2 axis zero start signal input Input 25 Y2 ZEROST Y2 axis zero start signal input Input
2 22
3 23 6 X2 Z+ X2 axis positioning Z-phase plus logic Input 26 Y2 Z+ Y2 axis positioning Z-phase plus logic Input
4 24
5 25
7 X2 Z- X2 axis positioning Z-phase minus logic Input 27 Y2 Z- Y2 axis positioning Z-phase minus logic Input
6 26 8 X2 SVEND*1 X2 axis servo end Input 28 Y2 SVEND*1 Y2 axis servo end Input
7 27
8 28 9 X2 SVRDY*1 X2 axis servo ready Input 29 Y2 SVRDY*1 Y2 axis servo ready Input
9 29
10 30 10 X2 ALM X2 axis driver alarm (general-purpose input) Input 30 Y2 ALM Y2 axis driver alarm (general-purpose input) Input
11 31
12 32 11 X2 ALMRES X2 axis driver alarm reset (general-purpose output 1) Output 31 Y2 ALMRES Y2 axis driver alarm reset (general-purpose output 1) Output
13 33
14 34 12 X2 SVON*1 X2 axis servo ON (general-purpose output 0) Output 32 Y2 SVON*1 Y2 axis servo ON (general-purpose output 0) Output
15 35
16 36
13 X2 CLR*1 X2 axis deviation counter clear Output 33 Y2 CLR*1 Y2 axis deviation counter clear Output
17 37 14 X2 CW+ X2 axis CW direction pulse output plus logic Output 34 Y2 CW+ Y2 axis CW direction pulse output plus logic Output
18 38
19 39 15 X2 CW- X2 axis CW direction pulse output minus logic Output 35 Y2 CW- Y2 axis CW direction pulse output minus logic Output
20 40
16 X2 CCW+ X2 axis CCW direction pulse output plus logic Output 36 Y2 CCW+ Y2 axis CCW direction pulse output plus logic Output
17 X2 CCW- X2 axis CCW direction pulse output minus logic Output 37 Y2 CCW- Y2 axis CCW direction pulse output minus logic Output
18 — Free — 38 —*3 Free —
19 +5V_OUT Power supply 5 VDC output Output 39 -COM*2 Power supply 0 VDC input Input
20 +COM*2 Power supply 24 VDC input Input 40 -COM*2 Power supply 0 VDC input Input
*1 Connection is not required when using a stepping motor.

*2 +COM, -COM and +5V_OUT are each common internally.
*3 “EMG” is not available on the X2/Y2 connector.
For details on wiring the drive unit and input devices, “3-3 Wiring I/O Connectors” (page 3-5).
3-4
3-3 Wiring I/O Connectors

Wiring I/O Connectors
Input connector signals
This section describes the functions of each of the signals on the input connector and 3
precautions. The pin No. assignments of the signals are the same for both the H20S connector
WIRING
(for X1/Y1 axes) and H40S two connectors (for X1/Y1 axes and for X2/Y2 axes).
Note, however, that the EMG signal of pin No.38 is not assigned on the second connector (for
X2/Y2 axes) of the H40S.
CW limit switch
Circuit Pin No. Signal Name Function I/O Device No.

1 X CW LSW X-axis CW limit Input X1 n 14
switch X2 n+6 14
1: X CW LSW
21: Y CW LSW
Internal
circuit
510Ω
21 Y CW LSW Y-axis CW limit Input Y1 n+3 14
switch Y2 n+9 14
4.3kΩ 20: +COM
General specifications/performance specifications

Rating 24 VDC (5.3 mA), max. OFF current: 1.5 mA, min. ON voltage: 19 V
Response time The time from actuation of the limit switch up to pulse output stop is 3 to
7 ms.
Read time The time it takes to read relay states on the CPU Unit is as follows:
Min.: response time
Max.: response time + 20 ms + CPU Unit scan time
Precautions in application
Connection Connect a switch or NPN open collector output type sensor to the CCW-
LSW terminal on each axis.
Internal operation When the input is turned ON, the CW limit error is generated and pulse
output is stopped.
Once the error is cleared, positioning and jog operation to the inside
direction of the CW and CCW limits, and origin return operation are possible
even if the CW limit input is ON.
The ON/OFF state after reflection of the input polarity can be confirmed on
the CW limit state relay (n14 in the case of the X1 axis on the KV-H20S).
Parameter setup The polarity can be switched at system parameter [Limit switch polarity]
(default: normally closed). Setting is common with the CW limit switch.
“Limit switch polarity” (page 4-20)
Other 2-wire type sensors are also supported.
3-5
CCW limit switch

2 X CCW X-axis CCW limit Input X1 n 15
LSW switch X2 n+6 15
2: X CCW LSW
3 22: Y CCW LSW

Internal
circuit
510Ω
WIRING
22 Y CCW Y-axis CCW limit Input Y1 n+3 15

4.3kΩ LSW switch Y2 n+9 15
20: +COM

Response time The time from actuation of the limit switch up to pulse output stop is 3 to
7 ms.
Min.: response time
Connection Connect a switch or NPN open collector output type sensor to the CCW-
LSW terminal on each axis.
Internal operation When the input is turned ON, the CCW limit error is generated and pulse
output is stopped.
Once the error is cleared, positioning and jog operation to the inside
direction of the CW and CCW limits, and origin return operation are possible
even if the CCW limit input is ON.
the CCW limit state relay (n15 in the case of the X1 axis on the KV-
H20S).
Parameter setup The polarity can be switched at system parameter [Limit switch polarity]
(default: normally closed). Setting is common with the CW limit switch.
3-6
Origin sensor

3 X ORG X-axis origin Input X1 n+1 13
sensor X2 n+7 13
3: X ORG
23: Y ORG
3
Internal
circuit
510Ω
WIRING
23 Y ORG Y-axis origin Input Y1 n+4 13
sensor Y2 n+10 13
4.3kΩ 20: +COM

Response time The time from when the origin sensor turns ON up to when pulse output
stops is the total of the following:
• Input circuit response time: 5 to 100 µs
• Input time constant: [Low-speed time constant] (select from 5 µs to 10 ms)
Min.: response time
Connection Connect a switch or NPN open collector output type sensor to the ORG
terminal on each axis.
Internal operation Operation is affected only during origin return operation. Origin return
operation is enabled only when the Z-phase is ON.
the origin sensor input state relay (#13 in the case of the X1 axis on the
KV-H20S).
Parameter setup The polarity can be switched at system parameter [Origin sensor polarity].
(default: normally open)
The input time constant can be set (select from 5 µs to 10 ms).
“Low-speed time constant” (page 4-22)
3-7
Stop sensor

4 X STOP X-axis stop Input X1 n+1 14
sensor X2 n+7 14
4: X STOP
3 24: Y STOP
Internal
circuit
4.3kΩ
WIRING
24 Y STOP Y-axis stop Input Y1 n+4 14

15kΩ sensor Y2 n+10 14
20: +COM

Response time Time from when the stop sensor turns ON up to recognition of input is the
total of the following:
• Input circuit response time Non-conductive → conductive state: 15 to 35µs
Conductive → non-conductive state: 5 to 100 µs
• Input time constant: [Semi-high speed time constant] (select from 5 µs to 1 ms)
Min.: response time
Connection Connect a switch or NPN open collector output type sensor to the STOP
terminal on each axis.
Internal operation Connect a stop sensor when use of a stop sensor at the positioning speed
on independent axes has been set.
When the STOP input turns ON, inching after deceleration stop or after stop
sensor input is started.
the stop sensor input state relay (#14 in the case of the X1 axis on the
KV-H20S).
Parameter setup The polarity can be switched at system parameter [Stop sensor polarity].
“Stop sensor polarity” (page 4-20)
“Semi-high speed time constant” (page 4-22)
Other 2-wire type sensors are not supported.
Note
• When the stop sensor is used in positioning control, or inch-feed deceleration
has been set in speed control, operation is as follows when the stop sensor is
actuated immediately after acceleration begins. Normal acceleration is
canceled, acceleration is performed up to the upper limit speed after
recalculation using inching travel, and then movement decelerates and the
axis moves only by the inching travel. At this time, the acceleration curve at
the moment that the stop sensor was actuated sometimes becomes irregular
if S-curve acceleration is being performed. Also, the response of the stop
sensor is delayed by about 150 µs compared with regular response as the
calculation takes time.
3-8
Positioning Z-phase

7:X Z- X-axis positioning
4.3kΩ 27:Y Z-
6 X Z+ Input —
Z-phase plus logic
1.5kΩ Y-axis positioning
26 Y Z+ Input —
Internal
circuit
Z-phase plus logic

100
PF
6:X Z+
7 X Z- X-axis positioning Input — 3
26:Y Z+ Z-phase minus logic
WIRING
27 Y Z- Y-axis positioning Input —
Z-phase minus logic

Rating 5 VDC (2 mA), max. OFF current: 0.1 mA, min. ON voltage: 3 V
Response time Time from when the zero start turns ON up to recognition of input is the total
of the following:
• Input circuit response time Non-conductive → conductive state: approx. 50 µs
Conductive → non-conductive state: approx. 100 µs
Min.: response time
Connection Connect the Z-phase output of the motor driver to the Z+ and Z- terminals
on each axis. When connecting to the open collector output of the drive unit,
connect to the Z- input terminal, and connect the Z+ input terminal to the
+5VOUT terminal of the connector on the Positioning Unit. (See figure
below.)
Internal operation The positioning Z-phase is used when searching for the origin sensor at
creep speed at the end of a origin return. The origin sensor and Z-phase
both turning ON is regarded as the origin.
When the Z-phase is not used, set to the same state as if the signal is being
input at all times by connecting nothing to the Z+ and Z- terminals and
setting the system parameter [Positioning Z-phase polarity] to normally
closed.
As the ON/OFF state of the positioning Z-phase, the ON/OFF state after
reflection of the input polarity can be confirmed by the state of the
emergency stop/terminal input (bit 4 of n+34 in the case of the X1 axis on
KV-H20S).
Parameter setup The polarity can be switched at system parameter [Positioning Z-phase
polarity]. (default: normally closed)
“Positioning Z-phase polarity” (page 4-21)
The unit may break if a voltage of +5V or more is applied. When applying
WARNING a voltage of +5V or more, connect external resistors in series. Calculate
the resistance (R) as follows:
R = (Vp - 1.5)/0.002 - 1500
Vp: applied voltage
R: resistance value (Ω)
3-9
* How to connect positioning Z-phase input
Open collector connection Differential line driver connection

X1/Y1 connector (in case of X1 axis) X1/Y1 connector (in case of X1 axis)
6 X1 Z+ 6 X1 Z+
3 7 X1 Z- 7 X1 Z-
19 +5V OUT 19 +5V OUT
WIRING
39 -COM 39 -COM
Zero start

5 X ZERO ST X-axis zero start Input —
5: X ZERO ST
25: Y ZERO ST
Internal
circuit
4.3kΩ
25 Y ZERO ST Y-axis zero start Input —
15kΩ 20: +COM

Response time Time from when the zero start turns ON up to recognition of input is the total
of the following:
• Input circuit response time Non-conductive → conductive state: 15 to 35µs
Conductive → non-conductive state: 5 to 100 µs
Min.: response time
Connection Connect a switch or NPN open collector output type sensor or controller
across the ZERO ST terminal and -COM on each axis.
Internal operation Wire the zero start function to use this function. When the zero start input is
input in a zero start standby state, pulse output is started.
“Zero start” (page 4-48)
As the ON/OFF state of zero start, the ON/OFF state after reflection of the
input polarity can be confirmed by the state of the emergency stop/terminal
input (bit 5 of n+34 in the case of the KV-H20S).
Parameter setup The polarity can be switched at system parameter [ZERO ST polarity].
“ZERO ST polarity” (page 4-21)
The input time constant can be set (select from 5µs to 1 ms).
3-10
Servo end

8 X SVEND X-axis servo end Input X1 n 11
X2 n+6 11
8: X SVEND
28: Y SVEND
3
Internal
circuit
4.3kΩ
WIRING
28 Y SVEND Y-axis servo end Input Y1 n+3 11
Y2 n+9 11
1.5kΩ 19: +5VOUT

Response time Time until the servo end is judged as an input is the total of the following:
• Input time constant 5 to 11 ms
Min.: response time
Connection When using a servo driver, connect the servo end output terminal of the
drive unit to the SVEND terminal on each axis.
Internal operation Servo end turns ON when the number of accumulated pulses of the
deviation counter on the drive unit falls below the drive unit’s internal setting
value. When the [Servo end check time] is set in the system parameters,
the Positioning Unit stands by after pulse output has ended for the SVEND
input terminal to turn ON. If the SVEND input terminal does not turn ON
within the [Servo end check time], the servo end error is generated. The
ON/OFF state after reflection of the input polarity can be confirmed on the
servo end input state relay (n 11 in the case of the X1 axis on the KV-
H20S).
“Servo end check time” (page 4-24)
Parameter setup The polarity can be switched at system parameter [SVEND polarity].
“SRVEND polarity” (page 4-21)
3-11
Servo ready

9 X SVRDY X-axis servo ready Input X1 n 13
X2 n+6 13
9: X SVRDY
3 29: Y SVRDY
Internal
circuit
4.3kΩ
WIRING
29 Y SVRDY Y-axis servo ready Input Y1 n+3 13

Y2 n+9 13
1.5kΩ 19: +5VOUT

Response time Time until the servo ready is judged as an input is the total of the following:
• Input time constant 5 to 11 ms
Min.: response time
Connection When using a servo motor, connect to the servo ready output terminal of the
drive unit on each axis.
Internal operation The servo ready output turns ON when the drive unit can accept
instructions. When system parameter [Servo ready check] is set to be
performed, operation is not performed until the SVRDY input is input.
The ON/OFF state after reflection of input polarity can be confirmed on the
servo ready input state relay (n 13 on KV-H20S).
“Servo ready check” (page 4-24)
Parameter setup The polarity can be switched at system parameter [SVRDY polarity].
“SRVRDY polarity” (page 4-21)
3-12
Driver alarm

10 X ALM X-axis driver alarm Input X1 n 12
(general-purpose X2 n+6 12
10: X ALM input)
30: Y ALM
3
Internal
circuit
4.3kΩ
WIRING
30 Y ALM Y-axis driver alarm Input Y1 n+3 12
(general-purpose Y2 n+9 12
1.5kΩ 19: +5VOUT
input)

Read time When reading on the CPU Unit, a minimum of 5 ms is required, and data
may be lost at a scan time of 11 ms + CPU scan time.
Connection Connect the ALM terminal and the driver alarm output terminal of the drive
unit on each axis. This alarm can also be used as a general-purpose input if
it is within rating.
Internal operation Signals from the drive unit are read when an abnormality occurs on the
drive unit. The driver alarm input is captured by the sequence program, and
processing such as suspension of pulse output is performed. The ON/OFF
state after reflection of the input polarity can be confirmed on the driver
alarm input state relay (n 12 in the case of the X1 axis on the KV-H20S).
Parameter setup The polarity can be switched at system parameter [ALM polarity]. (default:
normally open)
“ALM polarity” (page 4-21)
3-13
Driver alarm reset

11 X ALMRES X-axis driver Output H20S
DC-DC converter alarm reset X1 n+6 11
5V
+COM 5V OUT (general-purpose H40S
3 11: X ALMRES
31: Y ALMRES
output possible) X1 n+12
X2 n+18
11
11
Internal
WIRING
31 Y ALMRES Y-axis driver Output H20S

circuit
alarm reset X1 n+9 11
39: -COM(0V) (general-purpose H40S
40: -COM(0V) output possible) X1 n+15 11
X2 n+21 11
Rating Max. 30 VDC, 50 mA, residual voltage 0.5 V or less
Response time The minimum time from the change in state of the driver alarm relay by the
sequence program up to actual output is 5 ms. This sometimes increases to
a maximum time of 11 ms + CPU scan time.
Connection Connect the ALMRES terminal and the driver alarm input reset terminal of
the drive unit on each axis. This alarm can also be used as a general-
purpose output if it is within rating.
Internal operation This is output from the ALMRES output terminal when the driver alarm reset
relay (¢ 11 in the case of the X1 axis on the KV-H20S) is turned ON.
3-14
Servo ON

12 X SVON X-axis servo ON Output H20S
DC-DC converter (general-purpose X1 n+6 10
+COM
5V
5V OUT
output possible) H40S
12: X SVON
32: Y SVON
X1 n+12
X2 n+18
10
10
3
Y-axis servo ON Output H20S
WIRING
Internal 32 Y SVON
circuit Y1 n+9 10
(general-purpose
output possible) H40S
39: -COM(0V)
40: -COM(0V)
Y1 n+15 10
Y2 n+21 10
Response time The minimum time from the change in state of the driver alarm relay by the
sequence program up to actual output is 5 ms. This sometimes increases to
a maximum time of 11 ms + CPU scan time.
Connection Connect the SVON terminal and the servo ON input terminal of the drive
unit on each axis. This alarm can also be used as a general-purpose output
if it is within rating.
Internal operation This is output from the SVON output terminal when the servo ON relay
(¢ 10 in the case of the X1 axis on the KV-H20S) is turned ON.
When connected to the servo ON input terminal on the servo driver,
generally, the servo motor can be operated manually (motor free) when this
reset turns OFF.
3-15
Clear deviation counter

13 X CLR X-axis deviation Output —
DC-DC converter counter clear
5V
+COM 5V OUT
3 13: X CLR
33: Y CLR
WIRING
Internal 33 Y CLR Y-axis deviation Output —

circuit
counter clear
39: -COM(0V)
40: -COM(0V)

Response time Approx. 10 ms
Output time 50 ms ±10 ms one-shot output
Connection When the servo motor is used, connect the CLR terminal and the deviation
counter clear input terminal of the drive unit on each axis.
Internal operation When an emergency stop is applied to operation due to completion of origin
return, for example, during pulse output, the signal is output to the drive
unit. The state of the deviation counter clear output cannot be confirmed.
• The KV-H20S/H40S is not provided with an output overcurrent protection

WARNING
circuit. So, prevent short-circuits, overcurrent and excessive rush
current from occurring. In particular, we recommend attaching a fuse
or inrush current protection resistor to open collector output.
3-16
CW/CCW direction pulse output

5V 14 X CW+ X-axis CW direction Output —
pulse output plus logic
14: X CW+
Internal
Y-axis CW direction Output —

circuit
22Ω 34: Y CW+ 34 Y CW+

22Ω 15 X CW- X-axis CW direction Output — 3
pulse output minus logic
WIRING
15: X CW- Y-axis CW direction Output —
35: Y CW-
35 Y CW-
5V 16 X CCW+ X-axis CCW direction Output —
16: X CCW+
Internal
—
circuit
22Ω 36: Y CCW+ 36 Y CCW+ Y-axis CCW direction Output

22Ω 17 X CCW- X-axis CCW direction Output —
17: X CCW- 37 Y CCW- Y-axis CCW direction Output —
37: Y CCW-

Rating Line driver output. An output voltage of 2.8 V or more is sometimes present
at 20 mA output. When there is no load, there is an output voltage of
5V±10%.
Connection Connect to the pulse input terminal of the drive unit.
Internal operation When system parameter [Pulse output mode] is set to 1-pulse mode, the
CCW+ and CCW- terminals are set to output.
• Use twisted pair lead of length 3 m or less.

WARNING
• Avoid sources such as power leads that generate noise. Do not insert
in piping or ducts in panels that are used for the power supply. If
noise is present, use twisted pair shielded lead.
• The unit may break if a voltage of 5V or more is applied. Do not
connect to an open collector input of 24 V on the input device.
24V
Driver
-CW
3-17
Emergency stop input

38 EMG Emergency Input —
stop input
38: EMG
3
Internal
circuit
4.3KΩ
Not available
WIRING
on connector
15kΩ
2 (for X2/Y2
20: +COM
axis) of the
H40S

Response time Time from input of emergency stop input up to emergency stop is the total
of the following:
• Input circuit response time: approx. 100 µs
• Input time constant: [Low-speed time constant] (select from 5 µs to 10 ms)
Min.: response time
Max.: response time + CPU Unit scan time + 10 ms
Connection Connect a normally closed type switch.
Internal operation Operation of all axes stops when the input circuit enters a non-conductive
state. Pulse output stops on the hardware. The ON/OFF state of the
emergency stop input can be confirmed by bit 0 of the devices (emergency
stop/terminal input state) on each axis. The following shows each of the
devices:
KV-H20S X1 axis: £+10 Y1 axis: £+22
KV-H40S X1 axis: £+10 Y1 axis: £+22
X2 axis: £+34 Y2 axis: £+46
The bit is reset when the emergency stop input is in a conductive state.
Parameter setup The input polarity cannot be switched. It is fixed to only normally closed.
“Low-speed time constant” (page 4-22)
3-18
Power supply

19 +5V OUT Power supply Output —
5V output
Internal circuit 39
40
-COM(0V) Power supply Input — 3
39: -COM
WIRING
24V→5V 40: -COM 20 +COM(24V) Power supply Input —
DC-DC
converter 20: +COM
19: +5V OUT

Rating +COM: power supply for I/O circuits of KV-H20S/H40S. Supply
24 VDC±10%.
Current consumption KV-H20S: 90 mA or less, KV-H40S: 180 mA
or less
+5V OUT: 5V±5% max. 20 mA (total of two terminals in case of KV-H40S)
Other KV-H20S: The two -COM terminals are connected internally and are
common.
KV-H40S: Each of the -COM, +COM and +5VOUT terminals of the X1/Y1
and X2/Y2 connectors are connected internally and are shared.
3-19
MEMO
3
WIRING
3-20
1
4 TYPES OF PARAMETERS
1 4-1 Types of Parameters 1

This section describes how each of the parameters on the KV-H20S/H40S is categorized.
Types of Parameters
Parameters are categorized into the following types. (order of explanation)
■ System parameters Setup of basic operation of each individual axis 4
■ Parameters common to all axes Setup of basic operation common to each axis
TYPES OF PARAMETERS
■ Speed parameters Setup of “speed Nos.” used in point parameters
■ Point parameters Setup of operation up to target points
Defaults are set for all parameters, however, these values must be changed depending on the
control target and control method.
■ System parameters
Set the basic operation of the KV-H20S/H40S. Different settings are possible on each axis.
Defaults are set for parameters, however, these values must be changed depending on the
control target and control method.
Parameters to be set up (Setup is mandatory on each axis.)
Setting Item Name of Parameter See Page

Unit setting [Coordinate unit] [Decimal point position] 4-6
[Coordinates conversion numerator] [Coordinates conversion 4-7
denominator] [Speed unit conversion] 4-7, 8
Run speed [Run startup speed] [Run maximum speed] 4-9
setting [Run acceleration rate] [Run acceleration curve] [Run acceleration curve ratio] 4-10, 11
[Run deceleration rate] [Run deceleration curve] [Run deceleration curve ratio] 4-12, 13
Jog speed [Jog startup speed] [Jog maximum speed] 4-14
setting [Jog acceleration rate] [Jog acceleration curve] [Jog acceleration curve ratio] 4-14, 15
[Jog deceleration rate] [Jog deceleration curve] [Jog deceleration curve ratio] 4-15
[Jog inching number of pulses] 4-15
Origin return [Origin return startup speed] [Origin return maximum speed] [Creep speed] 4-16
setting [Origin return acceleration rate] [Origin return acceleration curve] [Origin return acceleration curve ratio] 4-16, 17
[Origin return deceleration rate] [Origin return deceleration curve] [Origin return deceleration curve ratio] 4-17
[Origin return direction] [Origin return mode] [Origin sensor detection mode] 4-18
[Origin coordinates] [Home position coordinates] [Detailed origin position] 4-19
[Automatic origin return] [Automatic move to home position] 4-19
Input signal [Origin sensor polarity] [Limit switch polarity] 4-20
setting [Stop sensor polarity] [SRVRDY polarity] [ALM polarity] [SRVEND polarity] 4-20, 21
[ZERO ST polarity] [Positioning Z-phase polarity] [Semi-high speed 4-21, 22
time constant] [Low-speed time constant] 4-22
Other operation [HPD1 axis comment] [Shortcut control of angle of rotation] 4-23
settings [Servo end check time] [Servo ready check] 4-24
[Backlash compensation move] 4-24
[Pulse output mode] [Direction of motor operation] 4-25
[Software limit CW coordinates] [Software limit CCW coordinates] 4-25
For details, “4-2 System Parameters” (page 4-4).
4-1
4-1 Types of Parameters
■ Parameters common to all axes

Set the details that are common to each axis.
Mainly, set parameters related to errors that are generated. Display, buzzer and other
parameters, that are functions of the KZ-HP1/KV-HPD1 itself, are also set here.
Parameters to be set up

4 Parameters common to [Stop axis setting at error]
all axes (1) [Error stop mode] 4-27
TYPES OF PARAMETERS
[SRAM backup error display]

Parameters common to [Display language] 4-28
all axes (2) [Buzzer control] 4-28
[Key lock] 4-29
Parameters common to
[Label No.] 4-29
all axes (3)
For details, “4-3 Parameters Common to All Axes” (page 4-26).
■ Speed parameters
Speed is specified by a “speed No.” in point parameters.
16 speeds can be registered in advance to this “speed No.”

Speed parameters [Speed No.1] [Speed No.9]
[Speed No.2] [Speed No.10]
[Speed No.4] [Speed No.12] 4-30
For details, “4-4 Speed Parameters” (page 4-30).
4-2
4-1 Types of Parameters
■ Point parameters
Set the target coordinates, operation mode up to target coordinate, speed No., and other
information. Operation can also be specified to specified point parameters (max. 400 points*)
following another point parameter.
Some parameters need not be set depending on the [Run mode] setting.
* Though a maximum of 400(H20S)/200(H40S) points can be stored to KV-H20S/H40S memory,

operation on a number of points exceeding this limit can be set by rewriting the point
parameters on KV-H20S/H40S from the CPU Unit.
4
TYPES OF PARAMETERS
“Changing Point Parameters” page 5-27

Run mode [Run mode] 4-36
Target [Target coordinates] [X1 axis target coordinates]
coordinates [Y1 axis target coordinates] 4-38
[X2 axis target coordinates]
[Y2 axis target coordinates]
Speed setup [Speed No.] 4-39
Stop sensor [Stop sensor enable] 4-40
[Stop sensor specified move]
Dwell time [Dwell time] 4-41
Return operation
[Return operation and continuous operation] 4-42
setting
Repetition setting [Repeat count]
4-43
[Repeat incremental move]
Continuous 4-44
[Next point No.]
operation setting
M codes [M code mode] 4-47
[M code No.] 4-46
Zero start [Zero start] 4-48
4-3
4-2 System Parameters

This section describes the functions of system parameters.
System Parameter Categories

The details of KV-H20S/H40S and KZ-HP1/KV-HPD1 basic operations are set to system
4 parameters.
These details must be set to each individual axis. Different settings are possible on each axis.
TYPES OF PARAMETERS
Defaults are set for parameters, however, these values must be changed depending on the
control target or control method.
Parameters to be set up (Setup is mandatory on each axis.)

Unit setting [Coordinate unit] [Decimal point position] 4-6
[Coordinates conversion numerator] [Coordinates conversion 4-7
denominator] [Speed unit conversion] 4-7, 8
Run speed [Run startup speed] [Run maximum speed] 4-9
setting [Run acceleration rate] [Run acceleration curve] [Run acceleration curve ratio] 4-10, 11
[Run deceleration rate] [Run deceleration curve] [Run deceleration curve ratio] 4-12, 13
Jog speed [Jog startup speed] [Jog maximum speed] 4-14
setting [Jog acceleration rate] [Jog acceleration curve] [Jog acceleration curve ratio] 4-14, 15
[Jog deceleration rate] [Jog deceleration curve] [Jog deceleration curve ratio] 4-15
[Jog inching number of pulses] 4-15
Origin return [Origin return startup speed] [Origin return maximum speed] [Creep speed] 4-16
setting [Origin return acceleration rate] [Origin return acceleration curve] [Origin return acceleration curve ratio] 4-16, 17
[Origin return deceleration rate] [Origin return deceleration curve] [Origin return deceleration curve ratio] 4-17
[Origin return direction] [Origin return mode] [Origin sensor detection mode] 4-18
[Origin coordinates] [Home position coordinates] [Detailed origin position] 4-19
[Automatic origin return] [Automatic move to home position] 4-19
Input signal [Origin sensor polarity] [Limit switch polarity] 4-20
setting [Stop sensor polarity] [SRVRDY polarity] [ALM polarity] [SRVEND polarity] 4-20, 21
[ZERO ST polarity] [Positioning Z-phase polarity] [Semi-high speed 4-21, 22
time constant] [Low-speed time constant] 4-22
Other operation [HPD1 axis comment] [Shortcut control of angle of rotation] 4-23
settings [Servo end check time] [Servo ready check] 4-24
[Backlash compensation move] 4-24
[Pulse output mode] [Direction of motor operation] 4-25
[Software limit CW coordinates] [Software limit CCW coordinates] 4-25
4-4
■ Calling the setup screen by the Teaching Unit

Press MENU + 4 to call the system parameter setup screen using KZ-HP1.
After the power is turned ON, the unit remembers the last screen that was displayed in the
system parameter setup.
If you perform the above operation after switching to a different setup screen, the system
parameter setup screen that is currently memorized (that was last displayed) is displayed.
For details on how to set up on the KZ-HP1/KV-HPD1, "Chapter 6 KZ-HP1/KV-HPD1

4
TYPES OF PARAMETERS
OPERATION."
System parameters that can be set on the KV-HPD1 are as follows:

[Run startup speed] [Run maximum speed] [Run acceleration rate] [Run deceleration rate]
[Origin coordinates] [Home coordinates] [Servo end check time]
[Backlash compensation move]
4-5
Unit Setting
The unit of the speed or coordinates currently indicated in each parameter is specified or
displayed according to the setting details of each parameter described as follows.
■ Unit setting
Coordinate unit Default: PLS Setting range: PLS, mm, deg
When specifying or displaying coordinates, an easy-to-handle can be selected from mm
4 (millimeters), deg (angle) and PLS (pulse) according to the content to be controlled.
• When [Coordinate unit] is set to other than PLS, the conversion rate according to
TYPES OF PARAMETERS
[Coordinate conversion numerator], [Coordinate conversion denominator] and [Decimal

point position] must be set. When PLS is set, setting of [Coordinate conversion
numerator], [Coordinate conversion denominator] and [Decimal point position] is not
required. (These settings will be ignored even if they are set.)
● Select from the following settings:
PLS : Sets the unit to pulse. (Coordinates are not converted.)
mm : Sets the unit to millimeters.
deg : Sets the unit to degrees (angle). This enables shortcut control of the angle of rotation.
This cannot be set when linear interpolation is performed.
Decimal point position Default: None Setting range: None, 1 to 7

This can be set when [Coordinate unit] is set to mm (millimeters) or deg (angle).
When [Coordinate unit] is used in its default PLS setting, the setting of [Decimal point
position] can be used at its default "None (no decimal point)" value as it is.
None: No decimal point 0.1234 : 4 digits past the decimal point
0.1 : 1 digit past the decimal point 0.12345 : 5 digits past the decimal point
0.12 : 2 digits past the decimal point 0.123456 : 6 digits past the decimal point
0.123 : 3 digits past the decimal point 0.1234567 : 7 digits past the decimal point
* When [Shortcut control of angle of rotation] is set, the maximum number of digits past the
decimal point that can be set is five.
Example To move 20 mm by 1000 pulses

[Coordinate conversion numerator] 20.00 mm (The decimal point is ignored
and this number is taken to be 2000.)
[Coordinate conversion denominator] 1000 pulses
2000 : 1000 = 2 : 1
The number of digits past the decimal point is set to 2.
[Coordinate conversion numerator], [Coordinate conversion denominator] and
[Decimal point position] must be set so that the ratio between [Coordinate
conversion numerator] and [Coordinate conversion denominator] approaches
1:1 (to be 1:1 to 1:10).
Tip How to specify [Coordinate conversion numerator] (10 mm)
• When KZ-HP1/KV-HPD1 and MOTION BUILDER are used to set the number of
digits past the decimal point, set "20.00" with a decimal point.
• When directly writing to DM (data memory), set "2000" without a decimal point.
4-6
Coordinate conversion numerator Coordinate conversion denominator

Default: 1 Setting range: 1 to 2000000000
Set the conversion rate (move per pulse) when [Coordinate unit] is set to mm (millimeter) or
deg (angle).
This setting is invalid when [Coordinate unit] is set to PLS.
● Setting method
[Coordinate conversion denominator]
Number of pulses = x (specified) move
[Coordinate conversion numerator] 4
[Coordinate conversion numerator]
TYPES OF PARAMETERS
(displayed) move = x number of pulses
Unit: move (coordinate conversion numerator)

Unit: number of pulses (coordinate conversion denominator)
Example Setting example when moving 2 mm per 1000 pulses

[Coordinate unit]: mm
Number of digits past the decimal point: 3
[Coordinate conversion numerator]: 2,000mm
(The decimal point is ignored and this
number is taken to be 2000.)
[Coordinate conversion denominator]: 1000 pulses
• To convert 2500 pulses to move (mm)
Move = x number of pulses
From the above
2000 (decimal point ignored)
= x 2500 = 5000
1000
* On the KZ-HP1/KV-HPD1 and the hyper access window, "5.000mm" is displayed,

and 5000 (decimal point ignored) is stored to the DM.
• When operation is performed with 5.000mm is specified as the move
Number of pulses = x move
From the above
1000
= x 5000 (decimal point ignored)
2000 (decimal point ignored)
= 2500
Note
• When the specified unit is PLS, coordinates are not converted.
• The value below the decimal point that is generated after conversion to
number of pulses of is accumulated and corrected.
• Even when values for each individual axis are specified in linear
interpolation, converted values set to each axis are valid.
4-7
Speed unit conversion Default: off (no conversion) Setting range: off, on
When [Speed unit conversion] is set, the speed unit is automatically converted to either of
mm/2 (millimeters per second) or deg/s (degrees per second) and displayed according to the
setting of [Coordinate unit]. The unit of acceleration/deceleration (rate) are also converted as
follows:
[Coordinate unit] and [Speed unit], acceleration conversion table

4 [Coordinate unit] [Speed unit] Acceleration (rate) Unit
TYPES OF PARAMETERS
PLS p/s p/s/ms

mm mm/s mm/s/ms
deg deg/s deg/s/ms
Set this when [Coordinate unit] is set to other than PLS.

When PLS is selected at [Coordinate unit], p/s is specified/displayed as the speed unit,
and p/s/ms is specified/displayed as the acceleration/deceleration speed, the default
setting "OFF" can be used as it is. (Setting is ignored.)
● Select from the following settings: The default is "off (no conversion)."
off: The p/s unit remains as it is, and the conversion function is not active.
on: The speed unit conversion function is active.
Conversion according to the [Coordinate conversion numerator] and [Coordinate
conversion denominator] parameters is performed.
• As output from KV-H20S/H40S is pulse, set the conversion ratio for unit conversion when
taking mm or deg as the unit at [Coordinate conversion numerator] and [Coordinate
conversion denominator].

Frequency (p/s) = x speed (specified)

Speed = x frequency (p/s)
"Coordinate conversion numerator" "Coordinate conversion denominator"(previous page)

• When performing speed unit conversion, set so that both of the acceleration/deceleration rates
before unit conversion is performed and the acceleration/deceleration rates after unit
conversion is performed fall within the range 1 to 65000. Set the coordinate conversion
numerator, denominator and decimal point position so that the numerator-to-denominator ratio
in coordinate conversion is 1:1 to 1:10. When [Decimal point position] is set to six digits or
more, an error is generated.
4-8
Run Speed Setting
■ Startup speed
Generally, when a stepping motor is used, smooth control
Speed
is afforded if the motor is started up from the start at a
Run speed
certain speed (bias speed) to stabilize initial motor torque.
This speed is called the "startup" speed.
• Setting a large startup speed can shorten move time.
Startup speed
Time
4
Note, however, that actual operation will be out of step
TYPES OF PARAMETERS
with motor operation unless a value is set within an appropriate range as a large torque is
required at the start of machine operation.
• Set to an allowable startup speed or less taking the motor torque and other factors into
consideration. For details, refer to the User's Manual of the motor you are using.
Run startup speed

Default: 0 Setting range: 0 to 99999999 (unit: mm/s, deg/s, p/s), i-0 to i-15
Set the startup speed during operation. The stop speed also
Run startup speed
becomes this value. (5000p/s)
● Setting method Run speed
Take the following into consideration when setting this item. (speed No.1: 1000 p/s)
• When [Run startup speed] is greater than the run speed,

lower the [Run startup speed] to the run speed.
■ Maximum speed
Set the speed upper limit value. Even if a value at the Speed
Preset run speed
preset maximum speed or higher is set in point Maximum speed
parameters, it is limited to the maximum speed set in
this parameter. Startup speed
Time
Run maximum speed

Default: 500000 Setting range: 1 to 99999999 (unit: mm/s, deg/s, p/s)
Set all possible maximum speeds. Set the upper limit speed of the motor driver.
Even if a speed exceeding this speed is set in point parameters, that speed is limited to the
speed set in this parameter.
4-9
■ Acceleration setting
The speed setting during acceleration is set by three elements: rate (acceleration), curve
(change in acceleration) and curve ratio (range of curve).
Run acceleration rate

Default: 1 Setting range: 1 to 65000 (unit: mm/s/ms, deg/s/ms, p/s/ms), i-0 to i-15
This is the rate it takes for the startup speed Speed Speed
4 during operation to reach the run speed.

Setting a larger value results in more sudden
TYPES OF PARAMETERS
acceleration and a shorter move time. Time Time

When a small value is set When a large value is set
When this value is set to 65000, operation is
started up at the run speed.
● Setting method
Example Startup speed: 1000 p/s Speed

Run speed
Run speed: 100000 p/s 100000
Acceleration rate: 1000 p/s/ms
In the above case, the run speed is Startup speed
1000
reached in about 99 ms. Time
* Set so that the acceleration time during operation is 99ms
within 65535 ms.

Also, set so that the number of pulses required for acceleration is 16777215 or less. When this
value is exceeded, an error is generated, and axis movement stops.
Run acceleration curve Default: SIN Setting range: SIN, LINE (linear)
[Run acceleration curve] is a parameter for
setting the change in speed from the startup
Change in acceleration
speed up to when the run speed is reached. Acceleration Speed

LINE (linear): The speed is changed at a
uniform acceleration. Speed changes in a
Time Time
linear manner.
• Acceleration is constant throughout the
acceleration time.
• Select this setting, for example, to suppress
Acceleration Speed
step out on the stepping motor midway
during acceleration.
SIN: The speed is changed using a sin (-90° to
+90°) curve.
Time Time
• The change in acceleration becomes
smooth.
4-10
Run acceleration curve ratio Default: 100 (%) Setting range: 1 to 100 (%)
Set the range of use of the acceleration curve during operation.
When "LINE" is selected for the acceleration curve, the curve ratio need not be set. (It will
be ignored even if it is set.)
● Setting method
Take the following into consideration when setting this item.
• When 100% (default) is specified, the curve becomes the original (preset) curve.
The smaller a value is set, the closer the curve becomes to linear acceleration (LINE), and the 4
maximum value of acceleration/deceleration can be made smaller than the original curve. Set a
TYPES OF PARAMETERS
small value, for example, to suppress step out on the stepping motor midway during
acceleration.
Example When a curve ratio of 50 is specified at SIN, the curve becomes a sin (-45° to +45°)
curve.
90°
45°
0°
-45°
-90° 50%
100%
4-11
■ Deceleration setting
The speed setting during deceleration is set by three elements: rate (deceleration), curve
(change in deceleration) and curve ratio (range of curve).
Run deceleration rate

Default: 10 Setting range: 1 to 65000 (unit: mm/s/ms, deg/s/ms, p/s/ms), i-0 to i-15
This is the rate (deceleration) it takes for the run speed Speed Speed
4 during operation to reach the stop speed.

TYPES OF PARAMETERS
deceleration and a shorter move time.

When this value is set to 65000, axis movement Time Time
immediately stops from the current speed.
● Setting method
• Set so that the deceleration time during operation is within 65535 ms.
Also, set so that the number of pulses required for deceleration is 16777215 or less. When this
value is exceeded, an error is generated, and axis movement stops.
Run deceleration curve Default: SIN Setting range: SIN, LINE (linear)
[Run deceleration curve] is a parameter for
Change in deceleration
setting the change in speed from the run Deceleration Speed
speed up to when the stop speed is reached.
LINE (linear): The speed is changed at a
uniform deceleration. Speed changes in a Time Time
linear manner.
• The maximum value of deceleration becomes the smallest speed.
• Deceleration is constant throughout the deceleration time.
• Select this setting, for example, to suppress Deceleration Speed
step out on the stepping motor midway

during deceleration.
SIN: The speed is changed using a sin (90° to
270°) curve. Time Time
• The change in deceleration during

deceleration becomes smaller in an average
manner.
4-12
Run deceleration curve ratio Default: 100 (%) Setting range: 1 to 100 (%)
Set the range of use of the deceleration curve during operation.
When "LINE" is selected for the deceleration curve, the curve ratio need not be set. (It will
be ignored even if it is set, and operation will be performed with the ratio set to 100%.)
● Setting method
• When 100% (default) is specified, the curve becomes the original (preset) curve.
The smaller a value is set, the closer the curve becomes to linear deceleration (LINE), and the 4
maximum value of acceleration/deceleration can be made smaller than the original curve. Set a
TYPES OF PARAMETERS
small value, for example, to suppress step out on the stepping motor midway during
deceleration.
Example When a curve ratio of 50 is specified at SIN, the curve becomes a sin (135° to +225°)
curve.
90°
135°
180°
225°
270° 50%
100%
4-13
Jog Speed Setting

The jog speed can be changed as follows on the Teaching Unit, on MOTION BUILDER or by
instructions from the sequence program.
Speed
Maximum speed
4 Startup speed
TYPES OF PARAMETERS
Time
Instruction cancel
Jog low speed instruction Jog maximum speed instruction Instruction cancel
Jog startup speed Default: 500 Setting range: 1 to 99999999 (unit: mm/s, deg/s, p/s)
Set the speed during jog low speed operation and startup speed for jog operation. The stop
speed also becomes this value.
• When [Jog startup speed] is greater than [Jog maximum speed], lower [Jog startup speed]
to [Jog maximum speed].
"Run startup speed" (page 4-9)
Jog maximum speed Default: 5000 Setting range: 1 to 99999999 (unit: mm/s, deg/s, p/s)
Specify the speeds when performing maximum speed movement (operation when the cursor key
and FAST key on the KZ-HP1 both held down) and movement by a specified move (test mode)
during jog operation.
Jog acceleration rate Default: 10 Setting range: 1 to 65000 (unit: mm/s/ms, deg/s/ms, p/s/ms)
This is the rate it takes for [Jog startup speed] Speed Speed
to reach [Jog maximum speed].

acceleration and a shorter move time.
Time Time
When this value is set to 65000, operation is When a small value is set When a large value is set
started up at the jog maximum speed.
Jog acceleration curve Default: SIN Setting range: SIN, LINE

[Jog acceleration curve] is a parameter for setting the change in speed from [Jog startup
speed] up to when [Jog maximum speed] is reached.
LINE: The speed is changed at a uniform acceleration (in a linear manner).
SIN: The speed is changed using a sin (-90° to +90°) curve.
For an explanation on curve graphs, "Run acceleration curves" (page 4-10).
4-14
Jog acceleration curve ratio Default: 100 (%) Setting range: 1 to 100 (%)
The details of this parameter are the same as those for [Run acceleration curve ratio].
"Run acceleration curve ratio" (page 4-11)
Jog deceleration rate Default: 10 Setting range: 1 to 65000 (unit: mm/s/ms, deg/s/ms, p/s/ms)
This is the rate from [Jog maximum speed]
Speed Speed
during jog operation up to when the stop speed
is reached. 4
TYPES OF PARAMETERS
deceleration and a shorter move time. Time Time
When this value is set to 65000, axis movement
immediately stops from the current speed.
Jog deceleration curve Default: SIN Setting range: SIN, LINE

[Jog deceleration curve] is a parameter for setting the change in speed from [Jog maximum
speed] up to when [Jog startup speed] is reached.
● Select from the following settings: The default is "SIN".
LINE: The speed is changed at a uniform deceleration (in a linear manner).
SIN: The speed is changed using a sin (90° to 270°) curve.
For an explanation on curve graphs, "Run deceleration curves" (page 4-12).
Jog deceleration curve ratio Default: 100 (%) Setting range: 1 to 100 (%)
The details of this parameter are the same as those for [Run deceleration curve ratio].
"Run deceleration curve ratio" (page 4-13)
Jog inching number of pulses Default: 1 Setting range: 1 to 100000 (%)

Perform 1-pulse output operation when there is a jog instruction. When the jog instruction is
performed by other instructions, operation accelerates to low speed (or high speed). The fine-
adjustment instruction operation based on this initial 1-pulse output is called "inching."
Set (select from 16 pulse output types) how many pulses are to be output in inching by the jog
instruction. The preset pulse table is output at startup speed.
1, 2, 5, 10, 20, 50, 100, 200, 500, 1000, 2000, 5000, 10000, 20000, 50000, 100000
• When a large number of pulses is set, and the startup speed is low, the time it takes for output
in inching increases.
• When inching is performed in the opposite direction to the previous movement with a backlash
move specified, the number of pulses specified by backlash compensation move (number of
pulses after compensation when unit conversion is being performed) + number of jog inching
pulses are output.
• When a low startup speed is set, note that operation will appear to be continuous even if the
jog instruction is not issued.
• Even if the jog+ (or jog-) relay and high-speed jog relay are set to ON, acceleration starts from
the startup speed after the number of inching pulses is output at the startup speed. Axis
movement is not accelerated during output of the inching pulses.
4-15
Origin Return Setting

Speed in
CW direction
Origin Start point

CCW CW
[Creep speed]
4
[Origin return
deceleration rate] [Origin return
Speed in startup speed]
CCW direction [Origin return speed]
Origin sensor [Origin return acceleration rate]
TYPES OF PARAMETERS
Origin return startup speed Default: 0 Setting range: 0 to 99999999 (unit: mm/s, deg/s, p/s)
Set the startup speed during a origin return and move to home position. The stop speed also
becomes this value.
• When [Origin return startup speed] is greater than [Origin return maximum speed], lower
[Origin return startup speed] to [Origin return maximum speed].
Origin return maximum speed

Default: 5000 Setting range: 1 to 99999999 (unit: mm/s, deg/s, p/s)
Specify the run speed during a origin return and move to home position.
Creep speed Default: 500 Setting range: 0 to 99999999 (unit: mm/s, deg/s, p/s)
This speed is used at final positioning to the origin during a origin return. Generally set a speed
that will cause no problem if axis movement is suddenly stopped.
• The larger the setting value, the shorter the origin return time becomes.
• To reduce error in the origin return position, set a smaller setting value.
Origin return acceleration rate

Default: 10 Setting range: 1 to 65000 (unit: mm/s/ms, deg/s/ms, p/s/ms)
This is the rate it takes for [Origin return Speed Speed
startup speed] to reach [Origin return
maximum speed]. Setting a larger value results
in more sudden acceleration and a shorter
origin return time. Time Time
When this value is set to 65000, operation is
started up at the origin return maximum speed.
4-16
Origin return acceleration curve Default: SIN Setting range: SIN, LINE
[Origin return acceleration curve] is a parameter for setting the change in speed from [Origin
return startup speed] up to when the [Origin return maximum speed] is reached.
SIN: The speed is changed using a sin (-90° to +90°) curve.
For an explanation on curve graphs, "Run acceleration curves" (page 4-10).
4
Origin return acceleration curve ratio Default: 100 (%) Setting range: 1 to 100 (%)
TYPES OF PARAMETERS
The details of this parameter are the same as those for [Run acceleration curve ratio].
"Run acceleration curve ratio" (page 4-11)
This setting is not required when origin return or move to home position is not to be
performed.
Origin return deceleration rate

Default: 10 Setting range: 1 to 65000 (unit: Speed Speed
mm/s/ms, deg/s/ms, p/s/ms)
This is the rate it takes for [Origin return
maximum speed] during a origin return to
reach the stop speed. When a small value is set
Time
When a large value is set
Time

deceleration and a shorter origin return time.
When this value is set to 65000, axis movement immediately stops from the current speed.
Origin return deceleration curve Default: SIN Setting range: SIN, LINE
[Origin return deceleration curve] is a parameter for setting the change in speed from [Origin
return maximum speed] up to when the stop speed is reached.
SIN: The speed is changed using a sin (90° to 270°) curve.
For an explanation on curve graphs, "Run deceleration curves" (page 4-12).
Origin return deceleration curve ratio Default: 100 (%) Setting range: 1 to 100 (%)
The details of this parameter are the same as those for [Run deceleration curve ratio].
"Run deceleration curve ratio" (page 4-13)
This setting is not required when origin return or move to home position is not to be
performed.
4-17
Origin return direction Default: CCW Setting range: CCW, CW

Select the start direction of origin return. Set the start direction in relation to the position of the
origin sensor.
As the default is CCW, when the origin sensor is towards the CCW limit switch, this
setting can be used at its default. (Origin return will be performed normally even if the
reverse direction is set.)
4 CCW: Origin return starts from the CCW direction.
Select this setting when the origin sensor is CCW Origin sensor CW
TYPES OF PARAMETERS
limit SW limit SW
towards the CCW limit switch.
CW: Origin return starts from the CW direction.
Select this setting when the origin sensor is
towards the CW limit switch. CCW Origin sensor CW
limit SW limit SW
Origin return mode Default: off Setting range: off, on

Select the switch or sensor to be used as the condition for starting origin return.
The CCW limit switch can be used as the origin sensor to reduce the number of sensors.
off: The origin return is performed using the CC or CCW limit switch and origin sensor.
on: The origin return is performed using the origin sensor as the CCW limit switch. [Origin
return direction] forcibly becomes CCW ("opposite direction") regardless of the setting. Set
[Detailed origin position] to a Z-phase AND condition.
For the Z-phase, be sure to release and set the polarity setting to NC (initial setting).
• When "on" is set, note that an error will not be generated even if the workpiece or moving body
enters the CCW limit switch direction area from the CW direction.
Also, wire the sensor in parallel to both the origin sensor and CCW limit switch.
Origin sensor detection mode Default: off Setting range: off, on

Set how the Z-phase is to be used when detecting the origin. This setting is not required when
origin return is not to be performed or when the Z-phase is not to be used for origin
return.
● Select from the following settings: Origin sensor
ON
OFF
off: Select this when the Z-phase turns ON only Z-phase
ON
OFF
once within the area of the origin sensor's
dog. Origin sensor
ON
OFF
on: Select this when the Z-phase turns ON twice Z-phase
ON
OFF
or more within the area of the origin sensor's
dog. Though a origin return can be performed normally even if the Z-phase turns ON only
once, if the workpiece or moving body is within the area of the origin sensor's dog when
creep speed operation is started, creep speed operation (final stage of origin detection) is
started after the workpiece or moving body moves once outside of the area of the origin
sensor's dog. For this reason, this means that origin return sometimes takes a little longer to
perform. Set [Detailed origin position] to a Z-phase AND condition.
4-18
Origin coordinates Default: 0 Setting range: -99999999 to 99999999 (unit: mm, deg, PLS)
The current coordinates at completion of a origin return can be set to other than "0".
When "0" is acceptable as the coordinates at completion of a origin return, this setting
can be used at its default "0".
● Setting method
Specify using absolute coordinates.
Using this function comes in handy when the origin coordinates have deviated out of position 4
due to replacement of the origin sensor, for example. Though the coordinates of the home
TYPES OF PARAMETERS
position and positioning points must be changed as a result of deviating origin coordinates, other
coordinates need not be changed, and the original operation can be executed as programmed,
by shifting the origin coordinates by the amount of deviation by this function.
-500 0 2000 3000
Actual origin Virtual origin Point 1 Point 2
Home position coordinates Default: 0 Setting range: -99999999 to 99999999 (unit: mm, deg, PLS)
Set the target coordinates for movement to the home position.
This setting is not required when the home position is not to be used.
Specify using absolute coordinates.
Detailed origin position Default: Z-phase AND condition Setting range: Z-phase AND condition, sensor midpoint
When "1: CCW-LSW OFF" is set at [Origin return mode] and "off" is set at [Origin sensor
detection mode], the origin return is performed at the conditions set above.
For details, "Detailed origin position" (page A-14).
Z-phase AND condition: The position where both the origin sensor and Z-phase turn ON is
taken as the origin.
Sensor midpoint: The midpoint of the origin sensor ON range is taken as the origin.
Automatic origin return Default: off Setting range: off, on

A origin return can be set to be performed automatically when the power is turned ON.
When an automatic origin return is not to be performed, this setting can be used at its
default "OFF".
off: Automatic origin return is not performed. Select "off" when designing a program that issues
the origin return instruction from the CPU Unit when the power is turned ON.
on: Automatic origin return is performed.
Automatic move to home position Default: off Setting range: off, on

A move to home position can be set to be automatically performed when a origin return is
completed. This setting is not required when a origin return is not to be performed.
off: Automatic move to home position is not performed.
on: Axes automatically move to the home position after completion of a origin return.
4-19
Input Polarity Setting

Select either normally closed (NC) or normally open (NO) as the polarity of currently selected
sensors or switches. With the normally open (NO) setting, sensors or switches turn ON when an
input turns ON to set a circuit to a conductive state, and with the normally closed (NC) setting,
sensors or switches turn ON when an input turns OFF to set a circuit to a non-conductive state.
Select NO when the sensor is a NO type contact. Select NC when the sensor is an NC type
4 contact.
"3-3 Wiring I/O Connectors" (page 3-5)
TYPES OF PARAMETERS
Origin sensor polarity Default: NO Setting range: NO, NC

Set the input polarity of the origin sensor. This setting is not required when origin return is
not to be used.
When the origin sensor is a NO type contact, this setting can be used at its default.
NO: The sensor turns ON when origin sensor input turns ON.
NC: The sensor turns ON when origin sensor input turns OFF.
• The signal obtained by ANDing the Z-phase input and origin sensor input signals after polarity
switching becomes the origin sensor interrupt signal.
Limit switch polarity Default: NC Setting range: NC, NO

Set the input polarity of the limit switch (switch for generating a limit error when turns ON). For
safety's sake, try to use NC (normally closed) type limit switches.
NO: Sensor turns ON when the CW or CCW limit switch input turns ON.
Set NO when using normally open (NO) type limit switches or when limit switches are not to
be used.
NC: Sensor turns ON when the CW or CCW limit switch input turns OFF.
Stop sensor polarity Default: NO Setting range: NO, NC

Set the input polarity of the stop sensor. This setting is not required when stop sensors are
not to be used.
• Stop sensors detect movement at their edges.
When the stop sensor is a NO type contact, this setting can be used at its default "NO".
NO: The sensor turns ON when stop sensor input turns ON.
NC: The sensor turns ON when stop sensor input turns OFF.
4-20
SRVRDY polarity Default: NO Setting range: NO, NC

This signal indicates that the servo is ready for operation.
Select the polarity of the servo ready signal.
NO: The sensor turns ON when the servo ready signal turns ON.
NC: The sensor turns ON when the servo ready signal turns OFF.
"Servo ready" (page 3-12)
4
ALM polarity Default: NC Setting range: NC, NO
TYPES OF PARAMETERS
Select the polarity of the alarm signal from the driver.
NO: The sensor turns ON when the alarm signal turns ON.
NC: The sensor turns ON when the alarm signal turns OFF.
"Driver alarm" (page 3-13)
SRVEND polarity Default: NO Setting range: NO, NC

Select the polarity of the servo end signal (move completion signal) that arrives from the driver.
NO: The sensor turns ON when the servo end signal turns ON.
NC: The sensor turns ON when the servo end signal turns OFF.
"Servo end" (page 3-11)
ZERO ST polarity Default: NO Setting range: NO, NC

Select the polarity of the zero start signal when the zero start function is to be used.
NO: The sensor turns ON when the zero start signal turns ON.
NC: The sensor turns ON when the zero start signal turns OFF.
"Zero start" (page 3-10)
Positioning Z-phase polarity Default: NC Setting range: NC, NO

Set the input polarity of the Z-phase input that is used for origin return. This setting is not
required when origin return is not to be used.
When the signal connected to the Z-phase input is Low-active (minus logic), or when the
Z-phase input is not to be used, this setting can be used at its default "NC".
NO: The sensor turns ON when the Z-phase input turns ON.
Select this setting when the signal connected to the Z-phase input is High-active (plus logic).
NC: The sensor turns ON when the Z-phase input turns OFF.
Select this setting when the signal connected to the Z-phase input is Low-active (minus
logic), or when the Z-phase input is not to be used.
4-21
Setting of Time Constant

Semi-high speed time constant Default: 100µs Setting range: 5 to 500µs, 1 ms
Select the time constant of semi-high speed input signals (stop sensor, positioning Z-phase, zero
start).
Select one of 5, 10, 25, 50, 100, 250, 500 µs, and 1 ms.
• The response time from input up to operation differs according to the signal. For details,
4 "3-3 Wiring I/O Connectors" (page 3-5).

TYPES OF PARAMETERS
Low-speed time constant Default: 1 ms Setting range: 5 µs to 10 ms

Setting range: 5, 100, 250, 500 µs, 1, 2.5, 5, 10 ms
Select the time constant of low-speed input signals (origin sensor, emergency stop).
Select one of 5, 100, 25, 500 µs, and 1, 2.5, 5, 10 ms.
• The response time from input up to operation differs according to the signal. For details,
"3-3 Wiring I/O Connectors" (page 3-5).
4-22
Other Operation Settings

HPD1 axis comment Default: none Setting range: 8 1-byte characters
The axis comment that is displayed on the KV-HPD1's Monitor screen can be entered on
MOTION BUILDER or from the simple setup window on KV STUDIO/KV BUILDER.
Shortcut control of angle of rotation Default: off (shortcut control OFF) Setting range: off, on
When "on" is selected, the direction of less move from the current
angle is automatically selected, and the axis rotates to the target
4
TYPES OF PARAMETERS
coordinates.
This setting is valid when [Coordinate unit] is set to "deg".
This setting is not required when [Coordinate unit] is set to
"PLS" or "mm". (It will be ignored even if it is set.)
Axis rotates in the direction of less move.
off: Shortcut control of angle of rotation is not performed.
on: When the angle is set in absolute coordinates in point parameters, the direction of less move
from the current angle is automatically selected, and the axis rotates to the target
coordinates.
The display range is 0 to 360°.
• Movement exceeding 180° returns in movement in the opposite direction. Coordinates less
than 0° and exceeding 360° are converted to the 0 to 360° range.
• When the setting is specified in incremental coordinates, shortcut control is not performed, and
the axis rotates only by the specified angle as it is.
• At the start of operation, the management coordinates (current coordinates) are changed to
within the 0 to 360° range.
Note, however, that the above processing is not performed in jog operation or move to home
position. Also, when the management coordinates (-2147483648 to +2147483647) are
exceeded, note that conversion of angles is not performed correctly.
• This setting cannot be used in linear interpolation. Also, it cannot be used in software limits.
4-23
Servo end check time Default: 0 (ms) Setting range: 0 to 5000 (unit: ms)
The servo end signal is a signal that turns the servo driver unit ON when the number of
accumulated pulses has fallen to the specified value or below. At [Servo end check time], set
the standby time up to when the servo end input turns ON at completion of operation.
● Setting method
• The servo end signal is not monitored when the [Servo end check time] is "0". Specify "0"
when a stepping motor is to be used.
4 • When 1 to 5000 is set, an error will be judged if the servo end input does not turn ON within the
set time (ms) after the operation has completed.
TYPES OF PARAMETERS
• The check is started after all operations such as regular operation and jog operation have
completed.
• In linear interpolation, the servo end signals of all axes that are associated with linear
interpolation are checked.
Servo ready check Default: off Setting range: off, on

Set whether or not the servo ready check is to be performed.
When a stepping motor is used, this setting can be used at its default "off".
This setting can also be used at its default when servo ready input is not used, or when
servo ready input is to be used as general-purpose input.
off: Operation is started with servo ready input ignored. The servo ready input terminal becomes
a simple general-purpose input terminal.
on: The servo ready output of the servo motor driver is connected, and pulse output is waited for
until the servo ready state is entered.
Servo ready is also checked at start of execution of return operation or repeat operation.
• In linear interpolation, operation is secured until the servo ready input of each axis turns ON.
• In jog operation and incremental move by a specified value (test mode), the operation
instruction is ignored when the servo ready check is set to ON and servo ready input is OFF.
Backlash compensation move Default: 0 Setting range: 0 to 65535 (unit: mm, deg, PLS)
This is the value for compensation backlash. This setting is valid
only in independent operation. When the direction of operation is
reversed, unwanted pulses are output by a specified move
amount to compensate for error that occurs due to incorrect
meshing of gear teeth on the machine.
This setting can be used (is valid) only in the independent operation mode.
● Setting method
• When operation is started, additional pulses are output if the rotational direction is different
from the previous operation.
• When the direction of operation is reversed, the current coordinates sometimes change by the
amount of backlash compensation. However, the actual number of output pulses is output
correctly.
• The current coordinates sometimes change by the amount of backlash compensation when the
power is turned ON. If necessary, perform a origin return when the power is turned ON.
• Be sure to perform a origin return after the backlash move is changed.
• When software limits are used, a software limit error sometimes occurs before axes have been
completely moved by the preset amount of backlash compensation.
4-24
Pulse output mode Default: 2 Setting range: 2, 1

This is the format of pulses that are output. Select the pulse output from the following two types.
The default is "2 pulses," so when a 2-pulse input motor driver is used, this setting can be
used at its default "2 pulses" as it is.
1: Pulses are output in 1-pulse format. Select this setting when a 1-pulse input motor driver is
used.
CW
• Pulse output to X-CW output
• Direction of rotation output to X-CCW output
CCW 4
Forward rotation Reverse rotation
Forward rotation: on (5 V)/Reverse rotation: off (0 V)
TYPES OF PARAMETERS
• off (0 V) when axes are not rotating. Note, however, that the output state of the previously
output direction is held for X-CCW output.
2: Pulses are output in 2-pulse format. Select this setting when a 2-pulse input motor driver is
used.
• Pulse output in forward rotation to X-CW output
CW
• Pulse output in reverse rotation to X-CCW output
CCW
• off (0 V) when axes are not rotating
Forward rotation Reverse rotation
Direction of motor rotation Default: CW Setting range: CW, CCW

Set the direction (CW or CCW) of motor rotation.
• In 2-pulse mode: The effect is the same are swapping the wiring of CW+ and CW- with CCW+
and CCW-.
• In 1-pulse mode: The polarities of CCW+ and CCW- are reversed.
Software limit CW coordinates Software limit CCW coordinates

Default: 0 Setting range: -99999999 to 99999999 (unit: mm, deg, PLS)
Set the limit values of coordinates to which movement is possible in the CW or CCW direction.
● Setting method
• When "0" is set, the software limit check is not performed.
• If the limit value is reached or exceeded after the CW software limit
CW
coordinates after the move have been calculated, an error CCW
is output.
• Normally, this calculation is performed before operation.
CCW software limit
However, when [Continuous operation mode] is set to
"Cont-1, Cont-2", calculation of the next point is performed midway during operation.
• Software limits are ignored during a origin return.
• If the limit value is reached or exceeded during speed control or jog operation, an error occurs
and axis movement stops.
If this happens, the software limit error is output again if axes move in the limit direction even
after the error is cleared.
• Software limits cannot be used when using shortcut control of angle of rotation.
• When software limits are used, a software limit error sometimes occurs before axes have been
completely moved by the preset amount of backlash compensation.
4-25
4-3 Parameters Common to All Axes

This section describes the names and functions of parameters common to all axes.
Set details common to the X- and Y-axes.
Mainly, set parameters related to errors that are generated. Functions of the KZHP1/KV-HPD1
itself relating to display, buzzer, etc. are also set here.
4 Parameters to be Set Up
TYPES OF PARAMETERS
Parameters common to all axes (1) [Stop axis setting at error]

[Error stop mode]
[SRAM backup error display]
Parameters common to all axes (2) [Display language]
[Buzzer control]
[Key lock]
Parameters common to all axes (3) [Label No.]

On the KZ-HP1, parameters common to all axes are set to X-axis system parameter (27)
onwards.
Basic key operations are the same as those for system parameters.
“4-2 System Parameters” (page 4-4)
Parameters common to all axes that can be set on the KV-HPD1 are as follows:
[Display language] [Buzzer control] [Key lock]
4-26
Parameters Common to All Axes (1)

Stop axis setting at error Default: on (all axes stop) Setting range: on, off
Set stop operation when an error occurs on one of the axes.
To stop all axes even if an error occurs on one axis, leave the default setting at “on” as it
is.
off (independent axis stopped): The axis on which the error occurred and interpolated axis
operation are stopped.
4
TYPES OF PARAMETERS
Operation of axes on which errors are not occurring is continued.
on (all axes stop): Operation of all axes in the unit is stopped even if an error occurs on only one
axis.
Error stop mode Default: Imid Setting range: Imid, Limit, Decel
Set the stop operation for pulse output when an error occurs.
To immediately stop pulse output when an error occurs, leave the default setting “Imid”
as it is.
Imid (immediate stop): Immediately stops pulse output when an error occurs.
Limit (immediate stop only at LSW): Pulse output is immediately stopped only when an external
limit switch is actuated (excluding some errors). When other
errors occur, axis movement decelerates and comes to a
stop.
Decel (deceleration stops): Axis movement decelerates and comes to a stop when an error
occurs (excluding some errors).
SRAM backup error display Default: on (display ON) Setting range: on, off
When the unit has been turned OFF for over two months (25°C), the content backed up to
SRAM may be lost. Select from the following two types of error displays when this situation
occurs.
off: Even if the content backed up to SRAM is lost when the power is turned ON, an error is not
displayed, and the parameters currently saved to flash ROM are copied to SRAM. Set this
when the parameters are not to be overwritten from the CPU Unit after actual operation.
on: When the content backed up to SRAM was lost when the power is turned ON, an error is
displayed and operation is stopped until the error is cleared.
Data currently saved to SRAM includes current position and parameters (system, point and
speed).
Operation is as follows when the power is turned ON regardless of parameter settings:
• When the content backed up to SRAM is lost, the data in flash ROM is copied to SRAM. The
current coordinates are also set to zero.
• When the content backed up to SRAM is not lost, the parameters in SRAM are written to flash
ROM.
4-27

Display language Default: off (Japanese) Setting range: off, on
The display language of the KZ-HP1/KV-HPD1 can be switched.
off: Sets the KZ-HP1/KV-HPD1 display to Japanese.
on: Sets the KZ-HP1/KV-HPD1 display to English.
4 Buzzer control Default: on (ON) Setting range: on, off

TYPES OF PARAMETERS
Set the KZ-HP1/KV-HPD1 buzzer tone.

off: Stops the KZ-HP1/KV-HPD1 buzzer tone.
on: Sets sounding of the regular KZ-HP1/KV-HPD1 buzzer tone.
Buzzer specifications
Regular Type of tone Single, short tone

Sounding Timing When a regular (valid) key is pressed
of Tone
When the KZ-HP1/ KV-HPD1 is connected to the KV-H20S/H40S
Illegal Type of tone Single, short tone repeated three times
operation Timing When an invalid key is pressed in the display screen or at an editing item
tone
When an attempt is made to enter a numerical value that will cause a digit
overflow when entering numerical values
When an attempt is made to enter a numerical value having an illegal
number of digits past the decimal point
Error tone Type of tone Single, lone tone
Timing When an error occurs
When ENT is pressed for a value that exceeds the range during entry of
numerical values
When initialization of parameters is executed
4-28

Key lock Default: off Setting range: off, on
The KZ-HP1/KV-HPD1 can be locked to prevent the content of parameters from being changed
by mistake or to prevent inadvertent test operation.
● Select from the following Settings:
off: Key lock OFF
Monitor, jog and other operations are possible on KZ-HP1/KV-HPD1.
on: (HPD1 ON)
4
TYPES OF PARAMETERS
Only an emergency stop (EMG) is possible from KZ-HP1/KV-HPD1.
on: (HPD1 ON/ExceptJOG)
Only emergency stop (EMG), cancellation of key lock and monitor functions can be
operated. In this setting, jog operations are also possible from the KV-HPD1.
Label No. Default: 0 Setting range: 0 to 999999

The date and other information can be stored for management of parameters.
This setting is not required when parameters are not to be managed.
● Setting method
• Parameter version or date of creation can be entered for managing parameters.
4-29
4-4 Speed Parameters
4-4 Speed Parameters

This section describes the names and functions of speed parameters.
A value corresponding to the [Speed No.] of point parameters is set to speed parameters.
Different settings are possible on each axis.
Set the unit at [Coordinate unit] [Speed unit conversion] in the system parameters.
4
TYPES OF PARAMETERS
Parameters to be Set
Speed parameters [Speed No.1] [Speed No.9]

In the case of the KZ-HP1
Press MENU + 5 to call the speed setup screen. Set up each axis individually.
Press the PREV or NEXT key to switch the edited axis.
In the case of the KV-HPD1
1 Select the point No. and press ENTER. The screen moves to the point parameter
setup screen.
2 Select the details of the PT setup 2 screen and press ENTER to switch the screen.
4-30
4-5 Point Parameters

This section describes the names and functions of point parameters.
Set the target coordinates, run mode for movement up to target coordinate, speed, and other
information.
Operation can also be specified to specified point parameters (max. 400(H20S)/200(H40S)
points) following another point parameter. 4
Some parameters need not be set depending on the [Run mode] setting.
TYPES OF PARAMETERS
List of parameters that can be set
Category Parameter Name Need for Setting (O: must be set) See Page
Run mode [Run mode] Single position Single position Single speed Single speed Linear position Linear position
4-36
absolute incremental deceleration fixed inching absolute incremental
[Target coordinates] X-, Y-axis

Target
X-axis 4-38
coordinates
Y-axis
Speed setting [Speed No.] 4-39
Stop sensor [Stop sensor enable]
4-40
[Stop sensor specified move]
Dwell time [Dwell time] 4-41
Return operation and [Return operation Return 4-42
continuous operation and continuous operation] Continuous
[Repeat count]
Repetition [Repeat X-, Y-axis
setting incremental X-axis 4-43
move] Y-axis
[M code mode] 4-47

M codes
[M code No.] 4-46
Next point No. [Next point No.] 4-44
4-31
■ Calling the point parameter setup screen by the Teaching Unit

In the case of the KZ-HP1
Press MENU • 3 to call the point parameter edit screen.
In all, there are 11 point parameter setup screens.
If you perform the above operation after switching to a different setup screen, the point
4 In the case of the KV-HPD1

In all, there are 4 point parameter setup screens.
TYPES OF PARAMETERS
■ Specifying indirect parameters

The following parameters can be specified indirectly:
[Target coordinates] [Speed No.] [Dwell time] [Repeat count] [Repeat incremental move]
In the case of the KV-HPD1, pressing FAST INDEX switches to indirect specification. i-0 to i-
15 can be specified.
For details on indirect specification, see the following page.
Setting area → "Indirect parameter area" (page 5-16)
If an attempt is made to write parameters during operation, a warning message is displayed.

Press the CLR key to return to the original screen, stop operation, and then perform writing
again.
Point parameters that can be set on the KV-HPD1 are as follows:

[Point No.] [Run mode] [Target coordinates] [Speed No.] [Dwell time] [Return operation
and continuous operation] [Repeat count] [Repeat incremental move] [Next point No.]
[Continuous mode]
4-32
About the Run Mode

The run mode is categorized into six modes by the number of operating axes, operation method,
content of control, and coordinate specification method.
Configuration of run mode
Axis system Operation system Control system Coordinate system Run mode
1 axis Single operation Position control Absolute coordinates Single/position/absolute

4
TYPES OF PARAMETERS
Incremental coordinates Single/position/incremental
Speed control (incremental coordinates) Single/speed/deceleration
(incremental coordinates) Single/speed/fixed inching
2 to 4 axes Linear interpolation operation Position control Absolute coordinates Linear/position/absolute
Incremental coordinates Linear/position/incremental
■ About the "axis system"
When performing interpolation operation on multiple axes, the leading axis is called the
"interpolated spindle" in order of axes X1, Y2, X2 and Y2.
KV-H20S "axis system"

1 axis • The X1 and Y1 axes are controlled independently.
Different point parameters can be set to each of the X1 and Y1 axes of the same [Point No.], and each
of the axes can be controlled independently or simultaneously.
2 axis • The X1 and Y1 axes are linear-interpolated in coordination. X1 becomes the interpolated spindle.
KV-H40S "axis system"

1 axis • Each of the X1, Y1, X2 and Y2 axes is controlled independently.
Different point parameters can be set to each of the X1, Y1, X2 and Y2 axes of the same [Point No.],
and each of the axes can be controlled independently or simultaneously.
2 axis • Each of the X1-Y1 axes and X2-Y2 axes can be linear-interpolated as a pair. In this case, X1 or X2
becomes the interpolated spindle.
• When the X1-Y1 axis pair is targeted for 2-axis operation, the single operation run mode can be
selected for the X2 and Y2 axes. Likewise, when the X2-Y2 axis pair is targeted for 2-axis operation,
the single operation run mode can be selected for the X1 and Y1 axes.
3 axis • The three axes (X1, Y1 and X2) are linear-interpolated in coordination. X1 becomes the interpolated
spindle.
4 axis • The four axes (X1, Y1, X2 and Y2) are linear-interpolated in coordination. X1 becomes the interpolated
spindle.
*In the run modes [Linear/position/absolute][Linear/position/incremental] on a multi-axis system, set point

parameters other than the target coordinates and repeat coordinates on the interpolated spindle side.
Also, the interpolated spindle side of the details set to the following system parameters becomes enabled:
[Run startup speed] [Run maximum speed]
[Run acceleration rate] [Run acceleration curve] [Run acceleration curve ratio]
[Run deceleration rate] [Run deceleration curve] [Run deceleration curve ratio]
* When operating in a multi-axis system run mode, issue the operation start instruction to the interpolated spindle.
4-33
■ About the "operation system"

Single operation • Each single axis is controlled independently.
Single operations can be set for each axis on the same [Point No.]
• Though each axis can be controlled simultaneously, each axis operates
independently, and each axis cannot be interpolated in coordination as in
linear interpolation.
2-axis linear interpolation operation
4 • Two axes are used and controlled to become a single movement.
When 2-axis linear interpolation operation is performed on the KV-H40S,
TYPES OF PARAMETERS
each of the X1-Y1 axis and X2-Y2 axis pairs are controlled to become a
single movement.
In the case of linear interpolation In the case of single operation

Y-axis Y-axis
X-axis X-axis
Shortest distance
In the case of linear interpolation

Y-axis Deceleration here (Cont-1)
No deceleration here (Cont-2)
Obstacle
X-axis
3 or 4 axes Linear interpolation operation

• In interpolation operation that exists only on the KV-H40S, three or four
axes are used and controlled as if operation is a single movement.
In the case of a 3-axis linear interpolation operation

X2axis
Y1axis
X1axis
4-34
■ About the "control system"

Position control • This is a control method for causing axis movement to a position indicated
by specified [Target coordinates]. The following four run modes are
provided, and these are collectively referred to "position control."
Single/position/absolute, Single/position/incremental,
Linear/position/absolute, Linear/position/incremental
Speed control • This is a control method for controlling axis movement by the operation 4
direction and speed (move). When a plus value is set to "Target
TYPES OF PARAMETERS
coordinates", axes move in the CW direction, and when a minus value is
set, axes move in the CCW direction.
There are two run modes.
Single/speed/deceleration: Axis operation continues until the stop sensor
turns ON.
Single/speed/deceleration: Axis moves by the move (incremental move)
indicated by [Stop sensor specified move]
when the stop sensor turns ON and then
comes to a stop.
■ About the "coordinate system"

Absolute coordinates
• In this coordinate system, how much axes move to a position away from
the origin coordinates is specified referenced to [Origin coordinates]
when specifying the target coordinates.
In run modes named "XXX/XXX/absolute", specify the target coordinates
using absolute coordinates.
Incremental coordinates
• In this coordinate system, how much axes move to a position away from
the current coordinates is specified referenced to [Current coordinates]
when specifying the target coordinates.
In run modes named "XXX/XXX/incremental", specify the target
coordinates using incremental coordinates.
4-35
Setting Up Parameters
Point No. Default: 1 Setting range: 1 to 400 (H20S), 1 to 200 (H40S)
Each of the point parameters is managed appended with a [Point No.]. When performing
operations, specify this [Point No.]. One operation is performed by a single point No.
● Setting method
4 • Operation is limited to operation that can be

specified by a single point parameter. For this
Y1 axis
Point No.1
TYPES OF PARAMETERS
reason, when performing complex operation, Point No.3

specify the point parameters to which the next
operation is set at [Next point No.]. There is no
need for point parameters to be continuous. Point No.2
"Next point No." (page 4-44) X1 axis
Axis (display only)

This displays which axis is currently being set up.
In the example on the left, the setup screen for the X1 (axis) is currently displayed.
The details to be set up differ according the [Run mode] in the following description.
• Single/position/absolute, Single/position/incremental, Single/speed/deceleration,
Single/speed/fixed inching
In the case of single operation, different parameters can be set to each individual axis (e.g.
setting of X1 axis at [Point No.] No.1, or setting of Y1 axis at [Point No.] No.1) so that
individual axes are operated independently.
• Linear/position/absolute, Linear/position/incremental
In the case of interpolation operation, set the parameters on the interpolated spindle side.
• The axis to edit is switched to the X&Y axes at the moment that single operation is changed to
linear interpolation. (Display becomes X1 & Y1, X2 & Y2, 3, and 4.)
Run mode Default: Single Pos Inc Setting range: following 10 ranges
Select [Run mode].
Single Pos Abs: Single/position/absolute (Specify by single operation and in absolute coordinates.)
Single Pos Inc: Single/position/incremental (Specify by single operation and in incremental coordinates.)
Speed Decel: Single/speed/deceleration (Set to speed control mode.)
Speed Fixed: Single/speed/fixed inching (Change speed control mode to position control mode (inch feed).)
2-Line Abs: Linear/position/absolute (Specify by 2-axis linear interpolation and by absolute coordinates.)
2-Line Inc: Linear/position/incremental (Specify by 2-axis linear interpolation and by incremental coordinates.)
4-36
Single/position/absolute Single/position/incremental
Select these when performing positioning control on only one Speed
axis.
Select the single/position/absolute mode when setting
[Target coordinates] and performing operation
Time
referenced to [Origin coordinates].
Select the single/position/incremental mode for setting the movement distance from the
current position as [Target coordinates] and performing operation (e.g. fixed inching feed)
referenced to the current position.
• When the stop sensor is enabled, axes move by the
4
TYPES OF PARAMETERS
Speed Stop sensor
specified move when the stop sensor turns ON, and then
stop.
"Stop sensor specified move" (page 4-40)
Time
Specified move
Single/speed/deceleration
The stop sensor is used to control speed.
• "Return" is always off.
Speed
(1) When the next point is not set, axis movement
decelerates when the stop sensor turns ON and comes (1)
to a stop.
• Position control (incremental only) speed control can be Time
Stop sensor ON
set as the next point.
Speed
(2) In this example, continuous operation is set to "Cont-2" Next point
and the next point is set, and this is faster than the (2)
current speed.
Time
(3) This example is the same as above, and the setting is Stop sensor ON
slower than the current speed.
Speed
Excess pulses
Single/speed/fixed inching (3)

Next point
The stop sensor is used to control speed.
Select this to move the axes by the specified amount Time
Stop sensor ON
and then stop axis movement after the stop sensor is
actuated.
• When the specified move is a small value, axis movement sometimes stops without falling to
the startup speed. "Stop sensor specified move" (page
Speed Stop sensor ON!
4-40)
• [Stop sensor specified move] is the incremental
coordinates from when the stop sensor turns ON up to
deceleration stop of the axes. Time
Stop after
• [Continuous operation] cannot be set. (Becomes standby fixed inching
even if set.)
• "Return" is always off.
Linear/position/absolute, Linear/position/incremental
Y-axis Target
Multiple axes in the unit are controlled simultaneously. coordinates
The path of axis movement is linear.

Select the Linear/position/absolute mode when setting
[Target coordinates] and performing operation
referenced to [Origin coordinates]. X-axis
Select the Linear/position/incremental mode for setting
the movement distance from the current position as [Target coordinates] and performing
operation referenced to the current position.
4-37
Target coordinates
During single operation Default: 0 Setting range: -99999999 to 99999999, i-0 to i-15
Specifies the target (move destination) coordinates. In each of the single/position/absolute and
single/position/incremental modes, [Target coordinates] can be set to each individual axis.
● Setting method
• With single/speed/deceleration, the operating direction is specified for [Target coordinates].
4 By 0 and a plus value, axis movement is in the CW direction, and by a minus value, axis
movement is in the CCW direction.
TYPES OF PARAMETERS
• With single/position/absolute, when [Target coordinates] is the same as the current

coordinates, or even when the move is 0, for example, when 0 is currently set to [Target
coordinates] in single/position/incremental, axes only do not move, and only associated
functions (e.g. move completed relay) are executed.
• The incremental move number of pulses after conversion to pulse is restricted to the range -
2147483648 to +2147483647. When a value exceeding this in a single operation is moved,
divide up and set movement into multiple points, and perform continuous operation.
• When performing operation in the Cont-1 and Cont-2 modes after speed control is changed to
position control, set the target coordinates using incremental coordinates. An error occurs
when the target coordinates are set using absolute coordinates.
X1 axis target coordinates Y1 axis target coordinates (during linear interpolation operation)
X2 axis target coordinates Y2 axis target coordinates Default: 0
Setting range: -99999999 to 99999999, i-0 to i-15
Specifies the target (move destination) coordinates.
Settings are required for all interpolated axes.
Set this item when either of the linear/position/absolute or linear/position/incremental
modes is selected.
● Setting method
• In the case of linear interpolation, only associated functions (e.g. M code output or dwell time)
are executed even if the move on all movement axes is 0.
• The number of pulses after conversion to pulse is restricted to the range -2147483648 to
+2147483647. When a value exceeding this in a single operation is moved, divide up and set
movement into multiple points, and perform continuous operation.
4-38
Speed No. Default: 1 Setting range: 1 to 16, i-0 to i-15

Specify the run speed by a [Speed parameter] No.
Operation is performed at the speed currently stored to [Speed parameter] of that No.
● Setting method
In the case of indirect specification, the value currently stored to the data memory of the indirect
specification No. becomes the speed. Note that this is not the speed No.
• With linear motion, this becomes the peripheral velocity (vector speed). 4
The run speed is controlled so that the time it takes to execute one point becomes 10 ms or
TYPES OF PARAMETERS
more.
For example, the speed of the X1 axis in 2-axis linear interpolation operation becomes the
speed calculated by the following formula:
X1 move Y-axis speed

Specified by
X1 axis speed = x speed speed No.
X1 move2 + Y1 axis move2
X-axis speed
In case of X2, Y2 axes
X2 move
X2 axis speed = x speed
X2 move2 + Y2 axis move2
In case of 3 axes
X1 move
X1 move2 + Y1 axis move2 + X2 move2
In case of 4 axes
X1 move
X1 move2 + Y1 axis move2 + X2 move2+ Y2 axis move2
4-39
Stop sensor enable Default: blank (off) Setting range: blank (off), on
Sets whether to enable or disable the stop sensor during position control. The stop sensor is
enabled when the run mode is single/speed control. Stop sensor enabled/disabled can be
selected only in the case of the single/position/incremental mode.
Stop sensor specified move Default: 0 Setting range: 0 to 99999999

Set the move after stop sensor actuation. Speed
4 This move becomes valid only when the operation is

performed in the single/speed control and Startup speed
TYPES OF PARAMETERS
single/position/incremental or absolute modes. Time

Stop sensor ON! Specified move
Set this parameter after setting "stop sensor enable".
• [Stop sensor specified move] is the incremental
coordinates from when the stop sensor turns ON up to
deceleration stop of the axes.
When the specified move is 0, axis movement stops immediately. When specified move is set
to a small value, the run speed sometimes does not slow down to the startup speed.
• Set a value equivalent to 4 ms or more as the specified move. When the value is less than 4
ms, a pulse is output for a maximum of 4 ms.
"Stop sensor" (page 3-8)
● Other method of use
No leads are wired to the stop sensor input of the connector, and I/O relays can be used to
cause axis movement to stop at the specified move. (In the case of the KV-H20S X1 axis, the I/O
relays used as the stop request relay n+8 03 and the stop request accept relay n+2 03 .)
ON
Stop request accept relay
( 03) OFF
ON
Stop request relay
( 03) OFF
Note
When the stop request relay is used, the response may be delayed by the total
of the "CPU scan time and the scan time (1 to 10 ms) of the KV-H20S/H40S."
4-40
Dwell time Default: 0 Setting range: -32000 to 32000 (unit: ms), i-0 to i-15
Set the time that axis operation stops (stands by) until the next operation after [Target
coordinates] is reached.
● Setting method
When setting a time to allow vibration on the workpiece to settle down after completion of
movement, set a plus value.
When starting movement after an external device has been operated, set a minus value.
4
Example of when a plus value is set.
TYPES OF PARAMETERS
Operation instruction ON
• Axis movement stands by for the specified time OFF
Pulse output Output in progress

after end of operation.
ON
Servo end
OFF
ON
Example of when a minus value is set. Dwell in progress OFF
Dwell time
• Axis movement stands by for the specified time

Operation instruction ON
before operation is started. OFF
Pulse output Output in progress
• When point parameters specified with "Cont-1" Servo end

OFF
ON
and "Cont-2" are operated in blocks in the Dwell in progress ON

OFF
[Continuous mode], the dwell time currently set Dwell time
to the point parameter midway during operation is ignored, and the dwell time of the point
parameter from which block operation was started finally becomes the valid dwell time.
Speed
Point 1 Point 2 Point 3
Time
Dwell Dwell Dwell time
ignored ignored of point 1
Pulse output Output in progress Output in progress Output in progress Output in progress
• When a minus value is set, the dwell time is Normal Return Repeat Return
Dwell time
ignored before [Return] and [Repeat] are
No No No
executed. Operation start dwell dwell dwell
4-41
Return operation and continuous operation

other than speed control Default: off Setting range: off, on
Specifies the function for returning to the original position after Speed Standby here during
single operation
completion of operation.
Time
This parameter cannot be set in the (return)
single/speed/deceleration and single/speed/fixed inching

modes.
4 ● Select from the following settings:
Y-axis
Standby here during
linearinterpolation Y-axis
Return when wait cancel
relay is turned ON
on: Operation stands by after the target coordinates are
TYPES OF PARAMETERS
reached.
The original coordinates are returned to when the wait (return)
cancel relay is ON. When the wait cancel relay is OFF,

X-axis X-axis
operation stands by for the relay to turn ON.
• After the original coordinates are returned to, the
Speed
wait cancel relay is confirmed and the operation Next point
is executed again if there is a next point.

• This parameter is forcibly turned off when Time
[Continuous operation mode] is set to "Cont-1 Wait cancel relay ON

OFF
and Cont-2". (Return and repeat are not
executed.) Also, when [Return] is set to ON, [Continuous operation mode] forcibly becomes
"Ready". Return ON and Cont-1/Cont-2 cannot be selected at the same time.
• When point 1 changes to point 2, and point 2 is a repeated operation, set [Continuous mode]
for both points 1 and 2 to "Ready".
off: Operation stands by after the target coordinates are reached. When the wait cancel relay is
ON, [Next point No.] is executed. Operations stays in a standby state for the duration that
the wait cancel relay is OFF.
• When [Continuous operation mode] is [Cont-1/2], the wait cancel relay is ignored.
Y-axis Standby here Y-axis
Next point
X-axis X-axis
4-42
Repeat count
other than speed control Default:0 Setting range: 0 to 65000, i-0 to i-15
Specify the number of times that additional operation (palletizing operation) up to the specified
position after [Target coordinates] are reached is to be performed.
Operation is possible in the single/position/absolute, single/position/incremental,
linear/position/absolute, or linear/position/incremental modes.
● Setting method
Take the following into consideration when setting this item. 4
• When 0 is set, repeated operation is not performed.
TYPES OF PARAMETERS
• When 65000 is set, repeated operation is performed endlessly.
• [Repeat incremental move] is performed for the number of set times.
• Repeated operation is not possible in the single/speed/deceleration and single/speed/fixed
inching modes.
• When the continuous mode is Cont-1 or Cont-2, an error is generated. Set to standby.
Repeat incremental move single position control Default: 0

Setting range: -99999999 to 99999999 (unit: mm, deg, PLS), i-0 to i-15
Specify the move to be performed in additional operation in incremental values referenced to
[Target coordinates].
The destination moved to by [Repeat incremental move] becomes the new [Target
coordinates], and operation is repeated.
● Setting method
• This parameter is valid when [Repeat count] is set to a value of 1 or more, and [Continuous
mode] is "Ready".
• The wait cancel relay is also monitored when repeated operation is started.
• In the case of return operation, the move changes by "target coordinates + repeat incremental
move x repeat count".
Repeat incremental move during linear interpolation Default: 0

Setting range: -99999999 to 99999999 (unit: mm, deg, PLS), i-0 to i-15
Specify the move to be performed in additional operation in incremental values referenced to
[Target coordinates].
The destination moved to by [Repeat incremental move] becomes the new [Target
coordinates], and operation is repeated. Specify the parameters of all axes that are associated
with linear interpolation operation.
● Setting method
• This parameter is valid only when [Repeat count] is set to a value of 1 or more, and
[Continuous mode] is "Ready".
• The operation standby relay is also monitored when repeated operation is started.
• In the case of return operation, the move changes by "target coordinates + repeat incremental
move x repeat count".
4-43
Next point No. Default: 0 Setting range: 0 to 400 (H20S), 0 to 200 (H40S)
When setting operation by multiple point parameters, specify [Point No.] of the next point
parameter to [Next point No.].
When 0 is set, the next point is not executed.
● Setting method
Example When [Next point No.] of point No.1 is "2",

4 [Next point No.] of point No.2 is "3", and
[Next point No.] of point No.3 is "0"
TYPES OF PARAMETERS
Y-axis Y-axis Y-axis
Point No.1 Point No.2 Point No.3
X-axis X-axis X-axis
Y-axis
Point No.1
Point No.3
Point No.2
X-axis
• In the speed control mode, execution to the next point becomes possible after the stop sensor
turns ON (in fixed inching feed, after deceleration stop).
• When execution of the next point straddling the X- and Y-axes is performed, or execution of the
next point specified with a mixture of single operation and linear interpolation is performed, an
error is generated.
4-44
Continuous mode Default: Ready (standby) Setting range: Ready, Cont-1, Cont-2
Set how migration to operation of [Next point No.] is to be performed after the target
coordinates are reached.
Ready: Standby A deceleration stop is performed once, and if the wait cancel relay is ON,
repeated operation or next point is executed.
Cont-1: Continuous 1 A deceleration stop is performed once, however, next point operation is
continued seamlessly. Repeated operation is not performed. 4
Cont-2: Continuous 2 Axis movement accelerates or decelerates to the speed of the next point
TYPES OF PARAMETERS
and operation is continued seamlessly without performing a deceleration stop. Note,
however, that if the direction of movement of the next point is the opposite direction,
operation is the same as Cont-1.
• Operation in the Cont-1 and Cont-2 modes is called "block operation."
Standby
Axis movement decelerates and stops once, Speed
and stands by for the next instruction. If the

wait cancel relay is ON, repeated operation
or next point is executed. Time
ON
Wait cancel relay
OFF
Cont-1
After [Target coordinates] is reached, axis Speed
movement decelerates once to [Startup speed]

and comes to a stop, and axis movement is
[Run startup speed]
continued to [Target coordinates] specified by Time
Deceleration stop once
[Next point].
• In the single/speed/fixed inching mode, the next point is executed after a deceleration stop
(standby) is performed.
• In the Cont-1 and Cont-2 mode, the run speed is limited so that the time for executing one
point becomes 10 ms or more to read the next point parameter.
Cont-2 Speed
After [Target coordinates] is reached, axis

movement is continued to [Target coordinates]
specified by [Next point] without axis movement Time
Axis movement is not stopped
stopping.
• When the move is 0, that point is ignored, and then the next point is executed. An error also
occurs when the move for three continuous points is 0.
• In the single/speed/fixed inching mode, the next point is executed after a deceleration stop
(standby) is performed.
• In the Cont-1 and Cont-2 mode, the run speed is limited so that the time for executing one
point becomes 10 ms or more to read the next point parameter.
4-45
• When the speed of the next point is lower than the current Speed
speed, axis movement decelerates at the current point to

the speed of the next point.
Time
Point No.1 Point No.2
• When the speed of the next point is higher than the Speed
current speed, axis movement accelerates at next point
4 from the current speed to the speed of the next point.

Time
TYPES OF PARAMETERS
Point No.1 Point No.2
• Operation is as follows in each of the single/position/absolute, single/position/incremental,

single/speed/deceleration, and single/speed/fixed inching modes.
• In the single/position and single/speed modes, operation is the same as "Cont-1" when the
direction of movement at the next point is inverted (to the opposite direction). Also, the run
speed is the same as the operation when the same point is operated in "Cont-1".
Speed Speed
Cont-1 Cont-2
Time Time
Triangular drive
• With linear interpolation operation, axis movement never

Y-axis
No deceleration here in linear
decelerates to the startup speed even if the direction of interpolation operation
movement at the next point changes. Note that the
speed of each axis might change considerably as the
composite speed is maintained at a fixed speed. When
machine vibration or other phenomena are a problem,
set to "Cont-1". X-axis
• When the operation shown in the figure on the right is Y-axis

(100, 1000) (1000, 1000)
performed, operation is accompanied by a sudden stop
on the X- or Y-axis. For this reason, perform operation
in the "Cont-1" mode, or restart operation after stopping
operation once at each corner by a sequence program.
(100, 100) (1000, 100)
X-axis
M code No. Default: 0 Setting range: 0 to 255

This is the No. when M codes are output.
When 0 is set, M codes are no longer output.
4-46
M code mode Default: WITH Setting range: WITH, AFTER

Sets the timing that M codes are output. Select "WITH" or "AFTER". WITH outputs M codes at
the start of operation, and AFTER outputs M codes after completion of operation.
When 0 is set to [M code No.], this function is ignored.
● Select from the following settings: The default is "WITH".
WITH: At the start of operation, the M code output in progress relay turns ON, and the specified
[M code No.] is output. The M code output in progress relay turns OFF when the M code
OFF instruction turns ON. 4
TYPES OF PARAMETERS
Start of operation Relay turns OFF by M code OFF instruction.
(State does not change at end of operation.)
Movement in progress Movement in progress
ON
M code output in progress relay
OFF
M code OFF instruction ON
OFF
Output of M code No. Output in progress
• M codes can be output during block operation (next point operation).

• M codes are output also at the start of return operation and repeated operation. However, the
return operation and repeated operation are executed only after the M code OFF instruction is
issued. When the M code OFF instruction is turned OFF, operation continues by execution of
return operation and repeated operation.
Return is put on hold as the M code

output in progress relay is ON.
Operation action Operation in progress Return Repeat Return
ON (2)
OFF
ON (3)
M code OFF instruction
OFF
(1) The next M code is not output
and is put on hold as the M code
OFF instruction continues to be stay ON.
Output of M code No. Output in progress Output in progress

(1) The M code output relay turns ON as the M code OFF instruction turned OFF
while the M code output in progress relay was on hold.
(2) During repeated operation, the M code output in progress relay is turned OFF
by the M code OFF instruction.
(3) At the next return operation, the M code output in progress relay is turned
OFF, and operation advances to the return operation immediately after
repeated operation as the M code OFF instruction is OFF.
• Operation is as follows when a minus value is set to the dwell time:

ON
Pulse
OFF
ON
Dwell
OFF
ON
OFF
ON
OFF
AFTER: At the end of operation, the M code output in progress relay turns ON, and the
specified [M code No.] is output.
• The relay turns ON also when axis movement is stopped in the
single/speed/deceleration and single/speed/fixed inching modes.
• The M code output in progress relay is held in an ON state until it is turned OFF by
the M code OFF instruction.
4-47
Completion of To next point

movement
Movement in progress Movement in progress Movement in progress
ON
OFF
ON
OFF
• In block operation, the M code of the initial point No. is output after completion of positioning.
4 Set the M code mode for all points in block operation to AFTER.
• In block operation, when M codes are output in the WITH mode at a midway point even if
TYPES OF PARAMETERS
output in the AFTER mode is specified at the initial point, M code output is not performed in
the AFTER mode after completion of positioning.
• Operation is as follows when a plus value is set to the dwell time:
ON
Pulse
OFF
ON
Dwell
OFF
ON
OFF
Zero start Default: blank (off) Setting range: blank (off), on

In this parameter set whether to enable or disable input signals for each of the multiple axes that
are started up simultaneously. The zero start function is used to perform a simultaneous startup
without a time delay on multiple axes.
Set all axes to be started up simultaneously to "on."
When the zero start function is used, the startup time can be considerably shortened by setting
the target axes to a zero start standby state.
There are two startup methods from a standby state.
• Zero start input (ZeroST input)
Each axis has an input terminal, and can be started up by an external input.
Pulse output is started at the fastest response time.
With respect to response time, for details on the time constants of input circuits
"Semi-high speed time constant" (page 4-22) and for details on ZeroST input, "3-3
Wiring I/O Connectors" (page 3-5)
• Operation start relay
A delay of the "CPU Unit scan time + KV-H20S/H40S scan time" occurs. The time up to
startup can be shortened by the determined amount preset to the operation settings.
• The time up to standby after the zero start request is sometimes longer than the time up to
pulse startup by a regular operation start.
• In the case of linear interpolation operation, enable the zero start terminal item for the
interpolated spindle.
• This setting is valid in operation starts by a specified point No.
• When the next point is specified, and "Ready" is set, pulse output starts by the "zero start
input" after the wait cancel and M code output cancel relay are turned ON.
When "Cont-1" and "Cont-2" are set, the zero start function can be used only at the initial
point.
4-48
1
5 MAKING LADDER PROGRAMS
5-1 List of Devices
List of I/O Relays
The following lists show the names and functions of I/O relays that are assigned to the KV-
H20S/H40S.
The number of relay points is 192 points on the KV-H20S and 384 points on the KV-H40S.
List of input relays
The same functions are assigned to input relays on each axis (excluding some functions). 5
Input relays are turned ON/OFF by the KV-H20S/H40S. Input relays indicate the operating state
MAKING LADDER PROGRAMS

of the KV-H20S/H40S and the state of signals received from the KV-H20S/H40S.
Note
All input relays sometimes turn OFF until an operation enable relay turns ON.
Be sure to make sure that an operation enable relay will turn ON.
■ Conventions used in these tables

n is the leading relay (leading channel) assigned to the KV-H20S/H40S.
When the leading relay No. on the KV-H20S/H40S set in Unit Editor on KV STUDIO/KV
BUILDER is R30000(300ch), this means that n is 30000, n 01 is 30001, n+1 00 is
30100, and so forth.
List of input relays
Relay No.
Relay Name and Function See page
H20S H40S
X1 n 00 X1 n 00 Operation enable 6-11
Y1 n+3 00 Y1 n+3 00 OFF: State in which operation of KV-H20S/H40S is not enabled, for
example, during initial setup. In other words, communications is not
X2 n+6 00 established with the CPU Unit. Though relays turn ON/OFF, writing to
Y2 n+9 00 memory for communications is not performed. This relay also turns
OFF when the operation enable relay is OFF.
ON: Initial setup is completed, and communications is being performed
normally with the CPU Unit.
X1 n 01 X1 n 01 Movement in progress
Y1 n+3 01 Y1 n+3 01 OFF: The KV-H20S/H40S is not running. This state also includes servo 6-27
ready standby, dwell in progress, M code OFF instruction standby, 6-34
X2 n+6 01 and zero start standby in progress.
Y2 n+9 01 ON: The relay turns ON during pulse output (regular operation in progress, 6-63
jog operation in progress, origin return in progress), and during the 6-64
servo end check. During linear interpolation, the movement in
progress relay of both the X- and Y-axes turns ON. In interpolation
operation, the relay continues to stay ON even if the speed of either
the axes becomes 0. During switching from repeated operation to
return operation, the relay turns OFF by about the startup time. This
relay does not turn OFF in block operation. When the movement in
progress relay is loaded to the sequence program, a delay of about
the scan time occurs. For this reason, output of the movement in
progress relay is sometimes more delayed than the pulse output.
5-1
5-1 List of Devices
List of input relays (continued)
Relay No.
H20S H40S
X1 n 02 X1 n 02 Return execution in progress 6-64
Y1 n+3 02 Y1 n+3 02 OFF→ON: The relay turns ON when return operation is started. This relay continues to
X2 n+6 02 stay ON even if return operation is completed and stopped. During linear
Y2 n+9 02 interpolation, the return execution in progress relay of each axis turns ON.
ON→OFF: This relay turns OFF in operations other than return operation (e.g. regular
operation, repeated operation, jog operation).
5 X1 n 03
Y1 n+3 03
X1 n 03
Y1 n+3 03
Dwell in progress
ON: This relay turns ON during a dwell or servo end check. During linear interpolation,
6-64
X2 n+6 03 only the dwell in progress relay for the interpolated spindle turns ON.
Y2 n+9 03
X1 n 04 X1 n 04 Repeat cancel completed 6-30
Y1 n+3 04 Y1 n+3 04 OFF: The repeat cancel completed relay turns OFF when the repeat cancel relay turns
X2 n+6 04 OFF.
Y2 n+9 04 ON: The repeat cancel completed relay turns ON when the repeat cancel relay turns
ON.
X1 n 05 X1 n 05 Positioning completed 6-30
Y1 n+3 05 Y1 n+3 05 OFF→ON: This relay turns ON when operation is completed. The positioning 6-65
X2 n+6 05 completed relay turns ON only when point execution ends, and the next point
Y2 n+9 05 No. is 0 (OFF). The positioning completed relay also turns ON when the standby
cancel relay is OFF or when a M code is ON. The positioning completed relay
does not turn ON when jog operation, forced deceleration stop and emergency
stop have been performed. The positioning completed relay turns ON when
operation is restarted after a forced deceleration stop is performed.
ON→OFF: This relay turns OFF when operation is restarted.
X1 n 06 X1 n 06 Error in progress relay 6-12

Y1 n+3 06 Y1 n+3 06 OFF→ON: This relay turns ON when an error occurs. 6-25
X2 n+6 06 ON→OFF: This relay turns OFF when all errors are cleared or the next error is not for
Y2 n+9 06 the axis.
X1 n 07 X1 n 07 M code output in progress 6-32
Y1 n+3 07 Y1 n+3 07 OFF→ON: This relay turns ON when a point is executed in the WITH mode. This relay
X2 n+6 07 turns ON when point execution is completed in the AFTER mode. During linear
Y2 n+9 07 interpolation, only the M code output in progress relay for the interpolated
spindle turns ON.
ON→OFF: This relay turns OFF when the M code OFF instruction relay turns ON.
X1 n 08 X1 n 08 Origin return in progress 6-15

Y1 n+3 08 Y1 n+3 08 OFF→ON: This relay turns ON when the origin return relay turns ON. This relay also
X2 n+6 08 turns ON when a origin return has been performed in the test mode by the KZ-
Y2 n+9 08 HP1/KV-HPD1 or when an automatic origin return has been performed.
ON→OFF: This relay turns OFF when origin return ends. Note, however, that this relay
stays ON for the duration that the origin return relay is ON.
5-2
5-1 List of Devices
Relay No.
H20S H40S
X1 n 09 X1 n 09 Move to home position in progress 6-37
Y1 n+3 09 Y1 n+3 09 OFF→ON:This relay turns ON when the move to home position relay turns
X2 n+6 09 ON. This relay also turns ON when a move to home position has
Y2 n+9 09 been performed in the test mode by the KZ-HP1/KV-HPD1 or when
an automatic move to home position has been performed.
ON→OFF: This relay turns OFF when the move to home position ends.
Note, however, that this relay stays ON for the duration that the
move to home position relay is ON. 5
X1 n 10 X1 n 10 Operation start request accept 6-17

Y1 n+3 10 Y1 n+3 10 OFF: This relay turns OFF when the operation start relay or operation 6-28
X2 n+6 10 restart relay turns OFF. 6-30
Y2 n+9 10 ON: This relay turns ON when the operation start relay or operation restart
relay turns ON.
X1 n 11 X1 n 11 Servo end input state 6-68
Y1 n+3 11 Y1 n+3 11 OFF: This indicates that the signal on the SVEND input terminal is OFF.
X2 n+6 11 ON: This indicates that the signal on the SVEND input terminal is ON.
Y2 n+9 11 *This is the signal ON/OFF state after polarity switching.
X1 n 12 X1 n 12 Driver alarm input state 6-68
Y1 n+3 12 Y1 n+3 12 OFF: This indicates that the signal on the ALM input terminal is OFF.
X2 n+6 12 ON: This indicates that the signal on the ALM input terminal is ON.
Y2 n+9 12 * This is the signal ON/OFF state after polarity switching.
X1 n 13 X1 n 13 Servo ready input state 6-67
Y1 n+3 13 Y1 n+3 13 OFF: This indicates that the signal on the SVRDY input terminal is OFF.
X2 n+6 13 ON: This indicates that the signal on the SVRDY input terminal is ON.
X1 n 14 X1 n 14 CW limit switch state 6-69
Y1 n+3 14 Y1 n+3 14 OFF: This indicates that the signal on the CW LSW input terminal is OFF.
X2 n+6 14 ON: This indicates that the signal on the CW LSW input terminal is ON.
Y2 n+9 14 When operation is performed in the CW direction with this relay ON,
a limit error is generated.
* This is the signal ON/OFF state after polarity switching.
X1 n 15 X1 n 15 CCW limit switch state 6-69
Y1 n+3 15 Y1 n+3 15 OFF: This indicates that the signal on the CCW LSW input terminal is OFF.
X2 n+6 15 ON: This indicates that the signal on the CCW LSW input terminal is ON.
Y2 n+9 15 When operation is performed in the CCW direction with this relay ON,
a limit error is generated.
* This is the signal ON/OFF state after polarity switching.
X1 n+1 00 X1 n+1 00 Point parameter write completed 5-28
Y1 n+4 00 Y1 n+4 00 OFF→ON:This relay turns ON when the point parameter write request relay
X2 n+7 00 turns ON and writing is completed.
Y2 n+10 00 ON→OFF:This relay turns OFF when the point parameter write request
relay turns OFF.
X1 n+1 01 X1 n+1 01 System parameter write completed 5-32
Y1 n+4 01 Y1 n+4 01 OFF→ON:This relay turns ON when the system parameter write request
X2 n+7 01 relay turns ON and writing is completed.
Y2 n+10 01 ON→OFF:This relay turns OFF when the system parameter write request
relay turns OFF.
5-3
5-1 List of Devices
Relay No.
H20S H40S
X1 n+1 02 X1 n+1 02 Speed parameter write completed 5-36
Y1 n+4 02 Y1 n+4 02 OFF→ON:This relay turns ON when the speed parameter write request
X2 n+7 02 relay turns ON and writing is completed.
Y2 n+10 02 ON→OFF:This relay turns OFF when the speed parameter write request
relay turns OFF.
X1 n+1 03 X1 n+1 03 Point parameter read completed 5-28
5 Y1 n+4 03 Y1
X2
n+4
n+7
03
03
OFF→ON:This relay turns ON when the point parameter read request relay
turns ON and reading is completed.
Y2 n+10 03 ON→OFF:This relay turns OFF when the point parameter read request
relay turns OFF.

X1 n+1 04 X1 n+1 04 System parameter read completed 5-32
Y1 n+4 04 Y1 n+4 04 OFF→ON:This relay turns ON when the system parameter read request
X2 n+7 04 relay turns ON and reading is completed.
Y2 n+10 04 ON→OFF:This relay turns OFF when the system parameter read request
relay turns OFF.
X1 n+1 05 X1 n+1 05 Speed parameter read completed 5-36
Y1 n+4 05 Y1 n+4 05 OFF→ON:This relay turns ON when the speed parameter read request
X2 n+7 05 relay turns ON and reading is completed.
Y2 n+10 05 ON→OFF:This relay turns OFF when the speed parameter read request
relay turns OFF.
X1 n+1 06 X1 n+1 06 Current coordinates write completed
Y1 n+4 06 Y1 n+4 06 OFF→ON:This relay turns ON when the current coordinates write request
X2 n+7 06 relay turns OFF.
Y2 n+10 06 ON→OFF:This relay turns OFF when the current coordinates write request
relay turns OFF.
X1 n+1 07 X1 n+1 07 Speed change completed 6-52
Y1 n+4 07 Y1 n+4 07 OFF→ON:This relay turns ON when the speed change request relay turns
X2 n+7 07 ON.
Y2 n+10 07 ON→OFF:This relay turns OFF when the speed change request relay turns
OFF.
X1 n+1 08 X1 n+1 08 (reserved for system)
Y1 n+4 08 Y1 n+4 08
X2 n+7 08
Y2 n+10 08
X1 n+1 09 X1 n+1 09 Teaching completed 6-55
Y1 n+4 09 Y1 n+4 09 OFF→ON:This relay turns ON when the teaching request relay turns ON.
X2 n+7 09 ON→OFF:This relay turns OFF when the teaching request relay turns OFF.
Y2 n+10 09
X1 n+1 10 to 12 X1 n+1 10 to 12 (reserved for system)

Y1 n+4 10 to 12 Y1 n+4 10 to 12
X2 n+7 10 to 12
Y2 n+10 10 to 12
X1 n+1 13 X1 n+1 13 Origin sensor input state 6-69
Y1 n+4 13 Y1 n+4 13 OFF:This indicates that the origin sensor is OFF.
X2 n+7 13 ON: This indicates that the origin sensor is ON.
5-4
5-1 List of Devices
Relay No.
H20S H40S
X1 n+1 14 X1 n+1 14 Stop sensor input state 6-69
Y1 n+4 14 Y1 n+4 14 OFF: This indicates that the stop sensor is OFF.
X2 n+7 14 ON: This indicates that the stop sensor is ON.
X1 n+1 15 X1 n+1 15 KZ-HP1/KV-HPD1 test screen displayed 6-54

Y1 (reserved for system) Y1 (reserved for system) OFF: This relay turns OFF when the KZ-HP1/KV-HPD1 is in one of the
X2 (reserved for system)
Y2 (reserved for system)
following states:
• The KZ-HP1/KV-HPD1 is not connected.
5
• Menu screen or Help mode

• Screen other than the test mode or jog (teaching) mode
• Key lock is active.
ON: This relay turns ON when the KZ-HP1/KV-HPD1 is in one of the
following states:
• The KZ-HP1/KV-HPD1 is connected, the screen is the test mode or
jog (teaching) mode and the key lock is OFF.
• The KV-HPD1 is connected, the screen is the JOG/TEACH screen,
and the key lock is ON (possible only for jog).
X1 n+2 00 X1 n+2 00 Flash ROM write completed 5-27

Y1 (reserved for system) Y1 (reserved for system) OFF→ON:This relay turns ON when writing of parameters to flash ROM is 5-28
X2 (reserved for system) completed. 5-32
Y2 (reserved for system) ON→OFF:This relay turns OFF when the flash ROM write request relay 5-36
turns OFF.
X1 n+2 01 X1 n+2 01 Zero start standby in progress 6-34

Y1 n+5 01 Y1 n+5 01 ON: This relay turns ON when a zero start standby is in progress.
When one of the following conditions is established when the zero
X2 n+8 01
start standby in progress relay is ON, pulse output is started, and the
Y2 n+11 01 zero start standby in progress relay turns OFF.
• The operation start relay changes state from OFF to ON.
• The zero start (ZEROST) input changes state from OFF to ON.
Also, when a deceleration stop or zero start standby cancel is
performed during zero start standby, the zero start standby in
progress relay turns OFF, and the state is no longer a zero start
standby in progress state.
OFF: This relay is OFF when the state is not a zero start standby in
progress state.
X1 n+2 02 X1 n+2 02 Zero start request accept 6-34
Y1 n+5 02 Y1 n+5 02 OFF→ON:The zero start request accept relay turns ON when the zero start
X2 n+8 02 request relay turns ON.
Y2 n+11 02 ON→OFF:The zero start request accept relay turns OFF when the zero
start request relay turns OFF.
X1 n+2 03 X1 n+2 03 Stop request accept 5-29
Y1 n+5 03 Y1 n+5 03 OFF→ON:The stop request accept relay turns ON when the stop request
X2 n+8 03 relay turns ON.
Y2 n+11 03 ON→OFF:The stop request accept relay turns OFF when the stop request
relay turns OFF.
Y1 n+5 04 to 15 Y1 n+5 04 to 15
X2 n+8 04 to 15
Y2 n+11 04 to 15
5-5
5-1 List of Devices
List of output relays

The same functions are assigned to output relays on each axis (excluding some functions).
Output relays are turned ON/OFF by the sequence program.
Note
• The initial state of all output relays is OFF at the moment that the KV-
H20S/H40S is turned ON. When making a sequence program, pay attention to
handling of relays to be controlled at the up edge. Even output relays that
turn ON immediately after the CPU Unit is set to the Run mode are regarded
as relays that turn ON from an OFF state.
5 • When output refreshing is set to OFF on the CPU Unit, all output relays on
the KV-H20S/H40S turn OFF. When output refreshing is turned OFF during
operation, axis movement decelerates and comes to a stop.
• The KV-H2S parses output relays in the order Y1 axis output relays followed
by X1 axis output relays.
The KV-H40S parses output relays in order Y2, X2, Y1 and then X1.

n is the leading relay (leading channel) assigned to the KV-H20S/H40S.
When the leading relay No. on the KV-H20S/H40S set in Unit Editor on KV STUDIO/KV
BUILDER is R30000(300ch), this means that n+6 00 is 30600, n+6 01 is 30601, n+7 00 is
30700 respectively on the X-axis.
List of output relays
Relay No.
H20S H40S
X1 n+6 00 X1 n+12 00 Operation enable 6-8
Y1 n+9 00 Y1 n+15 00 OFF:Output relays other than the forced stop relay and deceleration stop 6-11
X2 n+18 00 relay are ignored. This relay forcibly turns the operation enable relay
Y2 n+21 00 OFF.
ON: Other output relays are enabled.
ON→OFF:Deceleration stop is performed if operation is in progress.
X1 n+6 01 X1 n+12 01 Forced stop 6-24
Y1 n+9 01 Y1 n+15 01 OFF→ON:An emergency stop is performed. All axes stop, and the
X2 n+18 01 emergency stop error is generated. The movement in progress, return
Y2 n+21 01 execution in progress and dwell in progress relays are turned OFF.
X1 n+6 02 X1 n+12 02 Deceleration stop
Y1 n+9 02 Y1 n+15 02 OFF→ON:A deceleration stop is performed forcibly if operation is in
X2 n+18 02 progress or pulse output is in progress (e.g. origin return). The 5-28
Y2 n+21 02 movement in progress relay is turned OFF after the deceleration stop. 5-33
In linear interpolation, only the interpolated spindle is enabled. 5-36
After a deceleration stop, dwell time is ignored. The state of M code output
does not change.
5-6
5-1 List of Devices
List of output relays (continued)
Relay No.
H20S H40S
X1 n+6 03 X1 n+12 03 Operation start

Y1 n+9 03 Y1 n+15 03 OFF→ON:Operation is started from the specified point No. The operation
X2 n+18 03 start relay is ignored if operation, jog operation, move to home position,
Y2 n+21 03 or origin return is already in progress. When the operation start relay
turns ON, the operation start request accept relay turns ON, and the
positioning completed relay turns OFF. When operation is completed,
the positioning completion relay turns ON.
In linear interpolation, only the interpolated spindle is enabled. 5
ON→OFF:When operation start turns OFF, the operation start request

accept relay turns OFF.
X1 n+6 04 X1 n+12 04 Standby cancel

Y1 n+9 04 Y1 n+15 04 OFF:A standby is performed without performing a return operation, repeated
X2 n+18 04 operation, and next point operation. Set the wait cancel relay to OFF to
Y2 n+21 04 pause return operation or repeated operation.
ON: A standby is performed immediately without standing by for a return
operation, repeated operation, and next point operation. The wait
cancel relay is a level sense relay (i.e. no standby for the duration that
the relay is ON).
In linear interpolation, only the interpolated spindle is enabled.
X1 n+6 05 X1 n+12 05 Operation restart
Y1 n+9 05 Y1 n+15 05 OFF→ON:Operation is performed up to the target coordinates when the
X2 n+18 05 operation restart relay is turned ON after a forced deceleration stop.
Y2 n+21 05 The operation start request accept relay turns ON.
ON→OFF:When operation restart turns OFF, the operation start request
accept relay turns OFF.
X1 n+6 06 X1 n+12 06 Error clear
Y1 n+9 06 Y1 n+15 06 OFF→ON:The error is cleared and operation is enabled if an error is being
X2 n+18 06 generated. The error relay turns OFF. Errors on both axes are cleared
Y2 n+21 06 if the error clear relay for one of the axes is turned ON. (When multiple
errors are occurring, multiple error clears are required.)
X1 n+6 07 X1 n+12 07 M code OFF instruction

Y1 n+9 07 Y1 n+15 07 OFF→ON:The M code output in progress relay is turned OFF if the M code
X2 n+18 07 output in progress relay is ON at the moment that the M code OFF
Y2 n+21 07 instruction is turned ON. Execution of return operation, continuous
operation and next point is enabled.
ON: If the M code OFF instruction relay is ON, the M code output in
progress relay stands by without turning ON. When the M code OFF
instruction relay turns OFF, the M code output in progress relay turns
ON.
5-7
5-1 List of Devices
Relay No.
H20S H40S
X1 n+6 08 X1 n+12 08 Origin return 6-15

Y1 n+9 08 Y1 n+15 08 OFF→ON:Origin return is performed if operation is in a stopped state when
X2 n+18 08 the origin return relay turns ON. This is ignored if operation is in
Y2 n+21 08 progress. The origin return in progress relay turns ON when origin
return starts.
ON→OFF:If origin return is already completed when the origin return relay
turns OFF, the origin return in progress relay is turned OFF, and the
5 positioning completed relay is turned ON. Note, however, that when
performing an automatic move to home position, the positioning
completed relay turn ON when the move to the home position is

completed after a origin return.
X1 n+6 09 X1 n+12 09 Move to home position 6-37

Y1 n+9 09 Y1 n+15 09 OFF→ON:The move to home position is performed if axis movement has
X2 n+18 09 stopped when this relay turned ON. This is ignored if operation is in
Y2 n+21 09 progress. When the move to the home position is started, the move to
home position in progress relay turns ON.
ON→OFF:If the move to the home position is already completed when the
relay turned OFF, the move to home position in progress relay turns
OFF, and the positioning completed relay turns ON.
X1 n+6 10 X1 n+12 10 Servo ON 6-68
Y1 n+9 10 Y1 n+15 10 OFF:Turns the servo ON output signal (SVON) to the drive unit OFF.
X2 n+18 10 ON:Turns the servo ON output signal ON.
Y2 n+21 10
X1 n+6 11 X1 n+12 11 Driver alarm reset 6-68
Y1 n+9 11 Y1 n+15 11 OFF:Turns the driver alarm reset output signal (ALMRES) to the drive unit
X2 n+18 11 OFF.
Y2 n+21 11 ON:Turns the driver alarm reset output signal ON.
X1 n+6 12, 13 X1 n+12 12, 13 (reserved for system)
Y1 n+9 12, 13 Y1 n+15 12, 13
X2 n+18 12, 13
Y2 n+21 12, 13
X1 n+6 14 X1 n+12 14 Repeat cancel 6-30
Y1 n+9 14 Y1 n+15 14 OFF→ON:When this relay turns ON, the currently executing repeated
X2 n+18 14 operation continues as it is, and subsequent repeated operations are
Y2 n+21 14 not performed. When a return operation is performed after a repeated
operation, axis movement stops after the return operation is
completed. Operation cannot be restarted after repeated operation has
been canceled. The repeat cancel completed relay turns ON when the
repeat cancel relay turns ON.
In linear interpolation, only the relay of the interpolated spindle is
enabled.
ON→OFF:The repeat cancel completed relay turns OFF.

Y1 n+9 15 Y1 n+15 15
X2 n+18 15
Y2 n+21 15
5-8
5-1 List of Devices
Relay No.
H20S H40S
X1 n+7 00 X1 n+13 00 Point parameter write request 5-28

Y1 n+10 00 Y1 n+16 00 OFF→ON:When this relay turns ON, the data in the point parameter area is
X2 n+19 00 written to SRAM on the KV-H20S/H40S as the point parameters of the
Y2 n+22 00 specified point. After writing is completed, the point parameter write
completed relay turns ON. For safety's sake, the point parameter write
request relay is designed to function only for the duration that the
deceleration stop relay is ON. Also, write parameter data to flash ROM
if necessary. 5
ON→OFF:When this relay turns OFF, the point parameter write completed

relay turns OFF.
X1 n+7 01 X1 n+13 01 System parameter write request 5-33

Y1 n+10 01 Y1 n+16 01 OFF→ON:When this relay turns ON, the data in the system parameter area
X2 n+19 01 is written to SRAM on the KV-H20S/H40S as the system parameters.
Y2 n+22 01 After writing is completed, the system parameter write completed relay
turns ON. For safety's sake, the system parameter write request relay
is designed to function only for the duration that the deceleration stop
relay is ON. Also, write parameter data to flash ROM if necessary.
ON→OFF:When this relay turns OFF, writing of system parameters is
completed.
X1 n+7 02 X1 n+13 02 Speed parameter write request 5-36

Y1 n+10 02 Y1 n+16 02 OFF→ON:When this relay turns ON, the data in the speed parameter area
X2 n+19 02 is written to SRAM on the KV-H20S/H40S as the speed parameters.
Y2 n+22 02 After writing is completed, the speed parameter write completed relay
turns ON. For safety's sake, the speed parameter write request relay is
designed to function only for the duration that the deceleration stop
relay is ON. Also, write parameter data to flash ROM if necessary.
ON→OFF:When this relay turns OFF, the speed parameter write completed
relay turns OFF.
X1 n+7 03 X1 n+13 03 Point parameter read request 5-28

Y1 n+10 03 Y1 n+16 03 OFF→ON:Reads the point parameters of a specified point to the point
X2 n+19 03 parameter area on the CPU Unit from the KV-H20S/H40S. After
Y2 n+22 03 reading is completed, the point parameter read completed relay turns
ON.
ON→OFF:When this relay turns OFF, the point parameter read completed
relay turns OFF.
X1 n+7 04 X1 n+13 04 System parameter read request 5-32
Y1 n+10 04 Y1 n+16 04 OFF→ON:When this relay turns ON, the system parameter data is read to
X2 n+19 04 the system parameter area on the CPU Unit from the KV-H20S/H40S.
Y2 n+22 04 After reading is completed, the system parameter read completed relay
turns ON.
ON→OFF:When this relay turns OFF, the system parameter read
completed relay turns OFF.
5-9
5-1 List of Devices
Relay No.
H20S H40S
X1 n+7 05 X1 n+13 05 Speed parameter read request 5-36
Y1 n+10 05 Y1 n+16 05 OFF→ON:When this relay turns ON, the speed parameter data is read to
X2 n+19 05 the speed parameter area on the CPU Unit from the KV-H20S/H40S.
Y2 n+22 05 After reading is completed, the speed parameter read completed relay
turns ON.
ON→OFF:When this relay turns OFF, the speed parameter read completed
relay turns OFF.
5 X1 n+7 06 X1 n+13 06 Current coordinates write request 5-38
Y1 n+10 06 Y1 n+16 06 OFF→ON:When this relay turns ON, the current coordinate values are
X2 n+19 06 written to the KV-H20S/H40S, and the current coordinates write
Y2 n+22 06 completed relay is turned ON. This relay does not function during
operation.
* When the operation start relay turns ON at the same time, the current
coordinates are changed before operation is started.
ON→OFF:When this relay turns OFF, the current coordinates write
completed relay turns OFF.
X1 n+7 07 X1 n+13 07 Speed change request 6-52
Y1 n+10 07 Y1 n+16 07 OFF→ON:This relay function while position control/speed control operation
X2 n+19 07 is in progress. When this relay turns ON, the speed is changed, and
Y2 n+22 07 the speed change completed relay turns ON.
ON→OFF:The speed change completed relay turns OFF.

Y1 n+10 08 Y1 n+16 08
X2 n+19 08
Y2 n+22 08
X1 n+7 09 X1 n+13 09 Teaching request 6-55
Y1 n+10 09 Y1 n+16 09 OFF→ON:When this relay turns ON, the current coordinates are written to
X2 n+19 09 the target coordinates of the point parameters indicated by the point
Y2 n+22 09 No. area of the permanent communications area, and the teaching
completed relay is turned ON. For safety's sake, the teaching request
relay is designed to function only for the duration that the deceleration
stop relay is ON. When this relay turns ON during operation, an error is
generated, and operation is stopped. The coordinate system becomes
the absolute coordinate system regardless of the parameter settings.
ON→OFF:The teaching completed relay turns OFF.
Y1 n+10 10 Y1 n+16 10
X2 n+19 10
Y2 n+22 10
X1 n+7 11 X1 n+13 11 Jog+ 6-22
Y1 n+10 11 Y1 n+16 11 OFF→Jog:operation is performed in the CW direction. At the up edge of this
X2 n+19 11 relay, jog pulses are output for the number of pulses set to jog inching
Y2 n+22 11 number of pulses. If this relay is set to stay ON for 200 ms or more, jog
movement is performed at the jog startup speed. If the high-speed jog
relay is ON, jog operation is performed at high speed. This relay does
not function during operation.
ON→When this relay turns OFF during jog operation, axis movement
decelerates and comes to a stop.
5-10
5-1 List of Devices
Relay No.
H20S H40S
X1 n+7 12 X1 n+13 12 Jog- 6-22
Y1 n+10 12 Y1 n+16 12 OFF→Jog operation is performed in the CW direction. At the up edge of this
X2 n+19 12 relay, jog pulses are output for the number of pulses set to jog inching
Y2 n+22 12 number of pulses. If this relay is set to stay ON for 200 ms or more, jog
movement is performed at the jog startup speed. If the high-speed jog
relay is ON, jog operation is performed at high speed. This relay does
not function during operation.
ON→OFF:When this relay turns OFF during jog operation, axis movement 5

X1 n+7 13 X1 n+13 13 High-speed jog 6-23
Y1 n+10 13 Y1 n+16 13 ON:When high-speed jog is turned ON during operation, operation switches
X2 n+19 13 to high-speed operation. When the jog+ relay or jog- relay turns ON
Y2 n+22 13 while the high-speed jog relay is ON, axis movement accelerates to the
high-speed jog speed and operation is performed at this speed.
OFF:When this relay turns OFF during jog operation, axis movement
decelerates to the jog startup speed and operation is performed at this
speed.
X1 n+7 14, 15 X1 n+13 14, 15 (reserved for system)
Y1 n+10 14, 15 Y1 n+16 14, 15
X2 n+19 14, 15
Y2 n+22 14, 15
X1 n+8 00 X1 n+14 00 Flash ROM write request 5-27
Y1 (reserved for system) Y1 (reserved for system) OFF→ON:When the current parameters (point parameters, system 5-28
X2 (reserved for system) parameters, speed parameters) are written to flash ROM, and writing is 5-32
Y2 (reserved for system) completed, the flash ROM write completed relay turns ON. Writing is 5-36
performed only when the deceleration stop relay is ON.
ON→OFF:The flash ROM write completed relay is turned OFF.
X1 n+8 01 X1 n+14 01 Zero start cancel 6-35
Y1 n+11 01 Y1 n+17 01 OFF→ON:The zero start standby state is exited if the zero start standby is
X2 n+20 01 in progress.
Y2 n+23 01
X1 n+8 02 X1 n+14 02 Zero start request 6-34
Y1 n+11 02 Y1 n+17 02 OFF→ON:Sets the positioning axis to the zero start standby state. If the
X2 n+20 02 servo ready check is enabled in system parameters, the zero start
Y2 n+23 02 request is put on hold until the servo ready signal is input. After the
state moves to the zero start standby state, the positioning axis starts
pulse output when the following conditions are established:
• The operation start relay changes state from OFF to ON.
• The zero start (ZEROST) input changes state from OFF to ON.
X1 n+8 03 X1 n+14 03 Stop request 5-29
Y1 n+11 03 Y1 n+17 03 OFF→ON:Operation is the same as when the stop sensor is input from an
X2 n+20 03 external device.
Y2 n+23 03
Y1 n+11 04 to 15 Y1 n+17 04 to 15
X2 n+20 04 to 15
Y2 n+23 04 to 15
5-11
5-1 List of Devices
List of Memories for Communications

Memories for communications are broadly classified into the following memories: "permanent
read area," "permanent communications area," "indirect parameter area," "point parameter
area," "system parameter area," "speed parameter area," and "system reserved area."
The number of available words is 320 words on the KV-H20S and 600 words on the KV-H40S.

n is the leading No. (smallest No.) of the memory for communications.
5 When the leading No. is DM01000,

and so forth.
n +00 means DM01000, n +01 means DM01001,
Permanent read area
KV-H20S/H40S data such as currently executing point No. and current coordinates are written to
"permanent read area." Data cannot be written to this area by a sequence program.
* The write cycle becomes the maximum scan time of the CPU Unit or scan time 1 to 10 ms of
the KV-H20S/H40S, whichever is the larger.
Permanent read area
DM No.
Area Name Value Range See page
H20S H40S
X1 £+00 X1 £+00 Current point No. KV-H20S: 0 to 400
Y1 £+12 Y1 £+12 KV-H40S: 0 to 200
X2 £+24
Y2 £+36
X1 £+01 to 03 X1 £+01 to 03 (reserved for system)
Y1 £+13 to 15 Y1 £+13 to 15
X2 £+25 to 27
Y2 £+37 to 39
X1 £+04, 05 X1 £+04, 05 Current coordinates -2147483648 to 2147483647*
Y1 £+16, 17 Y1 £+16, 17 (lower 1 word)
X2 £+28, 29 (upper 1 word)
Y2 £+40, 41
X1 £+06, 07 X1 £+06, 07 Current speed 0 to 99999999
Y1 £+18, 19 Y1 £+18, 19 (lower 1 word)
X2 £+30, 31 (upper 1 word)
Y2 £+42, 43
X1 £+08 X1 £+08 Lower 8 bits: M code 0 to 255
Y1 £+20 Y1 £+20 Upper 8 bits: error code 0 to 255
X2 £+32
Y2 £+44
*: When the current coordinates and counter current value after coordinate translation becomes 2147483648 or more or -
2147483649 or less, the value is fixed to 2147483647 and -2147483648, respectively. When the internally managed
coordinates (pulse unit) becomes 2147483648 or more or -2147483649 or less, the value changes to -2147483648 or
5-12
5-1 List of Devices
Permanent read area (continued)
DM No.
H20S H40S
X1 £+09 X1 £+09 Repeat count 0 to 65535 6-66
Y1 £+21 Y1 £+21 (Returns to 0 when 65535
X2 £+33 is exceeded.)
Y2 £+45
X1 £+10 X1 £+10 bit 0: emergency stop input state 0: emergency stop (OFF) 1: normal (ON) 6-69
Y1 £+22 Y1 £+22 bit 1: positioning Z-phase input state* 0: OFF 1: ON 6-70
X2 £+34
Y2 £+46
bit 2 to 4: (reserved for system)
bit 5: Zero start input state*
0: OFF 1: ON
3-10
5

X1 £+11 X1 £+11 (reserved for system)
Y1 £+23 Y1 £+23
X2 £+35
Y2 £+47
*: The positioning Z-phase input state and zero start input state are the ON/OFF states after the polarity is switched.
Permanent communications area
Data can be written by the sequence program in this area. Write data to this area when
specifying the point No. to be executed or when changing the current coordinates.
Permanent communications area
DM No.
H20S H40S
X1 £+24 X1 £+48 Start/read point No. KV-H20S : 0 to 400 5-28
Y1 £+32 Y1 £+56 KV-H40S : 0 to 200
X2 £+64
Y2 £+72
Y1 £+33 to 35 Y1 £+57 to 59
X2 £+65 to 67
Y2 £+73 to 75
X1 £+28, 29 X1 £+52, 53 Change current coordinates -99999999 to 99999999
Y1 £+36, 37 Y1 £+60, 61 (lower 1 word)
X2 £+68, 69 (upper 1 word)
Y2 £+76, 77
X1 £+30, 31 X1 £+54, 55 Change speed 0 to 99999999
Y1 £+38, 39 Y1 £+62, 63 (lower 1 word)
X2 £+70, 71 (upper 1 word)
Y2 £+78, 79
5-13
5-1 List of Devices
Indirect parameter area
This is the area that is read by the KV-H20S/H40S when parameter values are set by indirect
specification. There are 16 areas in a single unit, and these are shared by two axes on the KV-
H20S and by four axes on the KV-H40S.
Indirect parameter area
DM No.
Area Name
H20S H40S
5 £+40
£+41
£+80
£+81
Indirect parameter0 (lower word)
(INDEX 0) (upper word)
£+42 £+82 Indirect parameter1 (lower word)

£+43 £+83 (INDEX 1) (upper word)
5-14
5-1 List of Devices
Point parameter area
The point parameters of the specified point can be read from the KV-H20S/H40S to "point
parameter area." Point parameters can also be written to point parameter area and changed.
The functions of the point parameter area differ according to the run mode.
In the case of indirection specification, the lowest one digit is the indirect No.
"Changing Point Parameters" (page 5-27)
Write all 0's to areas designated as reserved for the system.
Point parameter area during independent operation
DM No
Area Name Value Range
5
H20S H40S

X1 £+72 X1 £+112 bit 0, 1: Run mode 00: Independent operation
Y1 £+88 Y1 £+128 bit 2, 3: Absolute, incremental 00: Absolute 01: Incremental
X2 £+144 bit 4, 5: Continuous mode 00: Standby (no return) 01: Standby (w/ return)
Y2 £+160 (return) 10: Cont-1 11: Cont-2
bit 6: M code mode 0: WITH 1: AFTER
bit 10: Stop sensor enabled 0: Disabled 1: Enabled
bit 11: Start positioning by 0: Do not enable 1: Enable
zero start terminal*
X1 £+73 X1 £+113 Next point No. 0: This time only 1 to 400: Next No.
Y1 £+89 Y1 £+129 (On the KV-H40S, 1 to 200)
X2 £+145
Y2 £+161
X1 £+74 X1 £+114 M code No. 0 to 255
Y1 £+90 Y1 £+130
X2 £+146
Y2 £+162
X1 £+75 X1 £+115 Speed No. 1 to 16
Y1 £+91 Y1 £+131 (indirect specification: $FFF0 to $FFFF)
X2 £+147
Y2 £+163
X1 £+76, 77 X1 £+116, 117 Target coordinates -99999999 to 99999999
Y1 £+92, 93 Y1 £+132, 133 (indirect specification:
X2 £+148, 149 $80000000 to $8000000F)
Y2 £+164, 165
X1 £+78, 79 X1 £+118, 119 Repeated incremental move -99999999 to 99999999
X2 £+150, 151 $80000000 to $8000000F)
Y2 £+166, 167
X1 £+80 X1 £+120 Repeat count 0 to 65000
X2 £+152
Y2 £+168
X1 £+81 X1 £+121 Dwell time -32000 to 32000
Y1 £+97 Y1 £+137 (indirect specification: $8000 to $800F)
X2 £+153
Y2 £+169
*: Startup from a zero start standby state
5-15
5-1 List of Devices
Point parameter area during independent operation (continued)
DM No.
H20S H40S
X1 £+82, 83 X1 £+122, 123 (reserved for system)
Y1 £+98, 99 Y1 £+138, 139
X2 £+154, 155
Y2 £+170, 171
X1 £+84, 85 X1 £+124, 125 Stop sensor specified move 0 to 99999999
5 X2 £+156, 157
Y2 £+172, 173
$FFFFFFF0 to $FFFFFFFF)

Y1 £+102, 103 Y1 £+142, 143
X2 £+158, 159
Y2 £+174, 175
Point parameter area during speed control
DM No.
H20S H40S
X1 £+72 X1 £+112 bit 0, 1: Run mode 00: Independent operation

Y1 £+88 Y1 £+128 bit 2, 3: Stop mode 10: Immediate deceleration 11: Inching deceleration
X2 £+144 bit 4, 5: Continuous mode 00: Standby
Y2 £+160 10: Cont-1 11: Cont-2
bit 7 to 9:
(reserved for system)
bit 10: Stop sensor enabled 0: Disable 1: Enable
(enabled at all times during speed control)
bit 11: Start positioning by 0: Do not enable 1: Enable
bit 12 to 15:
Y1 £+89 Y1 £+129 (On the KV-H40S, 1 to 200)
X2 £+145
Y2 £+161
X1 £+74 X1 £+114 M code No. 0 to 255
Y1 £+90 Y1 £+130
X2 £+146
Y2 £+162
X1 £+75 X1 £+115 Speed No. 1 to 16
X2 £+147
Y2 £+163
X1 £+76, 77 X1 £+116, 117 Target coordinates -99999999 to 99999999
Y1 £+92, 93 Y1 £+132, 133 (move direction) (indirect specification: $80000000 to $8000000F)
X2 £+148, 149
Y2 £+164, 165
5-16
5-1 List of Devices
Point parameter area during speed control (continued)
DM No.
H20S H40S
Y1 £+94 to 96 Y1 £+134 to 136
X2 £+150 to 152
Y2 £+166 to 168
X1 £+81 X1 £+121 Dwell time -32000 to 32000
Y1 £+97 Y1 £+137 (indirect specification: $8000 to $800F)
X2 £+153
Y2 £+169
5

Y1 £+98, 99 Y1 £+138, 139
X2 £+154, 155
Y2 £+170, 171
X1 £+84, 85 X1 £+124, 125 Stop sensor specified move 0 to 99999999
X2 £+156, 157 $FFFFFFF0 to $FFFFFFFF)
Y2 £+172, 173
Y1 £+102, 103 Y1 £+142, 143
X2 £+158, 159
Y2 £+174, 175
5-17
5-1 List of Devices
Point parameter area during linear interpolation

Interpolated spindle
DM No.
H20S H40S
X1 £+72 X1 £+112 bit 0, 1: Run mode 01: Linear

Y1 (reserved for system) Y1 (reserved for system) bit 2, 3: Absolute, incremental 00: Absolute 01: Incremental
X2 £+144 bit 4, 5: Continuous mode(return) 00: Standby (no return) 01: Standby (w/ return)
Y2 (reserved for system) 10: Cont-1 11: Cont-2
5 bit 11: Start positioning by 0: Do not enable 1: Enable
bit 12 to 15:
Y1 (reserved for system) Y1 (reserved for system) (On the KV-H40S, 1 to 200)
X2 £+145
X1 £+74 X1 £+114 M code No. 0 to 255
Y1 (reserved for system) Y1 (reserved for system)
X2 £+146
X1 £+75 X1 £+115 Speed No. 1 to 16
Y1 (reserved for system) Y1 (reserved for system) (indirect specification: $FFF0 to $FFFF)
X2 £+147
X1 £+76, 77 X1 £+116, 117 Spindle target coordinates -99999999 to 99999999
Y1 (reserved for system) Y1 (reserved for system) (indirect specification:
X2 £+148, 149 $80000000 to $8000000F)
X1 £+78, 79 X1 £+118, 119 Spindle repeated -99999999 to 99999999
Y1 (reserved for system) Y1 (reserved for system) incremental travel (indirect specification:
X2 £+150, 151 $80000000 to $8000000F)
X1 £+80 X1 £+120 Repeat count 0 to 65000
Y1 (reserved for system) Y1 (reserved for system) (indirect specification: $FFF0 to $FFFF)
X2 £+152
X1 £+81 X1 £+121 Dwell time -32000 to 32000
Y1 (reserved for system) Y1 (reserved for system) (indirect specification: $8000 to $800F)
X2 £+153
X2 £+154 to 158
X1 £+87 X1 £+127 KV-H20S: (reserved for system) $0000: 2-axis interpolation (X1/Y1, X2/Y2)
Y1 (reserved for system) Y1 (reserved for system) KV-H40S: Interpolated axis setting $0007: 3-axis interpolation
X2 £+159 $000F: 4-axis interpolation
*: Startup from a zero start standby state
5-18
5-1 List of Devices
Point parameter area during linear interpolation (continued)

Interpolated driven axis
DM No.
H20S H40S
X1 (reserved for system) X1 (reserved for system) bit 0, 1: Run mode 01: Linear
Y1 £+88 Y1 £+128
X2 £+144
Y2 £+160
X1 (reserved for system) X1 (reserved for system) (reserved for system)
Y1 £+89 to 91 Y1 £+129 to 131
X2 £+145 to 147
5
Y2 £+161 to 163

X1 (reserved for system) X1 (reserved for system) Driven axis target coordinates -99999999 to 99999999
X2 £+148, 149 $80000000 to $8000000F)
Y2 £+164, 165
X1 (reserved for system) X1 (reserved for system) Driven axis repeated -99999999 to 99999999
Y1 £+94, 95 Y1 £+134, 135 incremental travel (indirect specification:
X2 £+150, 151 $80000000 to $8000000F)
Y2 £+166, 167
X1 (reserved for system) X1 (reserved for system) (reserved for system)
Y1 £+96 to 103 Y1 £+136 to 143
X2 £+152 to 159
Y2 £+168 to 175
5-19
5-1 List of Devices
System parameter area
System parameters can be read to "system parameter area" from the KV-H20S/H40S. System
parameters can also be written to system parameter area and changed.
"Changing System Parameters" (page 5-32)
System parameter area
DM No.
H20S H40S
5 X1 £+104 X1 £+176 bit 0: Pulse output type 0: 1 pulse 1: 2 pulses
Y1 £+166 Y1 £+238 bit 1, 2: (reserved for system)
X2 £+300 bit 3: Direction of motor operation 0: forward rotation (CW) 1: reverse rotation (CCW)
Y2 £+362 bit 4: Origin return direction 0: forward rotation (CW) 1: reverse rotation (CCW)
bit 5: Origin sensor polarity 0: NO contact 1: NC contact
bit 6: Limit switch polarity 0: NO contact 1: NC contact
bit 7: (reserved for system)
bit 9: Stop sensor polarity 0: NO contact 1: NC contact
bit 10: Servo ready check 0: OFF 1: ON
bit 11: Automatic origin return 0: OFF 1: ON
bit 12: Automatic move to home position 0: OFF 1: ON
bit 14: Origin return mode 0: regular 1: CCW-LSW OFF
bit 15: Origin sensor detection mode 0: regular 1: ORG end detection
X1 £+105 X1 £+177 bits 0 to 2: Operation acceleration curve 000: linear 001: SIN
Y1 £+167 Y1 £+239 bit 3: (reserved for system)
X2 £+301 bits 4 to 6: Operation deceleration curve 000: linear 001: SIN
Y2 £+363 bit 7: (reserved for system)
bits 8 to 10: Jog acceleration curve 000: linear 001: SIN
bits 12 to 14: Jog deceleration curve 000: linear 001: SIN
X1 £+106 X1 £+178 bits 0 to 2: Origin return acceleration curve 000: linear 001: SIN
Y1 £+168 Y1 £+240 bit 3: Shortcut control of angle of rotation 0: OFF 1: ON
X2 £+302 bits 4 to 6: Origin return deceleration curve 000: linear 001: SIN
Y2 £+364 bit 7: Speed unit translation 0: OFF 1: ON
bit 8 to 10: Decimal point position 000 to 111 (0 to 7)
bit 11, 12: Coordinate unit 00: mm 10: deg 11: pulse
X1 £+107 X1 £+179 bit 0: SRAM backup error 0: display ON 1: display OFF

Y1 (reserved for system) Y1 (reserved for system) bit 1: All axes stop 0: independent axis stop 1: all axes stop
X2 (reserved for system) bit 2, 3: Stop mode at error 00: immediate stop 01: immediate step only at LSW
Y2 (reserved for system) 10: deceleration stop
bit 4: Key lock 0: OFF 1: ON
bit 5: Buzzer control 0: OFF 1: ON
bit 6: English 0: Japanese 1: English
bit 7: Expanded key lock 0: HPD1 jog inhibited during key lock
1: HPD1 jog enabled during key lock
5-20
5-1 List of Devices
System parameter area (continued)
DM No.
H20S H40S
X1 £+108 X1 £+180 Lower 8 bits: 1 to 100
Y1 £+170 Y1 £+242 Operation acceleration curve ratio
X2 £+304 Upper 8 bits: 1 to 100
Y2 £+366 Operation deceleration curve ratio
X1 £+109 X1 £+181 Lower 8 bits: 1 to 100
Y1 £+171 Y1 £+243 Jog acceleration curve ratio
X2 £+305
Y2 £+367
Upper 8 bits:
Jog deceleration curve ratio
1 to 100
5

X1 £+110 X1 £+182 Lower 8 bits: 1 to 100
Y1 £+172 Y1 £+244 Origin return acceleration curve ratio
X2 £+306 Upper 8 bits: 1 to 100
Y2 £+368 Origin return deceleration curve ratio
X1 £+111 X1 £+183 Operation acceleration rate 1 to 65000
X2 £+307
Y2 £+369
X1 £+112 X1 £+184 Operation deceleration rate 1 to 65000
X2 £+308
Y2 £+370
X1 £+113 X1 £+185 Jog acceleration rate 1 to 65000
Y1 £+175 Y1 £+247
X2 £+309
Y2 £+371
X1 £+114 X1 £+186 Jog deceleration rate 1 to 65000
Y1 £+176 Y1 £+248
X2 £+310
Y2 £+372
X1 £+115 X1 £+187 Origin return acceleration rate 1 to 65000
Y1 £+177 Y1 £+249
X2 £+311
Y2 £+373
X1 £+116 X1 £+188 Origin return deceleration rate 1 to 65000
Y1 £+178 Y1 £+250
X2 £+312
Y2 £+374
Y1 £+179 Y1 £+251
X2 £+313
Y2 £+375
X1 £+118, 119 X1 £+190, 191 Operation startup speed 0 to 99999999
X2 £+314, 315 $FFFFFFF0 to $FFFFFFFF)
Y2 £+376, 377
5-21
5-1 List of Devices
DM No.
H20S H40S
X1 £+120, 121 X1 £+192, 193 Jog startup speed 1 to 99999999
Y1 £+182, 183 Y1 £+254, 255
X2 £+316, 317
Y2 £+378, 379
X1 £+122, 123 X1 £+194, 195 Origin return startup speed 0 to 99999999
Y1 £+184, 185 Y1 £+256, 257
5 X2 £+318, 319
Y2 £+380, 381
X1 £+124, 125 X1 £+196, 197 Creep speed 1 to 99999999

Y1 £+186, 187 Y1 £+258, 259
X2 £+320, 321
Y2 £+382, 383
X1 £+126, 127 X1 £+198, 199 Jog maximum speed 1 to 99999999
Y1 £+188, 189 Y1 £+260, 261
X2 £+322, 323
Y2 £+384, 385
X1 £+128, 129 X1 £+200, 201 Origin return maximum speed 1 to 99999999
Y1 £+190, 191 Y1 £+262, 263
X2 £+324, 325
Y2 £+386, 387
X1 £+130, 131 X1 £+202, 203 Operation maximum speed 1 to 99999999
Y1 £+192, 193 Y1 £+264, 265
X2 £+326, 327
Y2 £+388, 389
X1 £+132, 133 X1 £+204, 205 Coordinate translation 1 to 2000000000
Y1 £+194, 195 Y1 £+266, 267 denominator
X2 £+328, 329
Y2 £+390, 391
X1 £+134, 135 X1 £+206, 207 Coordinate translation 1 to 2000000000
Y1 £+196, 197 Y1 £+268, 269 numerator
X2 £+330, 331
Y2 £+392, 393
Y1 £+198 to 201 Y1 £+270 to 273
X2 £+332 to 335
Y2 £+394 to 397
X1 £+140 X1 £+212 Backlash compensation move 0 to 65535
Y1 £+202 Y1 £+274
X2 £+336
Y2 £+398
Y1 £+203 Y1 £+275
X2 £+337
Y2 £+399
5-22
5-1 List of Devices
DM No.
H20S H40S
X1 £+142, 143 X1 £+214, 215 Origin coordinates -99999999 to 99999999
Y1 £+204, 205 Y1 £+276, 277
X2 £+338, 339
Y2 £+400, 401
X1 £+144, 145 X1 £+216, 217 Home coordinates -99999999 to 99999999
Y1 £+206, 207 Y1 £+278, 279
X2 £+340, 341
Y2 £+402, 403
5

X1 £+146, 147 X1 £+218, 219 Software limit CW -99999999 to 99999999
Y1 £+208, 209 Y1 £+280, 281 coordinates
X2 £+342, 343
Y2 £+404, 405
X1 £+148, 149 X1 £+220, 221 Software limit CCW -99999999 to 99999999
Y1 £+210, 211 Y1 £+282, 283 coordinates
X2 £+344, 345
Y2 £+406, 407
Y1 £+212 to 216 Y1 £+284 to 288
X2 £+346 to 350
Y2 £+408 to 412
X1 £+155 X1 £+227 Servo end check time 0 to 5000
Y1 £+217 Y1 £+289
X2 £+351
Y2 £+413
Y1 £+218, 219 Y1 £+290, 291
X2 £+352, 353
Y2 £+414, 415
X1 £+158, 159 X1 £+230, 231 Label No. 0 to 999999 (X-axis setting only enabled)
X2 (reserved for system)
X1 £+160 X1 £+232 bit 0: SVRDY polarity 0: NO 1: NC
Y1 £+222 Y1 £+294 bit 1: ALM polarity 0: NO 1: NC
X2 £+356 bit 2: SVEND polarity 0: NO 1: NC
Y2 £+418 bit 3: ZERO ST polarity 0: NO 1: NC
bit 4: Positioning Z-phase polarity 0: NO 1: NC
Y1 £+223 Y1 £+295
X2 £+357
Y2 £+419
5-23
5-1 List of Devices
DM No.
H20S H40S
X1 £+162 X1 £+234 bit 0 to 3: 0000: 5µs 0001: 100µs 0010: 250µs

Y1 £+224 Y1 £+296 Low speed input time constant 0011: 500µs 0100: 1ms 0101: 2.5ms
X2 £+358 (origin sensor, emergency stop) 0110: 5ms 0111: 10ms
Y2 £+420
bit 4 to 7: 0000: 5µs 0001: 10µs 0010: 25µs
Semi-high speed input time constant 0011: 50µs 0100: 100µs 0101: 250µs
(stop sensor, positioning Z-phase, zero start) 0110: 500µs 0111: 1ms
5 bit 8 to 12: (reserved for system)
bit 13: Detailed origin position 1: The midpoint of the origin sensor
ON range is taken as the origin.

0: The position where both the origin sensor
and Z-phase turn ON is taken as the origin.
bit 14, 15: (reserved for system)
X1 £+163 X1 £+235 bit 0 to 7: (reserved for system)

Y1 £+225 Y1 £+297
X2 £+359 bits 8 to 11: 0000: 1PLS 0001: 2PLS 0010: 5PLS
Y2 £+421 Jog inching number of pulses 0011: 10PLS 0100: 20PLS 0101: 50PLS
0110: 100PLS 0111: 200PLS 1000: 500PLS
1001: 1000PLS 1010: 2000PLS 1011: 5000PLS
1100: 10000PLS 1101: 20000PLS 1110: 50000PLS
1111: 100000PLS

Y1 £+226, 227 Y1 £+298, 299
X2 £+360, 361
Y2 £+422, 423
5-24
5-1 List of Devices
Speed parameter area, system reserved area
Speed parameters can be read to "speed parameter area" from the KV-H20S/H40S. Speed
parameters on the KV-H20S/H40S can also be changed by writing speeds to the speed
parameter area.
"Changing Speed Parameters" (page 5-35)
Speed parameter area
DM No.
H20S H40S 5
X1 £+228, 229 X1 £+424, 425 Speed No.1 1 to 99999999

Y1 £+260, 261 Y1 £+456, 457
X2 £+488, 489
Y2 £+520, 521
X1 £+230, 231 X1 £+426, 427 Speed No.2 1 to 99999999
Y1 £+262, 263 Y1 £+458, 459
X2 £+490, 491
Y2 £+522, 523
X1 £+232, 233 X1 £+428, 429 Speed No.3 1 to 99999999
Y1 £+264, 265 Y1 £+460, 461
X2 £+492, 493
Y2 £+524, 525
X1 £+234, 235 X1 £+430, 431 Speed No.4 1 to 99999999
Y1 £+266, 267 Y1 £+462, 463
X2 £+494, 495
Y2 £+526, 527
X1 £+236, 237 X1 £+432, 433 Speed No.5 1 to 99999999
Y1 £+268, 269 Y1 £+464, 465
X2 £+496, 497
Y2 £+528, 529
X1 £+238, 239 X1 £+434, 435 Speed No.6 1 to 99999999
Y1 £+270, 271 Y1 £+466, 467
X2 £+498, 499
Y2 £+530, 531
X1 £+240, 241 X1 £+436, 437 Speed No.7 1 to 99999999
Y1 £+272, 273 Y1 £+468, 469
X2 £+500, 501
Y2 £+532, 533
X1 £+242, 243 X1 £+438, 439 Speed No.8 1 to 99999999
Y1 £+274, 275 Y1 £+470, 471
X2 £+502, 503
Y2 £+534, 535
X1 £+244, 245 X1 £+440, 441 Speed No.9 1 to 99999999
Y1 £+276, 277 Y1 £+472, 473
X2 £+504, 505
Y2 £+536, 537
5-25
5-1 List of Devices
Speed parameter area
DM No.
H20S H40S
X1 £+246, 247 X1 £+442, 443 Speed No.10 1 to 99999999
Y1 £+278, 279 Y1 £+474, 475
X2 £+506, 507
Y2 £+538, 539
X1 £+248, 249 X1 £+444, 445 Speed No.11 1 to 99999999
Y1 £+280, 281 Y1 £+476, 477
5 X2 £+508, 509
Y2 £+540, 541
X1 £+250, 251 X1 £+446, 447 Speed No.12 1 to 99999999

Y1 £+282, 283 Y1 £+478, 479
X2 £+510, 511
Y2 £+542, 543
X1 £+252, 253 X1 £+448, 449 Speed No.13 1 to 99999999
Y1 £+284, 285 Y1 £+480, 481
X2 £+512, 513
Y2 £+544, 545
X1 £+254, 255 X1 £+450, 451 Speed No.14 1 to 99999999
Y1 £+286, 287 Y1 £+482, 483
X2 £+514, 515
Y2 £+546, 547
X1 £+256, 257 X1 £+452, 453 Speed No.15 1 to 99999999
Y1 £+288, 289 Y1 £+484, 485
X2 £+516, 517
Y2 £+548, 549
X1 £+258, 259 X1 £+454, 455 Speed No.16 1 to 99999999
Y1 £+290, 291 Y1 £+486, 487
X2 £+518, 519
Y2 £+550, 551
£+292 £+552 (reserved for system)
to to
£+319 £+599
5-26
5-2 Ladder Program for Changing Parameter Setups

Changing Point Parameters
Change point parameters. To change point parameters, first read the parameters of the specified
points to the point parameter area on the CPU Unit. Next, write the new settings to the point
parameter area and then to the KV-H20S/H40S.
The new point parameter settings are written to SRAM on KV-H20S/H40S, and automatically
written to flash ROM when the power is next turned ON. If necessary, the settings can also be 5
written simultaneously to flash ROM without having to turn the power OFF then back ON again.

Note
• Before changing point parameters, be sure to turn the deceleration stop relay
ON. To ensure safety, disable changing of parameters during operation.
• It takes up to ten seconds to write new point parameter settings to flash
ROM.
• The maximum life of the flash ROM is 100,000 write operations. Pay attention
to this each time that you write to flash ROM.
• When a parameter is changed, the content of flash ROM is compared with
that of SRAM when the power is next turned ON, and the content of SRAM is
written to flash ROM if the content of the flash ROM is different.
• To write parameters without reading point parameters, be sure to set the
system reserved area to “0”.
5-27
CPU Unit KV-H20S/H40S

SRAM
Point parameter area (1)
Point parameter area
(2)Partial writing of point parameters

(3)
<Sequence program>
(1)Reading of specified Flash ROM (4)
point No.
(2)Rewriting Write
(3)Writing back to SRAM
5 (4)Writing to flash ROM by

flash ROM write relay
ON
Series of operations started up by

sequence program
Procedure
1 Turn the deceleration stop relay ( n+6 02) ON.
2 Write the point No. to the start/read point No. area.

“Permanent communications area” (page 5-13)
3 Make sure that the point parameter read completion relay is OFF, and then turn
the point parameter read request relay ( n+7 03) ON.
• The current point parameter is read to the CPU Unit from the KV-H20S/H40S.
4 Make sure that the point parameter read completion relay ( n+1 03) is ON.
5 Write the new settings to the point parameter area.

For an explanation on point parameters, “4-5 Point Parameters” (page 4-31).
For an explanation on the point parameter area, “Point parameter area” (page 5-15).
6 Make sure that the point parameter write completion relay is OFF, and then turn
the point parameter write request relay ( n+7 00) ON.
• The new point parameters are written to the KV-H20S/H40S from the CPU Unit.
7 Make sure that the point parameter write completion relay ( n+1 00) is ON.
8 To write to flash ROM, too, turn the flash ROM write request relay ( n+8 00) ON.
9 The flash ROM write completion relay turns ON.
10 Turn the flash ROM write request relay OFF.
11 Turn the deceleration stop relay OFF.
* When point parameters are not to be written to flash ROM at this state, steps 8 to 10 in the
above procedure are not required.
5-28
Example Change [Next point No.] of point 10 to “5”, and write to flash ROM on KV-
H20S/H40S. Point 10 is independent operation of the X1 axis.
Leading DM No. DM10000 (10000 to 10319)
CPU Unit KV-H20S
Leading relay No. R30000 (30000 to 31115)
Memory for The start/read point No. area is DM10024.
communications The next point No. area of the point parameter
area is DM10073.
Relay No. Flash ROM write relay n+8 00(30800)
Flash ROM write completion relay n+2 00(30200)
5
Deceleration stop relay n+6 02(30602)

Point parameter read request relay n+7 03(30703)
Point parameter read completion relay n+1 03(30103)
Point parameter write request relay n+7 00(30700)
Point parameter write completion relay n+1 00(30100)
● Ladder program
CR2002 R03000 R30600
Operation enable
ON at all times Interlock Operation enable
R30000 R00500
Confirmation of ready for operation
Ready Ready for operation display
R00000 R30000 R30103 R30001 #00010 R30602 R30703 Store point No. to change, and turn deceleration stop
DW SET SET
Point parameter Movement DM10024 Deceleration Point parameter
Change instruction Ready and read request relays ON.
read completed in progress Start read point No. and stop read request
R30103 R30703 #00005 R30700 At read completion relay ON, turn read request relay
RES DW SET
Point parameter Point parameter DM10073 Point parameter OFF, store next point 5, and turn write request relay ON.
read completed read request Next point write request
R30100 R30700 R30800

RES SET (If necessary) Turn the flash ROM write relay ON.
Point parameter Point parameter Flash ROM write
write completed write request
R30200 R30602 R30800

RES RES At write completion relay ON, turn write request relay OFF.
Flash ROM Deceleration Flash ROM write
write completed stop
* On the KV-700, relay Nos. are not prefixed with an “R”.
5-29
● Behavior of the point parameter read/write relays

(1) (10)
ON
Deceleration stop relay
( n+6 02) OFF
(2) (4)
ON
Point parameter read request relay
( n+7 03) OFF
Read
ON
Point parameter read completion relay (3)
( n+1 03) OFF (5)
(8)
ON
Point parameter write request relay (6)
( n+7 00) OFF
Write
ON
Point parameter write completion relay
5 ( n+1 00) OFF
(7) (9)
(1) The deceleration stop relay ( n+6 02) is turned ON by the sequence program.
• The point parameter write request relay ( n+7 00)
functions only when the deceleration stop relay is ON.
(2) The point parameter read request relay ( n+7 03) is turned ON by the sequence program
after it is confirmed that the point parameter read completion relay is OFF.
• The point parameters are read to the CPU Unit from the KV-H20S/H40S.
(3) When the read ends, the KV-H20S/H40S turns the point parameter read completion relay
( n+1 03) ON.
(4) When the point parameter read completion relay turns ON, the point parameter read request
relay is turned OFF by the sequence program.
(5) The point parameter read completion relay turns OFF when the point parameter read request
relay turns OFF.
• Write the new settings to the point parameter area.
(6) The point parameter write request relay ( n+7 00) is turned ON by the sequence program
after it is confirmed that the point parameter write completion relay is OFF.
• The new point parameters are written to the KV-H20S/H40S from the CPU Unit.
(7) When the write to the KV-H20S/H40S ends, the KV-H20S/H40S turns the point parameter
write completion relay ( n+1 00) ON.
(8) When the point parameter write completion relay turns ON, the point parameter write request
relay is turned OFF by the sequence program.
(9) The point parameter write completion relay turns OFF when the point parameter write request
relay turns OFF.
(10) The deceleration stop relay is turned OFF by the sequence program.
5-30
■ How to set the run mode

The function of the point parameter area differs according to the run mode (position control,
speed control, linear interpolation). Set the run mode by bits 0 to 3 of DM(£+72) in the point
parameter area.
“Point parameter area” (page 5-15)
Example In the case of the X1 axis, set bits 0 to 3 of DM10072 to set the run mode when the
leading DM in communications area is DM10000.
bit bit bit
DM10072
Single/position/absolute
15 3
0 0 0
0
0 5

Single/position/incremental 0 1 0 0
Linear/position/absolute 0 0 0 1
Linear/position/incremental 0 1 0 1
Single/speed/deceleration 1 0 0 0
Single/speed/fixed inching 1 1 0 0
Differs according to the run mode.
The functions of bits 4 to 15 of DM10072 and DM10073 to DM10087 differ according to the run
mode.
5-31
Changing System Parameters

Change system parameters. To change the system parameters, first read all current system
parameters from the KV-H20S/H40S to the system parameter area on the CPU Unit.
Next, write the new settings to the system parameter area and then to the KV-H20S/H40S.
“Changing Point Parameters” (page 5-27).
The new system parameter settings are written to SRAM on KV-H20S/H40S, and automatically
written to flash ROM when the power is next turned ON. If necessary, the settings can also be
5
Note
• Before changing system parameters, be sure to turn the deceleration stop
relay ON. To ensure safety, disable changing of parameters during operation.
• It takes up to ten seconds to write new system parameter settings to flash
ROM.
• To write parameters without reading system parameters, be sure to set the
system reserved area to “0”.
Procedure
2 Make sure that the system parameter read completion relay is OFF, and then
turn the system parameter read request relay ( n+7 04) ON.
• The current system parameter is read to the CPU Unit from the KV-H20S/H40S.
3 Make sure that the system parameter read completion relay ( n+1 04) is ON.
4 Write the new settings to the system parameter area.

For an explanation on system parameters, “4-2 System Parameters” (page 4-4).
For an explanation on the system parameter area, “System parameter area” (page 5-20)
5 Make sure that the system parameter write completion relay is OFF, and then
turn the system parameter write request relay ( n+7 01) ON.
• The new system parameters are written to the KV-H20S/H40S from the CPU Unit.
6 Make sure that the system parameter write completion relay ( n+1 01) is ON.
5-32
8 The flash ROM write completion relay ( n+2 00) turns ON.
* When system parameters are not to be written to flash ROM at this state, steps 7 to 9 in the
Example Set or cancel system parameter [Key lock].
CPU Unit KV-H20S

Leading DM No.
Leading relay No.
DM10000 (10000 to 10319)
R30000 (30000 to 31115)
5

Memory for Key lock area (bit 4 of DM10107)
communications
Relay No. Flash ROM write relay n+8 00(30800)
System parameter read request relay n+7 04(30704)
System parameter read completion relay n+1 04(30104)
System parameter write request relay n+7 01(30701)
System parameter write completion relay n+1 01(30101)
● Ladder program
CR2002 R03000 R30600
Operation enable
R30000 R00500
Ready Ready for operation display
R00000 R30000 R30104 R30001 R01100 R30602 R30704 Key lock setting
SET SET SET Turn deceleration stop and read request
Key lock setting Ready System parameter Movement in Key lock setting Deceleration System parameter relays ON.
instruction read completed progress in progress stop read request
R30104 R01100 R30704 DM10107 $0010 DM10107 R30701 At read completion relay ON, turn read
RES LDA ORA STA SET request relay OFF, and turn the key lock
System parameter Key lock setting System parameter Key lock Key lock System parameter
read completed in progress read request write request area and write request relay ON.
R30101 R01100 R30701 R30602 R01100 At write completion relay ON, turn write
RES RES RES request and deceleration stop relays OFF.
System parameter Key lock setting System parameter Deceleration Key lock setting
write completed in progress write request stop in progress Key lock cancellation
R00001 R30000 R30104 R30001 R01101 R30602 R30704 Turn deceleration stop and read
SET SET SET request relays ON.
Key lock cancellation Ready System parameter Movement in Key lock cancellation Deceleration System parameter
instruction read completed progress in progress stop read request
R30104 R01101 R30704 R30101 DM10107 $FFEF DM10107 R30701 At read completion relay ON, turn read
RES LDA ANDA STA SET request relay and the key lock area OFF,
System parameter Key lock cancellation System parameter System parameter Key lock Key lock System parameter
read completed in progress read request write completed write request and turn write request relay ON.
R30101 R01101 R30701 R01101 R30800 At write completion relay ON, turn write
RES RES SET
System parameter Key lock cancellation System parameter Key lock cancellation Flash ROM
request and deceleration stop relays OFF.
write completed in progress write request in progress write
R30200 R30602 R30800
RES RES
Flash ROM Deceleration Flash ROM
write completed stop write
5-33
● Behavior of the system parameter read/write relays

(1) (10)
ON
( n+6 02) OFF
(2) (4)
ON
System parameter read request relay
( n+7 04) OFF
Read
ON
System parameter read completion relay (3)
( n+1 04) OFF (5)
(8)
ON (6)
System parameter write request relay
( n+7 01) OFF
Write
ON
System parameter write completion relay
5 ( n+1 01) OFF
(7) (9)
• The system parameter read request relay ( n+7 04) functions only when the deceleration
stop relay is ON.
(2) The system parameter read request relay ( n+7 04) is turned ON by the sequence program
after it is confirmed that the system parameter read completion relay is OFF.
• The system parameters are read to the CPU Unit from the KV-H20S/H40S.
(3) When the read ends, the KV-H20S/H40S turns the point parameter read completion relay
( n+1 04) ON.
(4) When the system parameter read completion relay turns ON, the system parameter read
request relay is turned OFF by the sequence program.
(5) The system parameter read completion relay turns OFF when the system parameter read
request relay turns OFF.
• Write the new settings to the system parameter area.
(6) The system parameter write request relay ( n+7 01) is turned ON by the sequence program
after it is confirmed that the system parameter write completion relay is OFF.
• The new system parameters are written to the KV-H20S/H40S from the CPU Unit.
(7) When the write to the KV-H20S/H40S ends, the KV-H20S/H40S turns the system parameter
(8) When the system parameter write completion relay turns ON, the system parameter write
(9) The system parameter write completion relay turns OFF when the system parameter write
5-34
Changing Speed Parameters

Change the speed set to speed Nos. (1 to 16) in the speed parameters. Of mm/s, deg/s and p/s,
the speed unit set at system parameter [Coordinate unit] is used.
To change the speed parameters, first read the current speed parameters from the KV-
H20S/H40S to the speed parameter area on the CPU Unit. Next, write the new settings to the
speed parameter area and then to the KV-H20S/H40S.
“Changing Point Parameters” (page 5-27).
The new speed parameter settings are written to SRAM on KV-H20S/H40S, and automatically
5

written to flash ROM when the power is next turned ON. If necessary, the settings can also be
Note
• Before changing speed parameters, be sure to turn the deceleration stop
relay ON. To ensure safety, disable changing of parameters during operation.
• It takes up to ten seconds to write new system parameter settings to flash
ROM.
5-35
Procedure
2 Make sure that the speed parameter read completion relay is OFF, and then turn
the speed parameter read request relay ( n+7 05) ON.
• The current speed parameter is read to the CPU Unit from the KV-H20S/H40S.
3 Make sure that the speed parameter read completion relay ( n+1 05) is ON.
5 4 Write the new settings to the speed parameter area.

For an explanation on speed parameters, “4-4 Speed Parameters” (page 4-30)
For an explanation on the speed parameter area, “Speed parameter area, system reserved
area” (page 5-25)
5 Make sure that the speed parameter write completion relay is OFF, and then turn
the speed parameter write request relay ( n+7 02) ON.
• The new speed parameters are written to the KV-H20S/H40S from the CPU Unit.
6 Make sure that the speed parameter write completion relay ( n+1 02) is ON.
8 The flash ROM write completion relay ( n+2 00) turns ON.
* When system parameters are not to be written to flash ROM at this state, steps 7 to 9 in the
Example Set speed No.1 of the X1 axis to “50000 (p/s)”.

Leading DM No. DM10000 (10000 to 10319)
CPU Unit KV-H20S
Leading relay No. R30000 (30000 to 31115)
Memory for Speed No.1 area (DM10228 and DM10229)
communications
Relay No. X axis: Flash ROM write relay n+8 00(30800)
Speed parameter read request relay n+7 05(30705)
Speed parameter read completion relay n+1 05(30105)
Speed parameter write request relay n+7 02(30702)
Speed parameter write completion relay n+1 02(30102)
5-36
● Ladder program
CR2002 R03000 R30600
Operation enable
R30000 R00500
Ready Ready for
operation display
R00000 R30000 R30001 R30602 R30705 Turn deceleration stop and read
SET SET
Change instruction Ready Movement in progress Deceleration Speed parameter
request relays ON.
stop read request
R30105 R30705 #50000 R30702 At read completion relay ON, store the
RES DW.D SET speed value, and turn the write request
Speed parameter Speed parameter DM10228 Speed parameter
relay ON.
write request
5
read completed read request Speed parameter 1
R30102 R30702 R30800 At write completion relay ON, turn the

RES SET write request relay OFF (and, if necessary,

Speed parameter Speed parameter Flash ROM
write completed write request write
turn the flash ROM write relay ON).
R30200 R30602 R30800
RES RES (If necessary) Turn the flash ROM write relay OFF.
Flash ROM Deceleration Flash ROM
write completed stop write
● Behavior of the speed parameter read/write relays

(1) (10)
ON
( n+6 02) OFF
(2) (4)
ON
Speed parameter read request relay
( n+7 05) OFF
Read
ON
Speed parameter read completion relay (3)
( n+1 05) OFF (5)
(8)
ON
Speed parameter write request relay (6)
( n+7 02) OFF
Write
ON
Speed parameter write completion relay
( n+1 02) OFF
(7) (9)
• The speed parameter write request relay ( n+7 02) functions only when the deceleration
stop relay is ON.
(2) The speed parameter read request relay ( n+7 05) is turned ON by the sequence program
after it is confirmed that the speed parameter read completion relay is OFF.
• The speed parameters are read to the CPU Unit from the KV-H20S/H40S.
(3) When the read ends, the KV-H20S/H40S turns the speed parameter read completion relay
( n+1 05) ON.
(4) When the speed parameter read completion relay turns ON, the speed parameter read
(5) The speed parameter read completion relay turns OFF when the speed parameter read
• Write the new settings to the speed parameter area.
(6) The speed parameter write request relay ( n+7 02) is turned ON by the sequence program
after it is confirmed that the speed parameter write completion relay is OFF.
• The new speed parameters are written to the KV-H20S/H40S from the CPU Unit.
(7) When the write to the KV-H20S/H40S ends, the KV-H20S/H40S turns the speed parameter
5-37
(8) When the speed parameter write completion relay turns ON, the speed parameter write
(9) The speed parameter write completion relay turns OFF when the speed parameter write
5
5-38
1
6 KZ-HP1/KV-HPD1 OPERATION
This section describes the functions and how to operate the KZ-HP1/KV-HPD1 Teaching Unit.
The Teaching Unit can be connected to Positioning Units such as the KV-H20S and the KV-
H40S to enable teaching of these units, monitor operation states, perform test operation, and
display/set up the various parameters. The KV-HPD1 Teaching Unit is provided with a JOG dial.
Similar functions such as monitoring can also be used from the MOTION BUILDER Ver.2
Parameter Setup/Monitor Software. For details, refer to the KV-H1HW User's Manual.
• Before performing testing, jog operation and teaching, first make sure
WARNING
that there are no people in safety protected zones.
Otherwise, accidents may be caused by malfunction, erroneous
operation and other abnormalities.
6
KZ-HP1/KV-HPD1 OPERATION
Note
• When using the KZ-HP1/KV-HPD1, use at a location where the emergency
stop switch connected to the KV-H20S/H40S can be operated.
When a communications error occurs, the "forced stop" from the KZ-
HP1/KV-HPD1 cannot be accepted and an accident may occur. The "forced
stop" button on the KZ-HP1/KVHPD1 may not function when a
communications error occurs.
6-1
6-1 Using the KZ-HP1

This section describes the functions and how to operate the KZ-HP1.
About the Functions of the KZ-HP1

The following describes how to use the KZ-HP1 and an outline of the KZ-HP1 functions.
Basic operations
■ Display
• In a state where there are not enough display digits,
6 the maximum number of digits (digits on the left

side) of the numerical value are indicated by *.
X1 + * 2563428
Y1 - 500
mm
mm
• In a state where non-selected numerical values are

Point 1 X1 & Y1
entered, items to select are padded with *. Data Type : *****
■ Key layout
About input of numerical values
0 to 9 Enters numbers.
→ Increments values. Or, selects items. (Fixes values.)
← Decrements values. Or, selects items. (Fixes values.)
ENT Fixes entered values.
DEL Deletes the previously entered character.
CLR Deletes all characters and clears to 0.
FAST X Y
INDEX STOP STOP EMG ± Switches the sign.
FAST
MENU HELP PREV NEXT INDEX Switches between direct/indirect specification of values.
X X Y Y . Moves to the decimal position.

7 8 9 CLR
4 5 6 DEL
Edited values are not set unless ENT is pressed.
TEACH
(Item selection is set by ← → .)
1 2 3 JOG
0 ENT
6-2
Keys that can be used at all times

The following keys can be used in all modes except when an error has occurred:
MENU Displays the menu screen.
HELP Calls the Help screen.
X STOP Forcibly decelerates and stops the X-axis.
Y STOP Forcibly decelerates and stops the Y-axis.
EMG Applies an emergency stop on both the X- and Y-axes.
For details on conventional restart of operation after a forced deceleration stop, "Test
execution 2" (page 6-15)
The cursor changes to ■ when the numerical value or details of each parameter are already set.
The cursor returns to ■ when the ENT key is pressed to fix the entered values or details. If you
press the ↑ ↓ key without entered values or details not fixed, the setting returns to the setting
6
before it was changed. Note, however, that when items are selected by ← → , the entered
values or details are fixed the moment that ← → is pressed.
Menu screen
The menu screen is displayed when the KZ-HP1 is connected to the KV-H20S/H40S. The
following menu screen is also displayed when the MENU key is pressed even if a different
screen is displayed.
1) Mon 2) Test
3) Point 4) System
5) Speed 6) Jog
7) Teach
English display
If you press number keys 1 to 7 with the menu screen displayed, the screen moves to the
screen for the respective function.
Screen categories 1 Monitor

(menu screen) Coordinate/speed display
M code/repeat state display
Input monitor
Output monitor
I/O relay monitor
2 Test
Change coordinates/speed
Write flash ROM, execute initialization, M codes OFF, next point execution
Repeat cancel, restrart operation, origin return
Start operation
3 Point parameter settings

4 System parameter settings (including editing of X and Y common parameters)
5 Speed parameter settings
6 Jog operation
7 Remote teaching
HELP Help
6-3
List of functions
1 Monitor functions
The state of the KV-H20S/H40S during operation can be monitored (even when operation is
stopped).
The following items can be monitored:
Currently running point No.

Current coordinates (and coordinate unit)
Current speed (and coordinate speed)
Current count of repeat operation (and specified count)
Run state
6 ready, running, dwell ready, servo ready, origin return in progress, move to home position,
servo end check in progress, and return in progress
M code output state (and M code No. currently being output)

Input state
CW limit switch, CCW limit switch, origin sensor, stop sensor, servo end, driver alarm, servo
ready, positioning Z-phase
Output state
deviation counter clear output, servo ON output, driver alarm reset output
PLC I/O relay state
2 Test functions
Operation instructions (e.g. operation start), coordinates and speed can be changed.
The following functions are available:
Display and change of coordinates and speed

Current coordinates, current speed
Incremental move by specified amount
Current coordinates, incremental coordinates to move to
Operation start instruction
Start of operation of specified point No., and execution of that status monitor and next point
Initialization of parameters
Various other tests
Write to flash ROM, M code OFF instruction, repeat forced cancel, restart of operation after a
stop, origin return, move to home position
3 Point parameter settings

• Point parameters are displayed and set.
Target coordinates, operation speed No., etc. are stored to point parameters.
• Setting values can be changed only while operation is stopped.
4 System parameter settings (including common parameters)

• System parameters are displayed and set.
Various settings related to operation, etc. are stored to system parameters.
6-4
5 Speed parameter settings

• Speed parameters are displayed and set.
The actual speed values corresponding to the speed No. specified by the point parameters are
stored as the speed parameters.
6 Jog operation
• The motor is operated by operation of the Teaching Unit.
• Jog operation can be executed only while operation is stopped.
7 Remote teaching
• The current coordinates are transferred to the target coordinates of the point parameters.
• Remote teaching can be executed only while operation is stopped, and can be called by 6
selecting from the menu or pressing the TEACH
JOG key from the coordinate setup screen in the
point edit mode. (Remote teaching is possible on the KV-HPD1 by pressing the "JOG/TEACH"
key.)
HELP Help function

• When the details to set (or execute) are selected in the index format, the screen moves to that
setup screen. (On the KV-HPD1, the details of items are displayed.)
6-5
Moving between screens
Menu screen
1) Mon 2) Test
3) Point 4) System
5) Speed 6) Jog
7) Teach
Monitor screen
(KV-H20S: 9 screens for both X- and Y-axes, KV-H40S: 14 screens for both the X- and Y-axes)
1
MENU To menu screen
TEACH
JOG To jog screen
6 HELP To Help screen

NEXT PREV (monitor screen switching)
Test screen (KV-H20S: 6 screens, KV-H40S: 11 screens)

↑
2 Cursor
↑ MENU To menu screen
TEACH
JOG To jog screen
HELP To Help screen
NEXT PREV (test screen switching)
Point parameter setup screen (11 screens: 1 point's worth*)

↑
3 Cursor
↑ MENU To menu screen * The point No. is
TEACH To jog screen switched by the
JOG
Or, to teaching screen
NEXT PREV key.
HELP To Help screen
↑
↑
To next page
6-6
From previous page

System parameter setup screen
(27 screens: 1 axis worth*, 3 screens: common to all axes)
↑
4 Cursor
↑ MENU To menu screen * The X-axis and Y-axis are
TEACH switched between by the
JOG To jog screen
NEXT PREV key.
HELP To Help screen
The system parameter setup screen for

↑ each axis is followed by three common
↑
parameter setup screens for all axes. 6
Speed parameter setup screen (6 screens: 1 axis worth*)
↑
5 Cursor
↑ MENU To menu screen * The X-axis and Y-axis are
TEACH switched between by the
JOG To jog screen
NEXT PREV key.
HELP To Help screen
↑
↑
Jog operation screen (KV-H20S: 1 screen, KV-H40S: 2 screens)

MENU To menu screen X-axis movement by ← ←
↑
6 HELP To Help screen
Y-axis movement by ↑
CLR To original screen * In the case of the KV-H40S,

(when called TEACH
JOG by) (X1, Y1) is moved between
(X2, Y2) by the
NEXT PREV key.
Teaching screen (2 screens: 1 point's worth)
* In the case of the KV-H40S,
MENU To menu screen (X1, Y1) is moved between
7
(X2, Y2) by the
HELP To Help screen
NEXT PREV key.
ENT CLR
To parameter setup screen
* The number of screens sometimes varies according to the setting.
6-7
M-Code Mode Set

M-Code Monitor
M-Code Number
M-Code OFF
Monitor
Help Motor Rotation
Next Point Move ↑
HELP
Next Point No. ↑ PREV NEXT
Operation Mode
Org. End Detect
Org. Position
Org. Ret. Speed
Org. Return Dir.
6 Org. Return Mode

Org. Sensor Pol.
Org. Start Speed
ENT To the setup screen for the parameter in question
6-8
Monitor Functions
Displays the operation state and input/output states.
Basic operations
■ Calling the monitor screen

Press MENU + 1 to call the monitor screen.
1) Mon 2) Test X1 + 0 P/S
3) Point 4) System Sp 0 P/S The default settings are
MENU 5) Speed 6) Jog
1 Rep C nt shown in the screen.
7) Teach No. = 0 R eady
There are a total of 13 screens on the KV-\H20S and 26 screens on the KV-H40S for both the X-
and Y-axes.
6
After the power is turned ON, the unit remembers the last screen that was displayed on the
monitor screen. If you perform the above operation after switching to a different setup screen,
the monitor screen that is currently memorized (that was last displayed) is displayed.
■ Key layout
Basic key operations
PREV or ↑ Displays the previous monitor screen.
NEXT or ↓ Displays the next monitor screen.
TEACH
JOG Moves to the jog screen.
6-9
Explanation of Each Screen
Operation monitor
Current coordinates
Axis X1- 1234567 PLS Coordinate unit
Sp 5000 P/S Speed unit
Current speed
RepCnt 35000 R et
Current repeat count No. =400 Running
Return state
Point No. Run state
* The details are the same for the Y1 axis, too. The details are the same
6 for the X2 and Y2 axes, too, on the KV-H40S.
Axis
Indicates the currently displayed axis.
Current coordinates
These are the current coordinates. When the numerical value reaches or exceeds nine digits, "*"
is displayed for the topmost digit. (From here on, the same applies to the current coordinates.)
-99999999 to +99999999
Coordinate unit
This is the coordinate unit.
mm, deg, PLS
Current speed
This is the current operating speed. This speed includes deceleration and acceleration.
0 to 99999999
Speed unit
This is the speed unit.
mm/s, deg/s (displayed as "dg/s"), p/s
Current repeat count
This is the number of repeat executions. At the first execution that is not a repeat, "0" is
displayed. The count returns to 0 when 65535 is exceeded.
0 to 65535
Return state
During a return operation, "RET" is displayed.
Point No.
This is the currently running point No. 0 indicates that the unit is not running. In a servo ready
standby state, the previous value stays displayed, and when servo ready input turns ON, the
new point No. is displayed.
KV-H20S: 1 to 400, KV-H40S: 1 to 200
Run state
This is the current run state.
Ready Operation is stopped, or the unit is standing by for an M code or continuous operation.
Running Pulse output is in progress.
Dwell Dwell time standby is in progress.
SV_Ready The unit is waiting for a servo ready check.
Ret Orig Origin return move is currently being executed.
SV_END Servo end check is in progress.
Ret Home Home position move is currently being executed.
Zero.ST Zero start standby is in progress.
6-10
Other operation monitors
Axis X1RepTim e 35000

Specified repeat count (X1 axis)
M code output state (X1 axis) M code off 255 M code No. (X1 axis)
Y1RepTim e 35000
Axis Specified repeat count (Y1 axis)
M code off 255
M code output state (Y1 axis) M code No. (Y1 axis)
* The details are the same for the X2 and Y2 axes, too,
on the KV-H40S.
Specified repeat count

This is the number of repeats specified in point parameters. In the case of indirect specification,
the content of extracted parameters is displayed.
0 to 65000
6
M code output state
This is the ON/OFF state of the M code.
M code No.
This is the M code output No.
0 to 255
Input state monitor
<Input 1> X Y X Y
CW limit switch input state CW - LSW 1 - - 2 - -
CCW - LSW 1 - - 2 0 0 CCW limit switch input state
Origin sensor input state Or gSensor 1 - 0 2 - 0
X1 Y2
Y1 X2
<Input 2> X Y X Y
Stop sensor input state StopSen 1 - - 2 - -
Servo end output state Ser voEnd 1 - - 2 0 0
Dr iver Alm 1 - 0 2 - 0
Driver alarm input state
X1 Y2
Y1 X2
<Input 3> X Y X Y
Ser voRdy 1 - - 2 - -
Servo ready input
Positioning Z-phase input Z- Input 1 - - 2 0 0
Zer o ST 1 - 0 2 - 0
Zero start input
X1 Y2
Y1 X2
Displays the state of various inputs. OFF is indicated by – and ON by O. This is the state after
polarity is switched.
* The above three screens indicate an instance for KV-H40S. X2/Y2 are not displayed in the
case of the KV-H20S.
6-11
Output state monitor
< Output> X Y X Y
DevCntClr 1 - - 2 - - Deviation counter clear output
Ser voOn 1 - - 2 0 0
Servo ON output
Alm Reset 1 - 0 2 - 0
Driver alarm reset output
X1 Y2
Y1 X2
Displays the state of various outputs. OFF is indicated by – and ON by O.
6 * The above three screens indicate an instance for KV-H40S. X2/Y2 are not displayed in the
case of the KV-H20S.
I/O relay display
Input relay
< RLY 1> IN OU T Output relay
X1 0: 0000. 0000
Axis 1st word
X1 1: 0000. 0000
X1 2: 0000. 0000 2nd word
3rd word
* The details are the same for the Y1 axis, too. The details are
the same for the X2 and Y2 axes, too, on the KV-H40S.
Displays the ON/OFF state of the I/O relay.

The state is expressed as a 4-digit Hex number with 16 points taken as one word.
Range: 0000 to FFFF
Example T h e d i s p l a y c h a n g e s to
0021 w h e n th e 0 th a n d 5 th rel ay are ON .
0000 0000 0010 0001 ( bi nary number di spl ay)

R el ay N o.0
R el ay N o.5
R el ay N o.15
6-12
Test Functions
These functions start and display the state of operation and test execution, and change the
current coordinates and current speed.
Basic operations
■ Calling setup screens

Press MENU + 2 to call the test screen.
The default settings are shown in the screen.
1) Mon 2) Test X1 + 0 PLS
3) Point 4) System Sp = 0 P/S The default settings are
MENU 2
5) Speed
7) Teach
6) Jog Y1 +
Sp =
0
0
mm
P/S
shown in the screen.
6
There are four screens on the KV-H20S, and ten screens on the KV-H40S.
After the power is turned ON, the unit remembers the last screen that was displayed on the test
screen. If you perform the above operation after switching to a different screen, the test screen
that is currently memorized (that was last displayed) is displayed.
■ Basic key operations

PREV Displays the previous test screen.
NEXT Displays the next test screen.
↑ Moves to the item above.
↓ Moves to the item below.
0 to 9 . . . ± Enters numerical values.
CLR Deletes entered values to 0.
DEL Deletes the previous entered value.
TEACH
6-13
Explanation of Each Screen
Display and change of coordinates and speed
Axis X1 axis current coordinates (display/change)

X1 axis current speed (display/change) X1 axis coordinate unit (display)
X1-1234567 . 8 PLS
Axis Sp = 5000 . 0 P/S X1 axis speed unit (display)
Y1 axis current speed (display/change) Y1-1234567 . 8 mm Y1 axis coordinate unit (display)
Sp = 1200 . 0 P/S
Y1 axis current coordinates Y1 axis speed unit (display)
(display/change)
6 on the KV-H40S.
Incremental move by specified amount
Axis X1 axis current coordinates (display)

X1-1234567 . 8 PLS X1 axis coordinate unit (display)
+ 1 2 3 4 5 6 7 . 8 M ov e
Axis Increment coordinates to move (display/change)
Y1-1234567 . 8 mm
-1234567 . 8 M ov e Y1 axis coordinate unit (display)
Y1 axis current coordinates (display) Increment coordinates to move (display/change)
on the KV-H40S.
6-14
Test execution 1
F LA S H Wri te Go
Write to flash ROM (instruction)
In i ti a l i ze Go Parameter initialization (instruction)
Mcod e OF F X1 Y1
M code OFF (instruction)
N ext P t Go X1 Y1
Next point execution (instruction)
* The details are the same for the X2 and Y2 axes, too, on the KV-H40S.
Write to flash ROM

Writes preset parameters to flash ROM. Normally, parameters are backed up to SRAM, and
written to flash ROM when the power is next turned ON. When turning the power OFF for a long
time after having changed parameters, be sure to write the changed parameters to flash ROM.
(SRAM backup period: 2 months at 25°)
Parameter initialization 6
When initialization of parameters is initialized (by pressing the ENT key), the screen is switched
as follows:
* P a ram Ini t *
* 1 )X 1 2) Y1 * * The screen example on the left is for the KV-H40S. In the case of
* 3 )X 2 4) Y2 * the KV-H20S, the items become X1/Y1/ALL.
* 5 )A LL *
Here, pressing 1 initializes the parameters of the X1 axis. Pressing 2 initializes the
parameters of the Y1 axis, and pressing 5 initializes the
parameters of both the X1 and Y1 axes. The point, system and speed parameters are initialized.
The display language is not initialized and stays as it is.
M code OFF
Turns M codes that have been output OFF. If [NextPoint] is standing by for execution during M
code output, the M codes are turned OFF and execution of [NextPoint] is performed.
Next point execution
When [Ready] is specified in the continuous operation mode, one of next point, repeat execution
or return execution is executed. Operation is the same as having turned the continuous
operation standby cancel relay ON from the PLC.
Test execution 2
R ep S to p X1 Y1
Repeat forced cancel (instruction)
R esta rt X1 Y1 Restart operation after stop (instruction)
Go T oOrg X1 Y1 Origin return (instruction)
H omeP o s X1 Y1
Move to home position (instruction)
Repeat forced cancel

Cancels repeat operation midway. This differs from forced deceleration stop in that operation is stopped after it has
continued until movement is completed (until a return is performed if return is programmed).
Restart operation after stop
This restarts operation to the originally intended target coordinates after movement is forcibly
decelerated and stopped.
Origin return
Starts a origin return. A origin return can be performed only when operation has stopped.
Move to home position
Moves to the home position. A move to home position can be performed only when operation
has stopped. "Forced deceleration stop" (page 6-3)
6-15
Operation start instructions
Op e rate N o. 400
Operation start point No. (instruction)
S ta rt X1 Y1 Start operation (instruction)
X1 Ready
(X-axis) run state (display)
Y1 Running
(Y-axis) run state (display)
Operation start point No.

This is the point No. from which operation is started. The point No. can be set here.
KV-H20S: 1 to 400, KV-H40S: 1 to 200
Start operation
6 Starts operation from the above operation start point No.

Starts operation on the axis (X, Y) at the current cursor position. Operation can be started on
either axis in the case of linear interpolation.
Run state display

Displays the current run status. This is the same as the operation monitor.
Ready Operation is stopped, or the unit is standing by for an M code or continuous operation.
Running Pulse output is in progress.
SV_Ready The unit is waiting for a servo ready check.
Ret Orig Origin return move is currently being executed.
SV_END Servo end check is in progress.
Ret Home Home position move is currently being executed.
Zero.ST Zero start standby is in progress.
6-16
Setting Point Parameters

For an explanation of parameters, "Chapter 4 TYPE OF PARAMETERS".
Basic operations

Press MENU + 3 to call the point parameter setup screen.
In all there are 11 point parameter setup screens. Some screens (including parameters not
1) Mon 2) Test Point 1 X1
3) Point 4) System Singl e Pos Inc The default settings are
3 Pos X 1 = + 0 shown in the screen.
7) Teach
6
requiring setup), however, are not displayed depending on the setting.
After the power is turned ON, the unit remembers the last screen that was displayed in the point
parameter setup.
If you perform the above operation after switching to a different setup screen, the point

PREV Switches to the previous point No.
NEXT Switches to the next point No.
↑ Moves to the item above.
↓ Moves to the item below.
0 to 9 . . . ± Decrements/increments numerical values. Or, selects and fixes selection items.
ENT Enters numerical values.
CLR Deletes and clears entered values to 0.
FAST
INDEX Switches between direct/indirect specification of values.
TEACH
JOG Moves to the teaching screen (coordinate screen only) and to the jog screen.

[Dwell time], [Target coordinates], [Repeat move], [Speed No.], [Repeat count] and [Stop
sensor specified move] can be specified indirectly.
FAST
Pressing INDEX switches to indirect specification. The indirect No. can be specified within the
range 0 to 15.
6-17
■ Changing parameters during operation

If an attempt is made to write parameters during operation, the following warning message is
displayed.
again. (The same applies to system parameters and speed parameters.)
* N ow R u n ning. *
* V a l ue not *
* ch a n g e d. *
* P ress C LR key. *
6
6-18
Details of Screen Settings
Run mode, target coordinates (independent operation only)
P o i nt = 1 X1
[Run mode] page 4-36
S i ng l e P o s In c INC
Pos X 1 = + 0 [Target coordinates] page 4-38
Run mode, target coordinates (linear interpolation only)
P o i nt = 1 X 1 & Y1
[Run mode] (display only) page 4-36
6
L i ne ABS
Pos X 1 = + 0 [X-axis target coordinates] page 4-38
Pos Y 1 = + 0 [Y-axis target coordinates] page 4-38
Speed, dwell time, return operation (other than speed control mode)
P o i nt = 1 X1
[Speed No.] page 4-39
Op e .S p e e d N o.= 1
Dwell = 0 [Dwell time] page 4-41
R etu rn : off [Return] page 4-42
Speed, slow down speed, dwell time (speed control mode)
P o i nt = 1 X1
[Speed No.] page 4-39
Op e .S p e e d N o.= 1
S l ow D o w n N o.= 1 [Compare slow down speed No.] page 4-39
Dwell = 0 [Dwell time] page 4-41
Repeat count, repeat move (independent positional control only)
P o i nt = 1 X1
[Repeat count] page 4-43
R ep e a t = 1
R ep = + 0 [Repeat incremental move] page 4-43
Repeat count, repeat move (linear interpolation only)
P o i nt = 1 X 1 & Y1
[Repeat count] page 4-43
R ep e a t = 1
R ep X 1 = + 0 [X-axis repeat incremental move] page 4-43
R ep Y 1 = + 0 [Y-axis repeat incremental move] page 4-43
6-19
Next point No., continuous mode
P o i nt = 1 X1
[Next point No.] page 4-44
N extP o i nt = 0
C on tMod e : [Continuous mode] page 4-45
M codes
P o i nt = 1 X1
[M code mode] page 4-47
Mcod e Mod e = W ITH
Mcod e N o : 0 [M code No.] page 4-46
6
Stop sensor specified move
P o i nt = 1 X1
[Stop sensor] page 4-40
S to p S e n so r off
S to p S e n so rMo ve [Stop sensor specified move] page 4-40
0
Zero start terminal
P o i nt = 1 X1
[Zero start terminal] page 4-48
Z eroS T off
6-20
System Parameter Settings

For an explanation of parameters, "Chapter 4 TYPE OF PARAMETERS"
There are 27 setup screens for each axis and three common parameter setup screens.
Axis Screen No. Description
X, Y 1 to 3 Unit setup
X, Y 4 to 6 Run speed setup
X, Y 7 to 10 Jog speed setup
X, Y 11 to 17 Origin return setup
X, Y 18 to 20 Polarity setup
X, Y 21 to 27 Other operation setups
- 1 to 3 Setup of parameters common to all axes 6
* X axis: X1 axis on the KV-H20S, and X1 and X2 axes on the KV-H40S
Y axis: Y1 axis on the KV-H20S, and Y1 and Y2 axes on the KV-H40S

Press MENU + 4 to call the system parameter setup screen.
1) Mon 2) Test X1< Sy s Par am > 1
3) Point 4) System Unit : PLS The default settings are
4 Dec i m al N ON E shown in the screen.
7) Teach
There are 27 system parameter setup screens for each axis.

system parameter setup.
If you perform the above operation after switching to a different setup screen, the system

The following describes processing assigned to the various keys that are enabled in the system
parameter edit mode.
PREV . NEXT Switches the edited axis (X, Y).
↑ . ↓ Moves the cursor to the item above or below.
→.← Decrements/increments numerical values. Or, changes and fixes the details selected for an item.
0 to 9 . . Enters the numerical value.
± Switches the sign of the numerical value you have set.
ENT Fixes the setting details of that item.
FAST
INDEX Switches between direct/indirect specification of values.
TEACH
The cursor changes to ■ when the numerical value or details of each parameter are already set.
The cursor returns to ■ when the ENT key is pressed to fix the entered values or details. If you
press the ↑ or ↓ key without entered values or details not fixed, the setting returns to the
setting before it was changed. Note, however, that when items are selected by ← → , the
entered values or details are fixed the moment that ← → is pressed.
6-21

The following parameters can be specified indirectly:
[Run startup speed] [Run acceleration rate] [Run deceleration rate]
FAST
Pressing INDEX switches to indirect specification. The indirect No. can be specified within the
range 0 to 15.
For details on indirect specification, see the following page.
Setting area→ "Indirect parameter area" page 5-14
■ Changing parameters during operation

6 If an attempt is made to write parameters during operation, the following warning message is
displayed.
again.
* N ow R u n ning. *
* V a l ue not *
* ch a n g e d. *
* P ress C LR key. *
6-22
Unit setup
X 1 <S ysP aram> 1

[Coordinate unit] (display only) page 4-6
U ni t : PLS
D eci ma l NONE [Decimal point position] page 4-6
X 1 <S ysP aram> 2

D i sp = a /b *Pulse
page 4-7
a = 1 [Coordinate conversion denominator]
b = 1 page 4-7
X 1 <S ysP aram> 3

S p e e d U ni tC n v : off
( P/S)
[Speed unit conversion]
[Speed unit] (display only) page 4-8
6
page 4-8
Run speed setup
■ Run speed, maximum speed setup

X 1 <S ysP aram> 4
[Speed unit conversion] (display only) page 4-8
R un S p e e d ( P/S)
S ta rt = 0 [Run startup speed] page 4-9
Max. = 500000 [Run maximum speed] page 4-9
■ Acceleration setup
X 1 <S ysP aram> 5
[Run acceleration rate] page 4-10
A cce l R a te = 10
A cce l .C u rve : SIN [Run acceleration curve] page 4-10
C urveR ati o = 100 [Run acceleration curve ratio] page 4-11
■ Deceleration setup
X 1 <S ysP aram> 6
[Run deceleration rate] page 4-12
D ece l R a te = 10
D ece l .C u rve : SIN [Run deceleration curve] page 4-12
C urve.R ati o = 100 [Run deceleration curve ratio] page 4-13
6-23
Jog speed setup
■ Jog speed, jog maximum speed setup

X1 <S ysP aram> 7
J og S p e e d ( P/S)
Sta rt = 500 [Jog startup speed] page 4-14
JOG = 5000 [Jog maximum speed] page 4-14
X 1 <S ysP aram> 8

[Jog acceleration rate] page 4-14
JOG A cce l = 10
A cce l .C u rve : SIN [Jog acceleration curve] page 4-14
C urveR ati o = 100 [Jog acceleration curve ratio] page 4-15
6 X1 <S ysP aram> 9

[Jog deceleration rate] page 4-15
J O G D e ce l = 10
Dece l .C u rve : SIN [Jog deceleration curve] page 4-15

Curve.R ati = 100 [Jog deceleration curve ratio] page 4-15
X1 <S ysP aram>, 10

J og In ch i ng P u l se : page 4-15
PLS [Jog inching number of pulses]
Origin return speed setup
■ Origin return-related speed setup

X1 <S ysP aram> 11
Org.S p e e d ( P/S)
[Origin return startup speed] page 4-16
Sta rt = 0
Ret. = 5000 [Origin return maximum speed] page 4-16
X1 <S ysP aram> 12

Sp e e d S e t ( P/S)
[Creep speed] page 4-16
Cre e p = 500
X1 <S ysP aram> 13 page 4-16

[Origin return acceleration rate]
OR G A ccel = 10
[Origin return acceleration curve] page 4-17
Acce l .C u rve : SIN
CurveR ati o = 100 [Origin return acceleration curve ratio] page 4-17
X1 <S ysP aram> 14

[Origin return deceleration rate] page 4-17
OR G D e ce l = 10
Dece l .C u rve : SIN [Origin return deceleration curve] page 4-17
Curve.R ati o = 100 [Origin return deceleration curve ratio] page 4-17
X 1 <S ysP aram> 15

[Origin return direction] page 4-18
Orgi n D i r. : CCW
N o C C W-L S W : off [Origin return mode] page 4-18
OR G E nd D tct : off [Origin sensor detection mode] page 4-18
6-24
X 1 <S ysP aram> 16

page 4-19
Ori g i n P o si ti o n
= + 0 [Origin coordinates] page 4-19
H ome = + 0 [Home position coordinates]
X 1 <S ysP aram> 17

[Automatic origin return] page 4-19
A u to Ori g i n : off
A u to H ome P o s : off [Automatic move to home position] page 4-19
Polarity setup
■ Polarity setup 6
X 1 <S ysP aram> 18
[Origin sensor polarity] page 4-20
OR G P ol ari ty : NO
L S W P ol ari ty : NO [Limit switch polarity] page 4-20
Z i n P o l ari ty : NO [Positioning Z-phase polarity] page 4-21
X 1 <S ysP aram> 19

[Stop sensor polarity] page 4-20
S T O P P ol . : NO
SVRDY Pol. : NO [SRVRDY polarity] page 4-21
ALM P ol . : NO [ALM polarity] page 4-21
X 1 <S ysP aram> 20

[SRVEND polarity] page 4-21
SVEND Pol. : NO
Z E R O_ S T P ol . : NO [ZERO ST polarity] page 4-21
Other operation setups
■ Other operation setups

X 1 <S ysP aram> 21
[Shortcut control of the angle of rotation] page 4-23
R ot.S h o rtcut : off
X 1 <S ysP aram> 22

[Software limit CW coordinates] page 4-25
S o ftL i mi t S w i tch
CW = + 0 [Software limit CCW coordinates] page 4-25
CCW = + 0
X 1 <S ysP aram> 23

[Servo end check time] page 4-24
S e rvo E n d = 0
S V R esd y C hk : off [Servo ready check] page 4-24
B a ckl ash = 0 [Backlash compensation move] page 4-24
6-25
X 1 <S ysP aram> 24

[Pulse output mode] page 4-25
P u l seOu t T ype : 2
Moto r D i r. : OW [Direction of motor operation] page 4-25
X1 <S ysP aram> 25

page 4-22
Sto p S e n so r
Zi n Z eroS t
[STOP, positioning Z-phase input time constant] page 4-22
Fi l ter = 25us [Zero start input time constant]
X 1 <S ysP aram> 26

E MG O R G
[EMG, origin input time constant] page 4-22

F i l ter = 25us
6
X 1 <S ysP aram> 27
[Detailed origin position]
OR G D e t. : Z i n A N D page 4-19
Setup of parameters common to all axes
■ Error-related setup
< C o mmo n P a ram> 1
[Stop axis setting at error]
A l l A xi sS top : off page 4-27
E rro r S top : Im id [Error stop mode]
page 4-27
B a cku p E rr. : on [SRAM backup error display]
page 4-27
■ KZ-HP1 setup
[Display language]
E n g l i sh : off page 4-28
B u zze r : on [Buzzer control]
page 4-28

[Label No.]
l ab e l N o . = 0 page 4-29
K e y L o ck : off [Key lock]
page 4-29
6-26
Speed Parameter Setup

For an explanation of parameters, "Chapter 4 TYPE OF PARAMETERS"
16 speeds can be set to each of the X- and Y-axes. (Speeds can be set only while operation has
stopped.)
Specify the speeds in point parameters by the speed No. set here.

Press MENU + 5 to call the speed parameter setup screen.
1) Mon 2) Test X1 SpdSet ( P/S)
3) Point 4) System No.1 = 1000 The default settings are
5 No.2 = 2000 shown in the screen.
7) Teach No.3 = 3000
6
The default settings are shown in the screen.
There are six speed parameter setup screens for each axis.
speed parameter setup. If you perform the above operation after switching to a different screen,
the speed parameter screen that is currently memorized (that was last displayed) is displayed.

The following describes processing assigned to the various keys that are enabled in the speed
parameter edit mode.
PREV . NEXT Switches the edited axis (X, Y).
↑ . ↓ Moves to the item above or below.
←.→ Decrements/increments numerical values.
0 to 9 . . Enters the numerical value.
TEACH
6-27
Speed settings
Set the "speed No." to be used by point parameters.
■ Setting the speed during operation

Axis
X1 SpdSet ( P/S) Speed unit
N o .1 = 1000
Speed No.1 default 1000
N o .2 = 2000
N o .3 = 3000 Speed No.2 default 2000
X1 SpdSet ( P/S)
6 N o .4
N o .5
=
=
4000
5000
N o .6 = 6000
X1 SpdSet ( P/S)
N o .7 = 7000 Speed No.7 default 7000
N o .8 = 8000
N o .9 = 9000
X1 SpdSet ( P/S)
N o .1 0 = 10000 Speed No.10 default 10000
N o .1 1 = 15000
N o .1 2 = 20000
X1 SpdSet ( P/S)
N o .1 4 = 40000
N o .1 5 = 50000
X1 SpdSet ( P/S)
Unit display
This is the unit of the speed to be displayed or set. The unit cannot be changed here. The unit is
changed at "Coordinate unit" (system parameter 1) and "Speed unit conversion on/off" (system
parameter 3).
mm/s: Specify the distance of movement in one second in mm units.
deg/s: Specify the angle of rotation in one second in degree (°) units.
p/s: Specify the unit in number of pulses to be output in one second.
Speed No.1 to 16
This is the speed of the corresponding No.
1 to 99999999 [mm/s, deg/s, p/s]
6-28
Jog Function
This item describes operation of the jog function.
Basic operations
■ Calling the jog screen

Press MENU + 6 to call the jog screen.
There are six speed parameter setup screens for each axis.
X1 axis current coordinates

1) Mon 2) Test < Jog M ode>
3) Point 4) System X1 + 0 PLS
X1 axis coordinate unit
6 Y1 + 0 PLS Y1 axis coordinate unit
7) Teach
Y1 axis current coordinates 6
Explanation of screens

These are the current coordinates of the X1 axis.
-99999999 to +99999999 [mm, deg, PLS]
X1 axis coordinate unit

mm, deg, PLS
Y1 axis current coordinates

These are the current coordinates of the Y1 axis.
-99999999 to +99999999 [mm, deg, PLS]
Y1 axis coordinate unit

mm, deg, PLS
Note
When the cable is disconnected during jog operation, axis movement
6-29
■ Operation Keys
The following describes processing assigned to the various keys that are enabled in the jog
function.
→ Moves the X1 axis in the CW direction.
← Moves the X1 axis in the CCW direction.
↑ Moves the Y1 axis in the CW direction.
↓ Moves the Y1 axis in the CCW direction.
FAST
INDEX Holding this key down specifies operation at the high-speed jog speed.
CLR When operation is called up directly from a monitor, test, system or speed
mode using the TEACH
JOG key, the screen returns to the original screen before
jog operation was called up.
6 How to press keys and details of operation

FAST
Pressing the INDEX key
• If jog operation is in progress, the speed is changed to the high-speed jog speed.
• If jog operation is not in progress, nothing happens.
FAST
Releasing the INDEX key.
• If an arrow key is being pressed during jog operation, the speed is changed to the jog startup
speed.
If an arrow is released during jog operation, axis movement decelerates and comes to a stop.
• If jog operation is not in progress, nothing happens.
Pressing the ← → ↑ ↓ keys

• If jog operation is in progress, nothing happens.
• If the INDEX
FAST
key is being pressed while jog operation is not in progress, operation is started
at the high-speed jog speed.
• If the INDEX
FAST
key is released while jog operation is not in progress, inching is executed (
Jog inching number of pulses, page 4-15), and the continuous movement timer is started.
While ← → ↑ ↓ keys are held down

• After the continuous movement has elapsed for 200 ms, operation is started at the jog startup
speed.
Releasing the ← → ↑ ↓ keys

• If jog operation is in progress, axis movement decelerates and comes to a stop.
6-30
Teaching Function
"Teaching" is a function for operating the control target from a Teaching Unit or a PLC to set that
position as the current coordinates.
Operation of a Teaching Unit, for example, in jog operation to capture the current coordinates as
the target coordinates of point parameters is called "remote teaching."
Teaching can be set only in absolute coordinates. (Setting teaching in incremental coordinates
results in an error.)
Basic operations
■ Calling the teaching screen

If you press the TEACH
JOG key while the coordinate setup screen is displayed in the point
parameter setup screen, the screen switches to the teaching screen as follows:
6
When [Target coordinates] was set in independent operation
P oint =1 X1
P osX1 = + 1234567.8
P osY1 = + 1234567.8
R e m ote teaching
When [X1/Y1 axis target coordinates] was set in linear interpolation operation
P oint =1 X1 & Y1
P osX1 = + 1234567.8
P osY1 = + 1234567.8
R e m ote teaching
1) Mon 2) Test Poin t =1 X1 & Y1

3) Point 4) System Poin tX1 = + 1 2 3 4 5 6 7 8
7
Poin tY1 = + 1 2 3 4 5 6 7 8
7) Teach Rem ote teac hi ng
The teaching screen can also be called by pressing MENU + 7 .

When the [Run mode] for the currently displayed [Point No.] is linear interpolation, teaching
can be performed as it is.
When the [Run mode] for the currently displayed [Point No.] is X1 axis independent operation,
"X1" is displayed, and when the [Run mode] is Y1 axis independent operation, "Y1" is
displayed.
* The details are the same for the X2 and Y2 axes, too, on the KV-H40S. (The same applies
from here on.)
6-31
■ Key operation
The following describes processing assigned to the various keys that are enabled in the teaching
function.
PREV Switches to the previous point No.
((X1, Y1) and (X2, Y2) are switched in the case of the KV-H40S.)
NEXT Switches to the next point No.
((X1, Y1) and (X2, Y2) are switched in the case of the KV-H40S.)
← Moves the X1 axis in the CW direction.
→ Moves the X1 axis in the CCW direction.
↑ Moves the Y1 axis in the CW direction.
↓ Moves the Y1 axis in the CCW direction.
6
FAST
INDEX Specifies operation at the jog speed. Holding this key together with the cursor
key can move the axis at the [Jog maximum speed].
TEACH
JOG Switches to the remote teaching screen.
CLR Cancels teaching and returns to the point parameter setup.
ENT Fixes teaching and returns to the point parameter setup.
(In the interpolation mode, the target coordinates of all interpolated axes are set.)
■ Flow of teaching operation
Point parameter setup screen

(coordinates currently displayed) Menu screen
P o i nt = 25 X1 1) Mon 2) Test
S i ng l e Pos Abs INO 3) Point 4) System
P o sX 1 = + 0 5) Speed 6) Jog
7) Teach
TEACH
JOG 7
Point = 25 X1 & Y1
PosX1 = + 12.345678 Remote
PosY1 = - 0.000120 teaching screen
Rem ote teaching
ENT CLR
Remote teaching
Move to the target coordinates by the ↑ ↓ ← → keys,
and fix the coordinates by the ENT key.
6-32
X1 axis teaching
Store the current coordinates of the X1 axis to the target coordinates of the point parameters.
Use the ← , → and INDEX
FAST
keys as jog operation for moving to the current coordinates.
Point No. to be stored

P oi nt =1 X1
Axis to be stored
P osX 1 = + 1234567.8 X1 axis current coordinates
P osY 1 = + 1234567.8
R e mote te a ch i ng

This is the point No. to be stored by executing teaching.
KV-H20S: 1 to 400, KV-H40S: 1 to 200
6
Displays the current coordinates of the X1 axis.
-99999999 to +99999999 [mm, deg, PLS]
Displays the current coordinates of the Y1 axis.
-99999999 to +99999999 [mm, deg, PLS]
Axis to be stored
This is the axis to be stored by executing teaching.
X1 (Y1, X1&Y1)
* In the case of the KV-H40S, switch the display of the 3rd axis onwards by the NEXT and PREV keys.
Y1 axis teaching
Store the current coordinates of the Y1 axis to the target coordinates of the point parameters.
Use the ↑ , ↓ , and INDEX
FAST
keys as jog operation for moving to the current coordinates.

P oi nt =1 Y1
Axis to be stored
P osY 1 = + 1234567.8

KV-H20S: 1 to 400, KV-H40S: 1 to 200
-99999999 to +99999999 [mm, deg, PLS]
-99999999 to +99999999 [mm, deg, PLS]
Axis to be stored
(X1), Y1, (X1&Y1)
* In the case of the KV-H40S, switch the display of the 3rd axis onwards by the NEXT and PREV keys.
6-33
Interpolation teaching
Store the current coordinates of the X1 and Y1 axes to the target coordinates of the point
parameters. Use the ← , → , ↑ , ↓ and INDEX
FAST
keys as jog operation for moving to the current
coordinates.
The screen changes as follows when the teaching screen is called up from the menu.

P oi nt =1 X1 & Y1
Axis to be stored
P osY 1 = + 1234567.8
6 When the point parameter is single operation, the teaching axis (axis to be stored) switches to
the X1 axis by pressing ← → to perform jog operation on the X1 axis, and switches to the Y1
axis by pressing ↑ ↓ to perform jog operation on the Y1 axis.

KV-H20S: 1 to 400, KV-H40S: 1 to 200
-99999999 to +99999999 [mm, deg, PLS]
-99999999 to +99999999 [mm, deg, PLS]
Axis to be stored
X1, Y1, (X2), (Y2), X1&Y1, (X2&Y2), (3), (4)
* Axes in parentheses are for the KV-H40S. Switch the display of the 3rd axis onwards by the
PREV and NEXT keys.
(In the interpolation mode, the target coordinates of all interpolated axes are set.)
6-34
Help Function
Display and setup items are displayed in alphabetical order. When you move the cursor to select
the required items, and press ENT , the screen moves to the related display and setup screen.
■ Calling up the Help screen

Press HELP key to call the Help screen.
1-Pulse Output
2-Pulse Output
A cc el. Cur ve
A cc el.Cur ve Rat.
■ Key operation 6
↑ Moves to an item one item up in the screen.
PREV Moves to the top of the item group starting with the previous alphabet letter
from the current cursor position. (e.g. ... C→B→A ... and so forth)
↓ Moves to an item one item down in the screen.
NEXT Moves to the next initial alphabet letter.
(e.g. ... A→B→C ... and so forth)
RET Moves to the screen in question.
CLR This button returns you to the original screen.
M-Code Mode Set

M-Code Monitor
M-Code Number
M-Code OFF
Monitor
Motor Rotation
Next Point Move ↑
Next Point No. ↑ PREV NEXT
Operation Mode
Org. End Detect
Org. Position
Org. Ret. Speed
Org. Return Dir.
Org. Return Mode
Org. Sensor Pol.
Org. Start Speed
6-35
In the following screen state, the screen might not move to the item in question:
• When a speed control mode (stop sensor) item is selected while editing a point parameter No.
that is not single operation
• When an item not related to the selected operation mode is selected
Key Lock Function

The KZ-HP1/KV-HPD1 can be locked to prevent the content of parameters from being changed
by mistake or to prevent inadvertent test operation.
Operation is as follows when the [Key lock] parameter common to all axes is set to "on":
6 • Setting values cannot be written from the KZ-HP1/KV-HPD1.

• Various operations in the KZ-HP1/KV-HPD1 test mode cannot be executed.
• Jog operation and deceleration stop on the KZ-HP1/KV-HPD1 also cannot be executed. Only
emergency stop (EMG) is available.
Also, when [on: HPD1exceptJOG] is selected, jog operation on the KV-HPD1 is enabled
additionally besides the key lock operation described above.
"Parameters Common to All Axes (2)" page 4-28
Buzzer Control Function

Sounding of the buzzer on the KZ-HP1/KV-HPD1 can be stopped.
Display Language Function

The display language of the KZ-HP1/KV-HPD1 can be switched between Japanese and English.
Label No. Setting Function

The date and other information can be stored for management of parameters.
6-36
Screen for Remedying Errors

The following screen will be displayed when an error occurs:
Error mode
E rr O ccur No119
Error No.
E me rge n cy S to p Error message
P re ss C LR key. Operation guide
Error mode
This is the mode in which operation stopped when the error occurred.
ErrOccur This is an error that occurs during interpolation operation or an error that is 6
common to both the X- and Y-axes. Both the X- and Y-axes stop.
X-, Y-axes: X1 and Y1 axes on the KV-H20S
X1 and Y1 axes, and X2 and Y2 axes on the KV-H40S
ErrOccur X1 These are errors that occur during independent operation on the X1 axis and
during writing of X1 axis parameters. Only the X1 axis stops. (The X1 and Y1
axes also sometimes stop depending on the setting.)
On the KV-H40S, the display is the same for the X2 axis, too.
ErrOccur Y1 These are errors that occur during independent operation on the Y1 axis and
during writing of Y1 axis parameters. Only the Y1 axis stops. (The X1 and Y1
axes also sometimes stop depending on the setting.)
On the KV-H40S, the display is the same for the Y2 axis, too.
Fatal Error Subsequent operation is not assured with these errors. Both the X- and Y-axes
stop.
X-, Y-axes: X1 and Y1 axes on the KV-H20S
X1 and Y1 axes, and X2 and Y2 axes on the KV-H40S
Error No.
This is the No. of the error that occurred. "List of Errors" page 7-2
Error message
This is a brief description of the error that occurred. "List of Errors" page 7-2
Operation guide
Displays how to remedy an error that has occurred.
Press CLR key. Pressing the CLR key returns you to the original screen. The error is reset in the
case of a fatal error.
ENT: JumpToCause Pressing the ENT key moves to the setup screen for the parameter that caused
the error. Slightly different screens are sometimes moved to depending on the
content of the error as it is difficult to predict the cause of errors.
Some screens can be moved to while others cannot be moved to as the cause
screen depending on the type of error.
CLR: Abort Pressing the CLR key returns you to the original screen.
Please Restart The cause of the error that occurred is unknown. Note down the error No. and
contact your agent.
6-37
6-2 Using the KV-HPD1

This section describes KV-HPD1 functions and how to operate the KV-HPD1. The KV-HPD1 is a
simplified version of the Teaching Unit and is equipped with a JOG dial. On this Teaching Unit,
you can easily set up parameters that are frequently changed such as move for each point and
run speed.
About the Functions of the KV-HPD1

The features of the KV-HPD1 are as follows:
• The range of functions has been narrowed down to functions that are frequently used at the
6 site to ensure easy operation.
• Screen selection and setup have been made easier thanks to use of the JOG dial.
[Example of screen]
Mon 1 X1 Com m ent JOG X1 Com m ent Er r Oc c ur N o119
N o.4 0 0 Com m ent Em er genc y Stop
P - 1234567.8PS - 9 9 9 9 9 9 9 9 PLS
V 5000. 0.P / S
Monitor screen Jog operation screen Error screen
Basic operations
■ Layout
(1) EMG:
Applies an emergency stop on both the X- and Y-axes. This can
be used in all modes except when an error has occurred.
AAAAA (2) HELP:
This displays the Help screen. This can be used in all modes
except when an error has occurred.
(3) JOG dial:
(1) (4) This functions as both a dial and has key functions.
Turn the dial CW or CCW to select screens or selection item in
(2) (5) screens or increment/decrement setting values.
(3) ENTER:
This is one of the JOG dial functions.
(3) This is used for fixing selection items and details currently being
set.
(4) ESC:
This button returns you to the previous screen. This can also be
used to cancel an error when one occurs.
(5) JOG/TEACH:
This displays the jog operation or teaching screen.
6-38
Screen categories and how to switch between screens
The following shows screen categories on the KV-HPD1 and how to switch between these
screens.
Top layer of screen hierarchy Point layer of the screen hierarchy

(Monitor, test operation, etc.) (changing of point parameters and speed parameters)
Monitor 2 screens Setting 1 1 screen

KV-H20S/H40S Monitor Target coordinates, run mode settings
Select the Select "Details",

Test 1 screen point No., and
press "ENTER"
1 screen and press" ENTER". 6
Test operation instruction Setting 2 Speed setup
Press "ESC". 1 screen
System 4 screens Dwell time, speed No. settings
System parameter settings
Press "ESC". Setting 3 1 screen
Input Monitor 3 screens Next point No. settings, continuous mode settings
Sensor/servo input state

Setting 4 1 screen
Output Monitor 1 screen Return operation, repeat settings
Servo output state
Option 1 screen
Flash ROM Hold down "JOG/TEACH"
Press "JOG/TEACH" . Press "ESC".
write, language for a long time with
selection "HELP" held down.
Jog/teach layer of the screen hierarchy (jog operation, teaching)
Press "ESC".
Press
"JOG/TEACH" . Jog 1 screen
Option 2 1 screen Jog operation
Key protect
Teach 1 screen
Press "ESC".
Teaching
When the KV-HPD1 is connected to the KV-H20S/H40S, the main monitor 1 screen is the first
screen to appear.
Turning the "JOG dial", switches the screens in the predetermined order. Turning the dial CW
switches the screens in the direction of the arrow, and turning the dial CCW switches the
screens in the opposite direction.
6-39
■ Switching between different layers in the screen hierarchy and selecting items
The following example describes how to switch between the monitor 1 and test screens in the
top layer of the screen hierarchy.
1) Changing selection items and switching between screens
Mo n 1 X1 Com m ent
No. 400 Com m ent The X1 axis is first selected. When you turn the "JOG dial" in the CW
P - 1234567.8PS direction, the selection moves from the top and left in order to the next
V 5000. 0.P / S
item(s) that can be changed.
In the figure on the left, the selection moves as follows in the direction
Mo n 2 X1 Com m ent of the arrow.
No. 400 Com m ent
Repeat Count 3 5 0 0 0 R et
<The monitor 1 screen is displayed> X1→ 400 →
Mco d e off 255 <The screen moves to the monitor 2 screen.> → X1 → 400 →
<The screen moves to the test screen. >X1 → 400 → start → 120 →
6 execution->...and so forth
TEST X1 Com m ent
No. 400 Com m ent Turning the "JOG dial" in the CCW direction moves the selection in the
Ready 35000 R et reverse direction.
S tart N o 12 0 Exec
2) Changing the control axis.

Select the control axis (in the figure on the left, the X1 axis), and press
the "ENTER" key, and turn the "JOG dial" to select the desired axis.
Hold down the "ENTER" key for a long time again to fix the selected
axis.
KV-H20S:X1→Y1
(When the "JOG dial" is turned in the CW direction)
KV-H40S:X1→Y1→X2→Y2
(same as above)
Mo n 1 X1 Com m ent 3) Changing the point No.

No. 400 Com m ent
Select the point No. (in the figure on the left, "400") and press the
P - 1234567.8PS
V 5000. 0.P / S
"ENTER" key. The screen moves to the point parameter setup screen.
4) Changing numerical values

P - Set - 1 N o 4 0 0 X1
Com m ent Use the "JOG dial" to select an item to which a numerical value is set,
S i n g l e P o s In c press the "ENTER" key, and turn the "JOG dial" in the CW or CCW
P os +99999999
direction. This increments or decrements the numerical value. Hold
down the "ENTER" key for a long time again to fix the new numerical
value setting.
5) Canceling a setting
Press the "ESC" key to restore the setting value you have changed to
its previous value.
6-40
List of functions
■ Monitor functions
The state of the KV-H20S/H40S can be monitored while it is running. The state can be
monitored even while the KV-H20S/H40S has stopped.
The following details can be monitored.
[Example of screen]
Currently running point No.
Mon 1 X1 Com m ent In monitor 1 screen: Current coordinates (and coordinate unit), current speed
N o.4 0 0 Com m ent
(and speed unit)
P - 1234567.8PS
V 5000. 0.P / S
In monitor 2 screen: Current count of repeat operation, output state of M code
(M code No. currently being output) 6
■ Test functions
Operation instructions (e.g. operation start), coordinates and speed can be changed. The
following functions are available:
[Example of screen]
T est X1 Com m ent Operation start instruction: Start of operation of specified point No. and status monitor
N o.4 0 0 Com m ent
Run state: ready, single running, speed constant, servo ready checking,
R ea d y
S ta rt No 120 Exec
servo end checking, return origin, return home position, dwell,
continuous running, line running, ready zero start
Various tests: restart, origin (and home position) return, wait cancel,
decelerating, M-code OFF instruction, repeat stop
■ System parameter settings

System parameters are displayed and set. Setting values can be changed only while operation is stopped.
You can set the following items:
[Example of screen]
Sys1: run acceleration rate, run deceleration rate
S ys1 X1 Com m ent
Sys2: run startup speed, run maximum speed
A cc R ate 65000
D ec R ate 65000 Sys3: origin coordinates, home position coordinates
Sys4: servo end check time, backlash compensation move
■ Input monitor functions

Displays the input states.
[Example of screen]
<Inp u t 1 > X Y X Y Input monitor 1: CW limit switch, CCW limit switch, origin sensor
C W-LS W 1 - 0 2 - 0
C C W-L S W 1 - - 2 - -
Input monitor 2: positioning Z-phase, stop sensor, zero start
OrgS e n so r 1 0 0 2 0 0 Input monitor 3: driver alarm, servo ready, servo end
6-41
■ Output monitor functions

Displays the output states.
[Example of screen]
<O utp u t> X Y X Y
Deviation counter clear
D evC ntC l r 1 - 0 2 - 0
S e rvoOn 1 - - 2 - - Servo ON
A l mR ese t 1 0 0 2 0 0 Driver alarm reset
■ Option functions
The following options can be set:
Press the
Write to flash
[Example of screen] "JOG dial"
6 O pti on
ROM
with "HELP"
Display language pressed. Opti on2
OFF
F L A S H _WR Exec selection

E ng l i sh Mod e ON OFF ON
Buzzer control,
B uzze r ON
ESC ON/ExceptJOG
key protect
■ Point parameter settings

Display and sets point parameters. Setting values can be changed only while operation is stopped.
You can set the following items:
[Example of screen]
PT setting 1: run mode, target coordinates
P - Set - 1 N o 4 0 0 X1
PT setting 2: operation speed No. (and speed setting), dwell time
Com m ent
S i n g l e P o s In c PT setting 3: next point No., continuous operation setting
P os +99999999 PT setting 4: return operation setting, repeat count, repeat move
■ Jog operation
The motor is operated by operation of the KV-HPD1 Teaching Unit. Jog operation can be
executed only while operation is stopped.
[Example of screen]
JOG X1 Com m ent
+ 9 9 9 9 9 9 9 9 PLS
■ Teaching
The current coordinates are transferred to the target coordinates of the point parameters. Jog
operation can be executed only while operation is stopped.
[Example of screen]
T ea ch X1 Com m ent
N o.4 0 0 Com m ent
- 9 9 9 9 9 9 9 9 PLS
Set
■ HELP function
An explanation relating to the selection item is displayed by pressing the "HELP" key.
6-42
Monitor Functions
Display the operation state. The state can be monitored even while the KV-H20S/H40S has
stopped.
Monitor 1
Axis
Point No. M on1 X1 Comm ent Axis comment
No.400 Comm ent
Current coordinates Point No. comment
P - 1234567.8PS
Current speed V 5000. 0.P / S
Coordinate unit
Speed unit
6
Axis
KV-H20S: X1/Y1, KV-H40S: X1/Y1/X2/Y2
Axis comment
Displays the comment for each axis.
Point No.
checking state, the previous value stays displayed, and when servo ready input turns ON, the
KV-H20S: 1 to 400, KV-H40S: 1 to 200
Point No. comment
Displays the comment for each point.
Current coordinates
These are the current coordinates. (This is the value obtained after coordinate conversion.)
When the numerical value reaches or exceeds 12 digits, "*" is displayed for the topmost digit.
(The same applies from here on.)
Coordinate unit
mm (mm), dg (degree), PLS (pulse)
Current speed
This is the current operating speed. (When the unit is programmed to convert the coordinates,
this becomes the value obtained after conversion of the coordinates.)
Speed unit
This is the speed unit.
mm/s (mm/sec), dg/s (degree/sec), P/s (pulse/sec)
*1) When the "ESC" key is pressed while this screen is displayed, the screen moves to the test
screen. (When the "ESC" key is pressed while the test screen is displayed, the screen
returns to this screen.)
*2) When the "ESC" key is pressed and held down while a different screen is displayed, the
screen returns to this screen.
6-43
Monitor 2
Axis
Point No. M on2 X1 Com m ent Axis comment
No.400 Com m ent
Current repeat count Point No. comment
Repeat Count 35000 Ret
M code output state M code off 255
Return state
M code No.
Axis
Axis comment
6 Displays the comment for each axis.
Point No.
This is the currently running point No.
Point No. comment
Current repeat count
This is the current number of repeat executions. At the first execution that is not a repeat, "0" is
displayed. The count returns to 0 when 65535 is exceeded.
Return state
During a return operation, "Return" is displayed.
M code output state
This is the ON/OFF state of the M code.
M code No.
This is the M code output No.
0 to 255
6-44
Test Functions
These functions start and display the state of operation and test execution, and change the
current coordinates and current speed.
Displaying and changing coordinates and speed, and executing various tests
Axis
Point No. TEST X1 C om m ent Axis comment
No. 400 C om m ent
Run state display Point No. comment
Ready
Execution instruction selection Star t N o 120 Exec
Start point No.
Execution instruction
6
Axis
KV-H20S: X1/Y1, KV-H40S: X1/Y1/X2/Y2
Axis comment
Point No.
checking state, the previous value stays displayed, and when servo ready input turns ON, the
KV-H20S: 1 to 400, KV-H40S: 1 to 200
Point No. comment
Run state display
Displays the current run state.
Ready Either operation is stopped or the unit is standing by for an M code or continuous
operation.
SV Ready Chk The unit is waiting for a servo ready check.
SV End Chk Servo end check is in progress.
Return Origin Movement to the zero position is in progress.
Ret. Home Pos Move to home position is currently being executed.
Single Running Pulse output in position control for independent operation is in progress.
Speed Cont. Pulse output in speed control is in progress.
n-Line Running Pulse output in n linear interpolation is in progress. (n: 2 to 4)
Ready_Zero_ST The unit is standing by for zero start.
6-45
Execution instruction selection

Select the item whose execution is to be instructed.
*) Press the "ENTER" key, and turn the "JOG dial" to select the candidate run state. Hold down
the "ENTER" key for a long time again to fix the selected item.
Start_No
Starts operation of the currently displayed [Start point No.].
Restart This resumes operation to the originally intended target coordinates after
movement is forcibly decelerated and stopped.
Orig Ret Starts a origin return. This can be selected only when the unit has stopped.
Home Ret Moves to the home position. This can be selected only when the unit has
stopped.
WaitCncel Cancels a standby in the continuous operation mode, and executes one of next
6 point, repeat execution or return execution.
Decel Performs forced deceleration and stop.

M-CodeOff Turns M codes that have been output OFF. If the unit is standing by for next point
execution during M code output, the M codes are turned OFF and execution of
the next point is performed.
Rep Stop Cancels repeat operation midway. This differs from forced deceleration stop in
that operation is stopped after it has continued until movement is completed (until
a return is performed if return is programmed).
Start point No.
This is the point No. from which operation is started. The point No. can be set here.
This item is displayed only when the run state selection is set to "Start".
*) Select this and press the "ENTER" key, and turn the "JOG dial" to change the start point No.
Hold down the "ENTER" key again for a long time again to fix the selected No.
KV-H20S: 1 to 400, KV-H40S: 1 to 200
Execution instruction
Select this and press the "ENTER" key to execute the selection item at the execution instruction
selection.
*1) When the "ESC" key is pressed while this screen is displayed, the screen moves to the
monitor 1 screen. (When the "ESC" key is pressed while the monitor 1 screen is displayed,
the screen returns to this screen.)
6-46
System Parameter Settings
Setting the run acceleration/deceleration rate
Axis
S ys1 X1 Com m ent
Axis comment
A ccR a te 65000 Run acceleration rate page 4-10
D e cR ate 65000
Run deceleration rate page 4-12
Axis
Indicates the currently displayed axis. 6
KV-H20S: X1/Y1, KV-H40S: X1/Y1/X2/Y2
Axis comment
Run acceleration rate
Sets the acceleration rate during point operation.
Run deceleration rate
Sets the deceleration rate during point operation.
Run speed setting
Axis
S ys2 X1 Com m ent
Axis comment
V el oci ty P/S Run startup speed page 4-9
S tart +99999999
Run maximum speed page 4-9
H i gh +99999999
Axis
Axis comment
Run startup speed
Sets the startup speed during point operation.
Run maximum speed
Set the upper limit speed of the motor driver.
6-47
Origin return setting
Axis
S ys3 X1 Com m ent
Axis comment
C o o rdi na te s P/S Origin coordinates page 4-19
O rg +99999999
Home position coordinates page 4-19
H o me +99999999
Axis
Axis comment
6 Origin coordinates
Sets the origin coordinates during point operation.

Home position coordinates
Sets the home position coordinates during point operation.
Servo end check time, backlash compensation move settings
Axis
S ys4 X1 Com m ent
Axis comment
S ervo E n d 5000 ms Servo end check time page 4-24
B ackl ash 65535PLS
Backlash compensation move page 4-24
Axis
Axis comment
Servo end check time
Sets the servo end check time during point operation.
Backlash compensation move
Sets the backlash compensation move during point operation. This can be used only during
single operation.
6-48
Input Monitor Functions
[On the KV-H40S] [On the KV-H20S]

Axis
Inp u t-1 X Y X Y
CW limit switch input state Input- 1 X Y
C W-L S W 1 - 0 2 - 0 CCW limit switch input state C W - LSW - *
C C W-LS W 1 - - 2 - - C C W - LSW - -
Origin sensor input state
O rg S e n so r 1 0 0 2 0 0 Or gSens or * *
Inp u t-2 X Y X Y
Positioning Z-phase input
Z -Inp u t 1 - 0 2 - 0 Stop sensor input state
S top S e n so r 1 - - 2 - -
Zero start input state
Z e roS T 1 0 0 2 0 0
Inp u t-3 X Y X Y
Driver alarm input state 6
Servo ready input state
D ri ve rA l m 1 - 0 2 - 0
S ervoR dy 1 - - 2 - -
Servo end input
S ervoE n d 1 0 0 2 0 0
X1 Y2
Y1 X2
Displays the state of various inputs. OFF is indicated by – and ON by 0. This is the state after
polarity is switched.
Output Monitor Functions
[On the KV-H40S]

Axis
O utp u t X Y X Y
Deviation counter clear output
D e vC ntC l r 1 - 0 2 - 0 Servo ON output
S ervoOn 1 - - 2 - -
Driver alarm reset output
A l mR e se t 1 0 0 2 0 0
X1 Y2
Y1 X2
Displays the state of various inputs. OFF is indicated by -- and ON by 0.
6-49
Option
This setup screen is for display and operation of the KV-HPD1.
KV-HPD1 settings
Write to flash ROM Option

FLASH_W R Ex ec
Display Language EnglishM ode ON
Buzzer control Buzzer ON
Write to flash ROM

6 Writes preset parameters to flash ROM. Normally, parameters are backed up to SRAM, and
written to flash ROM when the power is next turned ON. When turning the power OFF for a long
time after having changed parameters, be sure to write the changed parameters to flash ROM.
(SRAM backup period: 2 months at 25°C)
*) • Parameters are written immediately by selecting [Execute] and holding down the "ENTER"
key for a long time.
This operation cannot be executed while the unit is running. It takes abut ten seconds to
write new parameters to SRAM.
• You cannot move to the jog screen from this screen.
Display Language
The display language of the KZ-HP1/KV-HPD1 can be switched between Japanese and English.
Buzzer control
Sounding of the buzzer on the KZ-HP1/KV-HPD1 can be stopped.
Key protect setting
Move to this screen by holding down the "JOG/TEACH" key with the "HELP" key held down
while the above option screen is displayed. Pressing the "ESC" key returns the screen to the
option screen.
Key protect Option2

KeyPr otect
OFF
Key protect
• The KZ-HP1/KV-HPD1 can be protected to prevent the content of parameters from being
changed by mistake or to prevent inadvertent test operation.
• Keys are not protected when the key lock is set to [OFF].
• When key protect is set to [ON], writing of setting values on the KZ-HP1/KV-HPD1, various
operations in the test mode, jog operation, and deceleration stop cannot be executed.
Only an emergency stop (EMG) can be executed.
• When key protect is set to [ON/ExceptJOG], writing of setting values on the KZ-HP1/KV-
HPD1, various operations in the test mode, and deceleration stop cannot be executed. Only
jog operation and emergency stop (EMG) can be executed.
6-50
Point Parameter Settings

For an explanation of parameters, "Chapter 4 TYPE OF PARAMETERS." Setting values
can be changed only while operation is stopped.
Select the respective item and press the "ENTER" key, and turn the "JOG dial" to change the
numerical value. Hold down the "ENTER" key again for a long time to fix the numerical value. To
continue selecting other items, use the "JOG dial" to move the desired item.
Target coordinate, speed
Point No. (KV-H20S: 1 to 400, KV-H40S: 1 to 200)

P - S et - 1 N o 4 0 0 X1
Axis (KV-H20S: X1/Y1, KV-H40S: X1/Y1/X2/Y2)
S i ng l e P o s In c
Com m ent
Run mode page 4-36
6
Pos +99999999 Target coordinates page 4-38
Target coordinate, speed
Point No.
P - S et - 2 N o 4 0 0 X1
Axis
S p d N o. 2 Detl
Dwell 65434ms Speed No.
Dwell time page 4-41
Select the item at "Detl", and press the "ENTER" key. The screen moves to the speed setup
screen corresponding to the speed No. at that time. In this screen, you can change the speed
setting. Pressing the "ESC" key returns the screen to the above screen.
X 1 S p e e d S e tting
P/S
N o. 1 = 99999999 Speed setting page 4-30
Next point No., continuous mode
Point No.
P - S et - 3 N o 4 0 0 X1
Axis
N extP n tN o 400
C on tMod e Wait Next point No. page 4-44
Continuous mode page 4-45
Return operation, repeat count, repeat incremental move
Point No.
P - S et - 4 N o 4 0 0 X1
Axis
R et ON
R ep e a t 65535 Return page 4-42
R ep +99999999 Repeat count page 4-43
Repeat incremental move page 4-43
6-51
Jog Function
This screen is for operating the jog function. Jog operation can be executed only while operation
is stopped.
Note
When the cable is disconnected during jog operation, axis movement
To move to the JOG/TEACH layer of the screen hierarchy (that contains the jog and teach
screens), press the "JOG/TEACH" key.
If you press the "ESC" key while in a screen in the JOG/TEACH layer of the screen hierarchy,
6 the screen returns to the last screen of the previously executed layer.
Axis
JOG X1 Com m ent
Axis comment
+99999999 PLS Current coordinates
Axis
Select the desired axis to perform jog operation on.
KV-H20S: X1/Y1, KV-H40S: X1/Y1/X2/Y2
Axis comment
Current coordinates
Displays the current coordinates.
To perform jog operation, press the "ENTER" key and turn the "JOG dial". (You can output a
pulse equivalent to the number of jog inching pulses by slowly turning the "JOG dial". If you
continue to turn the "JOG dial", axis movement accelerates to the jog startup speed or the high-
speed jog speed.)
Hold down the "ENTER" key for a long time again to cancel the selection.
■ Jog inching number of pulses

Select from the 16 available pulse units (1, 2, 5, 10,20, 50, 100, 200, 500, 1000, 2000, 5000,
10000, 20000, 50000, 100000) for jog inching in system parameters that are output by each turn
(click) of the JOG dial. Select the unit on the KZ-HP1 or in the ladder program.
"Jog inching number of pulses" page 4-15

"Changing System Parameters" page 5-32
6-52
■ Pulse output amount when the JOG dial is turned, and how axis movement stops after jog inching
(1) Jog inching
Each click of the "JOG dial" outputs the preset jog inching number of pulses and axis movement
is stopped.
(2) Jog startup speed
Continuously turning the "JOG dial" outputs the number of pulses equivalent to the jog startup
speed. Axis movement stops immediately when you stop turning the "JOG dial".
(3) Jog startup speed → Jog maximum speed
If you continue to turn the "JOG dial" slightly faster, the jog startup speed accelerates to the jog
maximum speed. It takes a short while for axis movement to stop as axis movement decelerates
before it comes to a stop.
(4) Jog maximum speed
Continuously turning the "JOG dial" fast outputs the number of pulses equivalent to the jog
6
maximum speed. When you stop turning the "JOG dial", it takes a short while for axis movement
to stop as axis movement decelerates before it comes to a stop.
■ Fine-adjustment using the JOG dial

As described above, the number of output pulses and how axis movement is stopped differ
according to how you turn the "JOG dial". Selective use of the "JOG dial" as follows is handy
depending on the system you are using.
(1) Set the jog inching number of pulses to an appropriate value in advance, and perform fine-
adjustment by operating the "JOG dial" by single turns at a time. During fine-adjustment, the
number of preset pulses is output, and axis movement stops after each turn of the "JOG
dial".
(2) You can perform find adjustment by setting a low jog maximum speed in advance and turning
the "JOG dial" fast.
(3) Fine-adjustment using the jog maximum speed (including during acceleration) can be
performed more easily by adjusting the deceleration and acceleration rates. Setting a large
jog deceleration rate prevents overshooting when you stop operating the "JOG dial", while
setting a small jog acceleration rate prevents sudden increases in speed during axis
movement.
6-53
Teaching Function
The current coordinates are transferred to the target coordinates of the point parameters.
Teaching can be executed only while operation is stopped.
Move between layers of the screen hierarchy in the same way as for the jog function.
Axis
Teach X1 Com m ent Axis comment
Point No. No.400 Com m ent
Point No. comment
+99999999 PLS
Set
Current coordinates
6 Axis
KV-H20S: X1/Y1, KV-H40S: X1/Y1/X2/Y2

Axis comment
Point No.
*) Select this item and press the "ENTER" key, and turn the "JOG dial" to select the desired point
No. Hold down the "ENTER" key again for a long time again to fix the selected No.
Point No. comment
Current coordinates
Displays the current coordinates.
-99999999 to +99999999
*) Select this item and press the "ENTER" key, and turn the "JOG dial" to output the pulse to
perform jog operation. Hold down the "ENTER" key for a long time again to cancel the
selection.
Set
Select this item, press the "ENTER" key, and press the "ENTER" key again for a long time. This
transfers the current coordinates to the target coordinates of the point parameters.
When setting interpolation, the target coordinates of all interpolated axes also are set.
6-54
Help Function
The Help screen can be called up from any screen excluding the screen that is displayed when
an error occurs.
Help for the selected item in a particular screen is displayed only for the duration that the "HELP"
key is pressed.
Other screen Displayed while the HELP screen

"HELP" key is pressed
Mon 1 X1 Com m ent M on1 X1 C om m ent
N o. 4 0 0 Com m ent N o. 400 C om m ent
P - 1234567.8PS Sel ec t Ax i s to Edi t
V 5000. 0.P / S 6
Screen Displayed during an Error
This screen is displayed when an error occurs.
Error mode Er r Occur No119 Error No.

Em er gency Stop
Error message
Pressing the "ESC" key next clears the error.
6-55
MEMO
6
6-56
7 TROUBLESHOOTING
7-1 Remedy Errors
Remedying Errors
Operation is as follows when an error is generated on the KV-H20S/H40S:
(1) The error details are displayed on KZ-HP1/KV-HPD1 if KZ-HP1/KV-HPD1 is connected.
(2) The error output in progress relay on the PLC is turned ON, and the error No. is output.
“Permanent read area” page 5-13
(3) The following stop operations are performed depending on the error stop mode.
System Parameter Setting Value Immediate Stop Limit Immediate Stop Deceleration and Stop
Regular error Immediate stop Deceleration Deceleration and stop
Limit switch Immediate stop Immediate stop Deceleration and stop
Fatal error Immediate stop Immediate stop Immediate stop
7
(4) The direct access switch on the CPU Unit lights (red). When the direct access switch is pressed
TROUBLESHOOTING
and the unit is selected, the error No. is displayed in the access window.
Unit Error:
KV-H20S
146
1000 is added to the error codes of errors that occur on the Y1 axis before they are displayed. On
the KV-H40S, 2000 and 3000 is added to the error codes of the respective errors that occur on the
X2 and Y2 axes. For details on error Nos., “List of Error Codes and Error Details” (page 7-2)
■ When multiple errors occur

Processing is as follows when two or more errors have occurred at the same time, or a new error
occurs while a previous error has already occurred.
(1) Errors are displayed starting with the first error that occurred.
(2) When an error is cleared, the error that occurred next is displayed.
(3) Indication on the KZ-HP1/KV-HPD1 and the error in progress relay on the PLC are output in
order.
(4) Start of operation, resume, jog operation, origin return, and move to home position cannot be
executed while an error is generated.
Operations first become enabled after all generated errors have been cleared.
Note, however, that when the “Stop both axes at error” setting in the system parameters is set to
OFF (independent axes stopped), operation is enabled when an error is occurring on only one of
the two axes.
Example When a Y1 axis error occurs while the X1 axis limit error has occurred
X1 error Error output in progress
Y1 error Error output

in progress
X1 error Y1 error Error clear Error clear

generated generated
7-1
7-2 List of Error Codes and Error Details

List of Errors
Meaning of symbols
● Normally, this error is not generated. It is sometimes caused by noise-induced
runaway or a malfunction, for example.
None The regular setting value range has been exceeded. Operation is re-enabled by
eliminating the error and its cause.
The KV-H20S/H40S is reset after the error is canceled.
Operation stops immediately regardless of the [Error stop mode] setting.
HP1 Error messages that are displayed on the KZ-HP1.
7 HPD1 Error messages that are displayed on the KV-HPD1.
TROUBLESHOOTING
Error Messages Error Code Remedy

An error occurred on another axis. 43 An error occurred on another axis in the unit.
HP1 Other Axis Err. Check the error code and then remedy the error.
HPD1 Other Axis Err.
Failed to write to flash ROM. 58 A probable cause is that the flash ROM has
HP1 FLASH Write reached the end of its service life (100,000 writes).
Check the frequency that flash ROM is written to. If
HPD1 FLASH Write
the flash ROM has reached the end of its service
life, replace the KV-H20S/H40S.
The content of flash ROM is in error. 59 A probable cause is noise outside the scope of the
HP1 FLASH Data specifications, electrical surge, static electricity, or lightning.
Insert a surge killer at the coil sections of relays that are a
HP1 FLASH Data
source of noise, or include an insulated transformer in the power
supply. Separate I/O wiring away from wiring pipes or ducts
along which 100/200 VAC power lines pass, and provide a class
D earth on the control panel, metal piping, and the power supply.
The comment of flash ROM is in error. 60 A probable cause is the influence of noise. Perform
HP1 FLASH Comment the remedy described in No.59. The parameters
are corrupted. Initialize or transfer all parameters.
HPD1 FLASH Comment
The pulse output setting speed is out of range. 66 Set the speed setting value to within the range 1
HP1 Speed Limit pps to 1 Mpps. When the setting values of the
speed parameter and the speed are indirectly
HPD1 Speed Limit
specified, check the values of the indirect
parameter area.
The number of pulses in a single operation 67 Split up the point parameters into two or more and
exceeded 2147483647. run these parameters consecutively.
HP1 Pulse Num. Limit Set incremental travel to within ±2147483647.
When this error occurs during a move to the home
HPD1 Pulse Num. Limit
position, move to a midway point and execute from
there.
When shortcut control of the angle of rotation 70 Set the decimal point within the range 0 to 5.
is used, 6 digits or more are specified for the
decimal point.
HP1 Rotation Decimal
HPD1 Rotation Decimal
7-2

Abnormal coordinate setting range 72 Set the coordinate setting value within the range
±99999999.
HP1 Position Limit
HPD1 Position Limit
The specified acceleration curve (including 73 Check the setting values when the acceleration
jog and origin return) is out of range. curve (including jog and origin return) was written
from the PLC.
HP1 Accel. Curve
HPD1 Accel. Curve
The deceleration speed No. in the speed 74 Check the value of the deceleration speed No. in
control mode is out of range (1 to 16). the point parameters.
HP1 Decel. Speed No.
HPD1 Decel. Speed No.
The specified deceleration curve (including 75 Check the setting values when the deceleration
jog and origin return) is out of range. curve (including jog and origin return) was written
HP1 Decel. Curve

from the PLC.
7
HPD1 Decel. Curve
TROUBLESHOOTING
The origin/stop sensor has caused Eliminate the cause of chattering at the sensor area.
chattering. Check for defective contacts.
When the Z-phase is used, try setting the time constant to 25 µs.
HP1 Sns. IntCountOver
Check the origin, stop sensor and Z-phase input signal lines for
HPD1 Sns. IntCountOver any noise.
The error stop mode is out of range. Check the setting value when system parameters
HP1 Error Stop Mode are written from the PLC.
HPD1 Error Stop Mode
The point No. is out of range. Check the range (KV-H20S: 1 to 400, KV-H40S: 1 to 200) of
HP1 Point Number the point Nos. when starting operation from the PLC,
reading/writing point parameters and performing the teaching.
HPD1 Point Number
The maximum speed setting value is outside Check the setting value when system parameters
the range. are written from the PLC.
HP1 Max Speed Set
HPD1 Max Speed Set
The absolute/incremental setting values of Check the setting value when point parameters are
the point parameters are outside the range. written from the PLC.
HP1 ABS/INC Type
HP1 ABS/INC Type
The speed No. is out of range. Check the setting value when system parameters
HP1 Speed No. Range are written from the PLC.
HPD1 Speed No. Range
A momentary power interruption occurred. Adopt momentary power interruption measures such as
HP1 Power Dip Downed use of a power supply having sufficient power capacity
margin. This always occurs when the power is turned OFF.
HPD1 Power Dip Downed
An attempt was made to consecutively run Check the setting values of the next point No. and
independent operation and interpolation operation mode in the point parameters.
operation.
HP1 Single&Intr. Mix
HPD1 Single&Intr. Mix
7-3

The number of point parameter repeats is out of range. Check the setting value when point parameters are
HP1 Point Repeat written from the PLC.
HPD1 Point Repeat

Failed to back up SRAM. The SRAM backup period is two months at room temperature.
HP1 SRAM Back-UP The backup period is shortened by storing the unit in high
temperatures, for example.
HPD1 SRAM Back-UP
The coordinate translation denominator is out Check the setting value when system parameters
of range (1 to 2000000000). are written from the PLC.
HP1 TransDenominator
HPD1 TransDenominator
The coordinate translation numerator is out of
range (1 to 2000000000).
HP1 Trans. Numerator
7 HPD1 Trans. Numerator
The jog speed is out of range (1 to 99999999).
TROUBLESHOOTING
HP1 JOG Speed Limit

HPD1 JOG Speed Limit
The startup speed, jog startup speed, or origin
return startup speed is out of range (0 to 99999999).
HP1 Start Spd. Limit
HPD1 Start Spd. Limit
The origin return speed is out of range (1 to 99999999).
HP1 Org.Ret. Speed
HPD1 Org.Ret. Speed
The creep speed is out of range (1 to 99999999).
HP1 Creep Speed Lim.
HPD1 Creep Speed Lim.
The origin coordinates are out of range (within ±99999999).
HP1 Org. Position
HPD1 Org. Position
The home position coordinates are out of
range (within ±99999999).
HP1 Home Position
HPD1 Home Position
The software CW-LSW setting value is out of
range (within ±99999999).
HP1 Soft-LSW(CW) Set
HPD1 Soft-LSW(CW) Set
The software CCW-LSW setting value is out
of range (within ±99999999).
HP1 Soft-LSW(CCW)Set
HPD1 Soft-LSW(CCW)Set
The servo end check time is out of range (0 to 5000).
HP1 Servo End Check
HPD1 Servo End Check
7-4

The point parameter operation mode is out of range. Check the setting value when system parameters
are written from the PLC.
HP1 Operation Mode
HPD1 Operation Mode
The M code No. is out of range (0 to 255).
HP1 M-Code Data
HPD1 M-Code Data
The target coordinates are out of range (within ±99999999).
HP1 Position Data
HPD1 Position Data
The Y-axis target coordinates in the interpolation mode are out of range.
HP1 Intrp.Y1 Pos
HPD1 Intrp.Y1 Pos
The repeat coordinates are out of range.
HP1 Repeat Position 7
HPD1 Repeat Position
TROUBLESHOOTING
The Y-axis repeat coordinates in linear interpolation are out of range.
HP1 Intrp.Y1 RepPos.
HPD1 Intrp.Y1 RepPos.
The servo end check timeout occurred. Set the servo end check time to 0 or extend the
HP1 ServoEnd TimeOut time.
Check the state of the servo end signal.
HPD1 ServoEnd TimeOut
The software CW-LSW error was detected. Check the target coordinates of the point parameters to
HP1 Soft-LSW(CW) make sure that they are not at the software limit coordinates
or greater.
HPD1 Soft-LSW(CW) Make sure that the setting values of the software limit
coordinates are appropriate. Set to 0 to disable this setting.
The software CCW-LSW error was detected. Perform the remedy described in No.116.
HP1 Soft-LSW(CCW)
HPD1 Soft-LSW(CCW)
Failed to origin return. Check the origin return acceleration/deceleration rate and speed.
HP1 Origin Sensor Check the origin sensor, polarity of limit switches, operation, and
position.
HPD1 Origin Sensor
An emergency stop was made. Make sure that the emergency stop input terminal
HP1 Emergency Stop is ON, and that 24V is being supplied to the
external I/O power supply.
HPD1 Emergency Stop
The CW-LSW error was detected. Perform the following remedies if the limit switches
HP1 LSW(CW) Stop are working normally:
• Check the acceleration/deceleration rate and run
HPD1 LSW(CW) Stop
speed to see if they are too large.
• Check the point parameter target coordinates if
they are not wrong. If the workpiece is not
moving up to the limit switch, perform the
following remedies:
• Check the limit switch input polarity to see if it is
appropriate.
• Check to see if power is being supplied to the
limit switches and check for line breaks.
The CCW-LSW error was detected. Perform the remedy described in No.120.
HP1 LSW(CCW) Stop
HPD1 LSW(CCW) Stop
7-5

The unit was reset without performing power OFF processing. Probable causes are a KV-H20S/H40S
malfunction, or a runaway or reset caused by
HP1 Illegal CPU Res.
noise. Either replace the unit, or perform the noise
HPD1 Illegal CPU Res. countermeasures in No.59.
The deceleration rate setting value is out of range (1 to 65000). Check the setting value when system parameters
HP1 Accel.Rate Limit are written from the PLC. When the setting value is
specified by indirect specification, also check the
HPD1 Accel.Rate Limit
values of the indirect parameter area.
The deceleration rate setting value is out of range (1 to 65000).
HP1 Decel.Rate Limit
HPD1 Decel.Rate Limit
The dwell time setting values are out of range
(within ±32000).
HP1 Dwell Time Limit
HPD1 Dwell Time Limit
7 The label No. value is out of range (0 to Check the setting value when system parameters
999999). are written from the PLC.
TROUBLESHOOTING
HP1 Label Number

HPD1 Label Number
Teaching was performed during operation. Check to see if teaching is being performed from
HP1 Teaching in Run the KZ-HP1/KV-HPD1 while the unit is running.
HPD1 Teaching in Run

The acceleration curve ratio is out of range (1 to 100). Check the setting value when system parameters
HP1 Accel.CurveRatio are written from the PLC.
HPD1 Accel.CurveRatio
The deceleration curve ratio is out of range (1 to 100).
HP1 Decel.CurveRatio
HPD1 Decel.CurveRatio
The acceleration/deceleration time exceeded 65535 ms. Increase the acceleration/deceleration rate, lower
HP1 Acc/Dec.Time>65s the operation speed, or increase the startup speed.
HPD1 Acc/Dec.Time>65s
The acceleration/deceleration rate value fell When speed nit translation is used, increase the
to below 1 pps/ms. value to prevent the acceleration-deceleration rate
value after translation to pulse units from becoming
HP1 Accel/Decel.Rate
1 pps/ms.
HPD1 Accel/Decel.Rate
The origin sensor and limit switches were ORG has been short-circuited from CCW-LS,
actuated simultaneously during a origin return. however, the origin return mode is not set to the
mode that shares both the CCW limit switch and
HP1 Org.Ret.Mode Err
origin sensor. Change the origin return mode.
HPD1 Org.Ret.Mode Err
An emergency stop request arrived from the Check to see if the PLC’s forced stop relay is
CPU Unit. illegally ON.
HP1 PLC Emg. Request
HPD1 PLC Emg. Request
Interpolation operation was started while shortcut control Set the unit to other than deg. When the unit is set
of the angle of rotation is in use on the X- or Y-axis. to deg, do not use interpolation operation.
HP1 Intrp. Shortcut
HPD1 Intrp. Shortcut
7-6

An attempt was made to run in the Cont-1/-2 151 Repeat operation is not possible in the Cont-1/-2
mode. Set to stand by (return).
mode with the repeat count set to 1 or more.
HP1 Rept. at CONT1,2
HPD1 Rept. at CONT1,2
The software limit was used with shortcut 152 The software limit cannot be used in shortcut
control of the angle of rotation in use. control of the angle of rotation. Set the software
limit setting value to 0.
HP1 SoftLSW Shortcut
HPD1 SoftLSW Shortcut
The CW limit switch was actuated during 153 Check the limit switch wiring and direction of motor
movement in the CCW direction. rotation in the system parameters.
HP1 CW-LSW CCW Move
HPD1 CW-LSW CCW Move
The CCW limit switch was actuated during 154
movement in the CW direction. 7
HP1 CW-LSW CW Move
TROUBLESHOOTING
HPD1 CW-LSW CW Move
The peripheral pulse count calculation for 155 This error sometimes occurs if absolute
coordinates for linear interpolation are specified
linear interpolation overflowed.
when the current coordinates exceed eight digits.
HP1 Intrpl.Pulse Err Either change the current coordinates, or specify
HPD1 Intrpl.Pulse Err using incremental coordinates.
The decimal point position was specified using five 156 When speed unit translation is used, set [Decimal
digits or more when speed unit translation was used. point position] within the range 0 to 4 digits. When
[Decimal point position] cannot be changed, do not
HP1 Spd.Trns.Decimal
used speed unit translation.
HPD1 Spd.Trns.Decimal
When the Cont mode is Cont-1/Cont-2, three 169 Check the setting value when point parameters are
or more travel=0 points (reserve points) are written from the PLC.
inserted continuously.
HP1 Rsv Pnt Too Many
HPD1 Rsv Pnt Too Many
Parameters whose fixed speed operation 174 Check the setting value when point parameters are
time exceeds 2^64ms have been set. written from the PLC.
HP1 Move Time Error
HPD1 Move Time Error
The operation start relay of the interpolated driven 176 Turn the operation start relay of the interpolated
axis was turned ON during interpolation operation. spindle ON.
HP1 Start Axis Err
HPD1 Start Axis Err
The interpolated axis setting during interpolation 177 A combination of axes on which interpolation
operation is wrong. operation is not possible has been set.
Check the setting value when point parameters are
HP1 Intrp Setup Err
written from the PLC.
HPD1 Intrp Setup Err
Not even one zero start enable bit is set on points 178 Set the zero start enable bit of point parameters of
that issued the operation start request after the axes that turn the zero start request relay ON to
“1”.
zero start request relay was turned ON.
HP1 Pos Ext Trig Err
HPD1 Pos Ext Trig Err
7-7

In interpolation operation, the setting value of the X2 axis target Check the setting value when point parameters are
coordinates is not in the range -99999999 to +99999999. written from the PLC.
HP1 Intrp.X2 Pos
HPD1 Intrp.X2 Pos
In interpolation operation, the setting value of the Y2 axis target
coordinates is not in the range -99999999 to +99999999.
HP1 Intrp.Y2 Pos
HPD1 Intrp.Y2 Pos
In interpolation operation, the setting value of
the X2 axis repeat incremental travel is not in
the range -99999999 to +99999999.
HP1 Intrp.X2 RepPos.
HPD1 Intrp.X2 RepPos.
7 In interpolation operation, the setting value of
the Y2 axis repeat incremental travel is not in
TROUBLESHOOTING
the range -99999999 to +99999999.

HP1 Intrp.Y2 RepPos.
HPD1 Intrp.Y2 RepPos.
The value of the stop sensor specified travel
is not in the range 0 to 99999999.
HP1 Stop Sens. Len
HPD1 Stop Sens. Len
The setting of the number of point parameter
interpolated axes is outside the range.
HP1 Intrp.Axis Num
HPD1 Intrp.Axis Num
The comment No. setting of the permanent
communications area is out of range.
HP1 Comment No.
HPD1 Comment No.
The low-speed input time constant setting is outside the range.
HP1 Low Input Flt.
HPD1 Low Input Flt.
The semi-high speed input time constant setting is outside the range.
HP1 SemiHi Input Flt
HPD1 SemiHi Input Flt
The axis comment No. setting is outside the range.
HP1 Axis Comment No.
HPD1 Axis Comment No.
The point comment No. setting is outside the range.
HP1 Point Cmnt No.
HPD1 Point Cmnt No.
Other error messages Other messages are sometimes caused by noise-
induced runaway or a malfunction, for example. If
these errors occur frequently, contact your agent.
* When an error occurs, the error No. is displayed on the CPU access window. The error codes of errors that occur
on the X1 axis are the same as the codes in this chapter. As for the Y1 axis, 1000 is added to the error codes.
Also, 2000 and 3000 is added to the error codes of the respective errors that occur on the X2 and Y2 axes.
7-8
APENDICES
1 Drive Unit Wiring Diagrams
These wiring diagrams are for connecting the Drive Unit and switches to the KV-H20S/H40S
Positioning Unit. Be sure to check in the User’s Manual of the Drive Unit you are using.
Made by Matsushita Electric Made by Matsushita Electric

MINAS X Series MINAS MSD*EX Series
CCW limit switch
CCW limit switch

Emergency stop
Emergency stop
CW limit switch
CW limit switch
Origin sensor
Origin sensor
Stop sensor
Stop sensor
Zero start
Zero start
+ +
DC24V DC24V
- -
APPENDICES
KV-H20S/H40S connector KV-H20S/H40S connector
(example of KV-H20S) (example of KV-H20S)
Signal Name Pin No. Signal Name Pin No.
X CW LSW 1 X CW LSW 1
X CCW LSW 2 X CCW LSW 2
X ORG 3 X ORG 3
X STOP 4 Drive Unit X STOP 4 Drive Unit

X ZERO ST 5 Signal Name X ZERO ST 5 Signal Name
X Z+ 6 OZ+ X Z+ 6 OZ+
X Z- 7 OZ- X Z- 7 OZ-
X SVEND 8 COIN X SVEND 8 COIN
X SVRDY 9 S-RDY X SVRDY 9

X-axis
X-axis
X ALM 10 ALM X ALM 10 ALM
X ALMRES 11 A-CLR X ALMRES 11 A-CLR
X SVON 12 SRV-ON X SVON 12 SRV-ON
X CLR 13 CL X CLR 13 CL
X CW+ 14 PULS+ X CW+ 14 CW+
X CW- 15 PULS- X CW- 15 CW-
X CCW+ 16 SIGN+ X CCW+ 16 CCW+
X CCW- 17 SIGN- X CCW- 17 CCW-
- 18 - 18
+5V OUT 19 +5V OUT 19
+COM 20 COM+ +COM 20 COM+
Pins 21 to 37 are for the Y-axis. Pins 21 to 37 are for the Y-axis.
(The layout is the same as (The layout is the same as
Y-axis
Y-axis
that for pins 1 to 17.) that for pins 1 to 17.)
*1 EMG 38 CW L *1 EMG 38 CW L
-COM 39 CCW L -COM 39 CCW L
-COM 40 COM- -COM 40 COM-
GND GND
*1: EMG is only pin 38 of connector 1 (for X1, Y1) on the KV-H40S, *1: EMG is only pin 38 of connector 1 (for X1, Y1) on the KV-H40S,
and is not provided for connector 2 (for X2, Y2). and is not provided for connector 2 (for X2, Y2).
A-1
Made by Mitsubishi Electric Made by Mitsubishi Electric

MELSERVO-H Series MELSERVO C Series
CCW limit switch
CCW limit switch

Emergency stop
Emergency stop
CW limit switch
CW limit switch
Origin sensor
Origin sensor
Stop sensor
Stop sensor
Zero start
Zero start
+ +
DC24V DC24V
- -


APPENDICES
X ORG 3 Drive Unit X ORG 3
X STOP 4 Signal Name X STOP 4

Drive Unit
X ZERO ST 5 X ZERO ST 5 (CN1)
X Z+ 6 LZ X Z+ 6 Signal Name
X Z- 7 LZR X Z- 7 OP
X SVEND 8 PF X SVEND 8 PF
X SVRDY 9 RD X SVRDY 9
X-axis
X-axis
X ALMRES 11 RES X ALMRES 11
X SVON 12 SON X SVON 12 SON
X CLR 13 CR X CLR 13 CR
X CW+ 14 PP X CW+ 14 PP
X CW- 15 PPR X CW- 15 PG
X CCW+ 16 NP X CCW+ 16 NP
X CCW- 17 NPR X CCW- 17 NG
- 18 - 18
+5V OUT 19 +5V OUT 19
+COM 20 VIN +COM 20 V24
Pins 21 to 37 are for the Y-axis. Pins 21 to 37 are for the Y-axis. V+
Y-axis
Y-axis
EMG
*1 EMG 38 LSP *1 EMG 38
-COM 39 LSN -COM 39 SG

-COM 40 SG -COM 40 SD
SD
A-2
Made by Mitsubishi Electric Made by Mitsubishi Electric

MELSERVO-J Series MELSERVO-J2 Series
CCW limit switch
CCW limit switch

Emergency stop
Emergency stop
CW limit switch
CW limit switch
Origin sensor
Origin sensor
Stop sensor
Stop sensor
Zero start
Zero start
+ +
DC24V DC24V
- -

APPENDICES
X ORG 3 X ORG 3

X Z+ 6 X Z+ 6 LZ
X Z- 7 OP X Z- 7 LZR
X SVEND 8 PF X SVEND 8 INP
X SVRDY 9 RD X SVRDY 9 RD
X-axis
X-axis
X ALMRES 11 RES X ALMRES 11 RES
X SVON 12 SON X SVON 12 SON
X CLR 13 CR X CLR 13 CR
X CW+ 14 PP X CW+ 14 PP
X CW- 15 PG X CW- 15 PG
X CCW+ 16 NP X CCW+ 16 NP
X CCW- 17 NG X CCW- 17 NG
- 18 - 18
+5V OUT 19 +5V OUT 19
+COM 20 VIN +COM 20 COM
Y-axis
Y-axis
LSP
*1 EMG 38 LSN *1 EMG 38 EMG
-COM 39 LG -COM 39 SG
-COM 40 SG -COM 40 SD
SD
A-3
Made by Oriental Motors Made by Oriental Motors

UPK Series FX Series
CCW limit switch
CCW limit switch

Emergency stop
Emergency stop
CW limit switch
CW limit switch
Origin sensor
Origin sensor
Stop sensor
Stop sensor
Zero start
Zero start
+ +
DC24V DC24V
- -


APPENDICES
X ORG 3 X ORG 3 Drive Unit

X STOP 4 X STOP 4 Signal Name
X ZERO ST 5 X ZERO ST 5 ZSG
X Z+ 6 Drive Unit X Z+ 6 ZSG
X Z- 7 Signal Name X Z- 7 END
X SVEND 8 X SVEND 8 END
X SVRDY 9 X SVRDY 9 ALM

X-axis
X-axis
X ALM 10 +O.HEAT X ALM 10 ALM
X ALMRES 11 X ALMRES 11 HOF
X SVON 12 -H . OFF X SVON 12 HOF
X CLR 13 X CLR 13 CCR
X CW+ 14 +CW X CW+ 14 CCR
X CW- 15 -CW X CW- 15 CW
X CCW+ 16 +CCW X CCW+ 16 CW
X CCW- 17 -CCW X CCW- 17 CCW
- 18 - 18 CCW
+5V OUT 19 +H . OFF +5V OUT 19 VCC
+COM 20 +COM 20
Y-axis
Y-axis
*1 EMG 38 *1 EMG 38
-COM 39 -COM 39 GND
-COM 40 -COM -COM 40
A-4
Made by Oriental Motors Made by OMRON

DIMMER AID150A-A OMNUC U Series
CCW limit switch
CCW limit switch

Emergency stop
Emergency stop
CW limit switch
CW limit switch
Origin sensor
Origin sensor
Stop sensor
Stop sensor
Zero start
Zero start
+ +
DC24V DC24V
- -

APPENDICES
X ORG 3 X ORG 3
X STOP 4 X STOP 4 Drive Unit

X ZERO ST 5 X ZERO ST 5 Signal Name
X Z+ 6 Drive Unit X Z+ 6 +Z
X Z- 7 Signal Name X Z- 7 -Z
X SVEND 8 END X SVEND 8 INP
X SVRDY 9 X SVRDY 9
X-axis
X-axis
X ALM 10 ALARM X ALM 10 ALM
X ALMRES 11 X ALMRES 11 RESET
X SVON 12 H.OFF X SVON 12 RUN
X CLR 13 CCR X CLR 13 -ECRST
X CW+ 14 CW X CW+ 14 +PULS/CW/A
X CW- 15 CW X CW- 15 -PULS/CW/A
X CCW+ 16 CCW X CCW+ 16 +SIGN/CCW/B
X CCW- 17 CCW X CCW- 17 -SIGN/CCW/B
- 18 - 18
+5V OUT 19 H.OFF +5V OUT 19 +ECRST
+COM 20 CCR +COM 20 +24V IN
Y-axis
Y-axis
*1 EMG 38 *1 EMG 38
-COM 39 END -COM 39 OGON
-COM 40 ALARM -COM 40 EGND
ALMCOM
*1: EMG is only pin 38 of connector 1 (for X1, Y1) on the KV-H40S, FG
and is not provided for connector 2 (for X2, Y2).
*1: EMG is only pin 38 of connector 1 (for X1, Y1) on the KV-H40S,
A-5
Made by OMRON Yasukawa Electric

OMNUC H Series SGDA Servo Pack (Σ Series)
CCW limit switch
CCW limit switch

Emergency stop
Emergency stop
CW limit switch
CW limit switch
Origin sensor
Origin sensor
Stop sensor
Stop sensor
Zero start
Zero start
+ +
DC24V DC24V
- -


APPENDICES
X ORG 3 X ORG 3

X Z+ 6 Encoder (Z phase)+output X Z+ 6 PCO
X Z- 7 Encoder (Z phase)+output X Z- 7 PCO
X SVEND 8 INP X SVEND 8 COIN
X SVRDY 9 X SVRDY 9 ALM

X-axis
X-axis
X ALM 10 ALM X ALM 10 ALM-SG
X ALMRES 11 RESET X ALMRES 11 ALMRST
X SVON 12 RUN X SVON 12 S-ON
X CLR 13 ECRST X CLR 13 CLR
X CW+ 14 +CW X CW+ 14 *CLR
X CW- 15 -CW X CW- 15 PULS
X CCW+ 16 +CCW X CCW+ 16 *PULS
X CCW- 17 -CCW X CCW- 17 SIGN
- 18 +5V IN - 18 *SIGN
+5V OUT 19 +5V OUT +5V OUT 19
+COM 20 +24V IN +COM 20 +24V IN
Y-axis
Y-axis
*1 EMG 38 *1 EMG 38 P . OT
-COM 39 -COM 39 N . OT
-COM 40 EM -COM 40 SG-COM
G24V F.G.
FG *1: EMG is only pin 38 of connector 1 (for X1, Y1) on the KV-H40S,
*1: EMG is only pin 38 of connector 1 (for X1, Y1) on the KV-H40S,
A-6
2 List of Connector Conversion Units with Terminal Blocks

When connecting the KV-H20S/H40S Positioning Unit with the motor driver, the trouble of wiring can
be reduced by using the Connector Conversion Unit with Terminal Block. Wire switches or sensors to
the terminal block.
Use a Conversion Unit or cable that is compatible with the motor driver to be connected.
“Connector Conversion Unit with Terminal Block Instruction Manual”
■ Connection Configuration
CPU Unit KV-H20S

Connector Conversion Unit Motor driver
with Terminal Block
Connector cable for

Positioning Unit Connector cable
for motor driver
Positioning Unit
Board Module
APPENDICES
■ Connector Conversion Unit with Terminal Block
Connector Conversion Unit with Terminal Block
Compatible Motor Driver
Product
KV-HTC1 Made by Mitsubishi Electric
(KV-HTC + KV-HM1) MELSERVO-J2, J2S_ A Series
KV-HTC2 Yasukawa Electric Servo Pack
(KV-HTC + KV-HM2) Σ (SGDB)
ΣII (SGDM, SGDH, SGDP)
KV-HTC3 Made by Matsushita Electric
(KV-HTC + KV-HM3) MSD*EX Series
KV-HTC4 Made by Matsushita Electric
(KV-HTC + KV-HM4) MINAS A Series
KV-HTC5 Made by Oriental Motors
(KV-HTC + KV-HM5) αStep AS Series
KV-HTC6 Made by Oriental Motors
(KV-HTC + KV-HM6) αStep ASC Series
A-7
■ Board Module for Additional Axes

Board Module for Additional Axes
Model No.
Made by Mitsubishi Electric
KV-HM1
MELSERVO-J2, J2S_ A Series
Yasukawa Electric Servo Pack
Σ (SGDB)
KV-HM2
Made by Matsushita Electric
KV-HM3
MSD*EX Series
KV-HM4
MINAS A Series
Made by Oriental Motors
KV-HM5
αStep AS Series
KV-HM6
αStep ASC Series
APPENDICES
■ Connector Cable
Cable
Model No. Connection Locations
KV-HC1 Between Conversion Unit and Positioning Unit Common
KV-HC2 Between Conversion Unit and Motor Driver
AS Series, ASC Series
KV-HC3 Between Conversion Unit and Motor Driver
MSD*EX Series
MINAS A Series
KV-HC4 Between Conversion Unit and Motor Driver Yasukawa Electric Servo Pack
Σ (SGDB)
* When using the MELSERVO-J2 and J2S_ A Series made by Mitsubishi Electric, use the MR-
J2TBLxxM between the Conversion Unit and motor driver. (xx stands for cable length. 0.5m=05,
1.0m=1)
A-8
3 Details of Origin Return Path

Detailed Explanation
The following describes the origin return operation of the KV-H20S/H40S according to two
settings, with [Origin return mode] = “Normal” (OFF) and [Origin return mode] = “CCW_LSW
OFF” (ON), followed by a detailed explanation of the origin return path for each of the [Origin
sensor detection mode] settings.
There are two origin sensor detection modes, mode in which detection is performed by using the
origin sensor and the AND condition of the Z-phase signal, and mode in which detection is
performed by an intermediate point with the origin sensor.
([Origin sensor detection mode] = ON)→(On KZ-HP1/KV-HPD1, [ORG End Dtct] = ON)
([Origin sensor detection mode] = OFF)→(On KZ-HP1/KV-HPD1, [ORG End Dtct] = OFF)
[Origin return mode] = “Normal” (OFF)
The following describes only a case where the origin return direction is CCW. (For a path whose
APPENDICES
origin return direction is CW, swap CW for CCW and CCW for CW in diagrams and text
explanations.)
■ When the axis is at the origin detection position when origin return is started
“When the origin sensor is ON with [Origin sensor detection mode] = ON” or
“When the origin sensor is ON and Z-phase input is ON with [Origin sensor detection mode] =
OFF”
Origin return completes by operation A.
● Operation A
When [Origin sensor detection mode] is ON When [Origin sensor detection mode] is OFF
Origin sensor
detection range
Limit switch Limit switch
detection range detection range
(1) (1)
CCW CW CCW Start point CW

Start point
(2) (2)
Origin sensor
detection range
Z-phase detection range Z-phase detection range
(1)When origin return is started at an origin (1)The axis moves at creep speed in the CW
sensor ON location, the axis moves once at direction up to the point where either of the
creep speed in the CW direction to the point origin sensor or Z-phase input turn OFF once.
where the origin sensor turns OFF. (2)The axis moves again at creep speed in the
(2)After the axis moves at creep speed again in CCW direction, and stops at the point where
the CCW direction and enters the origin both the origin sensor and Z-phase input first
sensor ON range, axis movement stops at the turn ON.
point where the Z-phase input first turns ON. * When the LSW is detected during the origin
* When the LSW is detected during the origin return, an error is generated and axis
return, an error is generated and axis movement stops.
movement stops. * “Clear deviation counter” output turns ON for 50
* “Clear deviation counter” output turns ON for 50 ms when the origin return is completed.
ms when the origin return is completed. * The positioning completed relay turns ON, and
* The positioning completed relay turns ON, and origin return operation is completed.
origin return operation is completed.
A-9
Tip When the axis is not at the origin detection position, operation is (3) and (4) on the
CCW side and CW side, respectively, even if the origin sensor is ON.
(3) Limit switch Limit switch

(4)
Start point Start point
CCW CW CCW CW
Origin sensor Origin sensor

■ When the axis is not at the origin detection position when origin return is started
“When the origin sensor is OFF with [Origin sensor detection mode] = ON” or
“When either of the origin sensor or Z-phase input is OFF with [Origin sensor detection mode] =
OFF”
The operation sequence is B → C → D → E → F, after which origin return is completed.
APPENDICES
● Operation B
● When the start point is in the CCW (minus) direction from the origin
When [Origin sensor detection mode] is ON or OFF
Origin sensor
(2)
Start
point To C
CCW CW
(3)
(1) Limit switch detection range
(1)After origin return is started at the origin return startup speed, the axis moves in the CCW direction at the
origin return operation speed, and immediately stops after the CCW_LSW is detected. * “Clear deviation
counter” output turns ON for 50 ms when the LSW is detected. The axis stands by for 300 ms after the LSW
is detected.
(2)Origin return starts up at the origin return startup speed, then the axis moves in the CW direction at the
origin return operation speed. When the origin sensor turns ON and OFF, deceleration is started and axis
movement comes to a stop.
* When the LSW is detected during operation in (2) (up to when axis movement comes to a stop), an error is
generated.
(3)The axis moves to a position CCW of the origin.
(Even if the stop position is inside or outside the origin range, this does not affect the next operation. Also,
operation does not change by the origin sensor or Z-phase input.)
Operation proceeds to operation C.
A-10
● When the start point is in the CW (plus) direction from the origin
(1)Origin return starts up at the origin return startup
speed, then the axis moves in the CCW direction at
the origin return operation speed. The axis
decelerates and comes to a stop when both the
origin sensor and Z-phase input turn ON. (Even if the
stop position is inside or outside the origin range, this
does not affect the next operation. )
To C Start point * When the LSW is detected during operation in (1) (up
CCW CW
to when axis movement comes to a stop), operation
Origin sensor continues from (2) at (i).
(1)
Limit switch
* “Clear deviation counter” output turns ON for 50 ms
detection range when the LSW is detected.
The axis stands by for 300 ms after the LSW is
detected.
Operation proceeds to operation C.
● Operation C
When [Origin sensor detection mode] is ON or OFF
Origin sensor
(4)The axis moves to the vicinity of the origin.
APPENDICES
(Even if the position where continued operation is
Continue
start point
started is inside or outside the origin sensor range,
CCW (4)To F To D To E CW operation is not affected. Also, when this operation is
performed, there is no difference in operation by the
Limit switch
origin sensor or Z-phase input.)
detection range
● Operation D
When [Origin sensor detection mode] is ON When [Origin sensor detection mode] is OFF
When the origin sensor is ON When both the origin sensor and Z-phase input are ON
Origin sensor Limit switch Origin sensor Limit switch
(5) (5)
CCW Continue CW CCW Continue CW

start point start point
(6) (6)
(5)The axis moves at creep speed in the CW (5)The axis moves at creep speed in the CW
direction up to the point where the origin direction up to the point where either of the
sensor turns OFF once. origin sensor or Z-phase input turn OFF once.
(6)After the axis moves at creep speed again in (6)The axis moves again at creep speed in the
the CCW direction and enters the origin CCW direction, and stops at the point where
sensor ON range, axis movement stops at the both the origin sensor and Z-phase input first
point where the Z-phase input first turns ON. turn ON.
* When the LSW is detected during the origin * When the LSW is detected during the origin
return, an error is generated and axis return, an error is generated and axis
movement stops. movement stops.
* “Clear deviation counter” output turns ON for 50 * “Clear deviation counter” output turns ON for 50
ms when the origin return is completed. ms when the origin return is completed.
* The positioning completed relay turns ON, and * The positioning completed relay turns ON, and
origin return operation is completed. origin return operation is completed.
A-11
● Operation E
● Stop at CW side from origin
When the origin sensor is OFF with When either of the origin sensor or Z-phase input is
[Origin sensor detection mode] = ON OFF with [Origin sensor detection mode] = OFF
Continue Continue
start point start point
CCW CW CCW CW
(6) (6)
(6)After the axis moves at creep speed in the (6)The axis moves at creep speed in the CCW
CCW direction and enters the origin sensor direction, and stops at the point where both
ON range, axis movement stops at the point the origin sensor and Z-phase input first turn
where the Z-phase input first turns ON. ON.
* When the LSW is detected during the origin * When the LSW is detected during the origin
return, an error is generated and axis return, an error is generated and axis
movement stops. movement stops.
* “Clear deviation counter” output turns ON for 50 * “Clear deviation counter” output turns ON for 50
ms when the origin return is completed. ms when the origin return is completed.
APPENDICES
* The positioning completed relay turns ON, and * The positioning completed relay turns ON, and
origin return operation is completed. origin return operation is completed.
● Operation F
● Stop at CCW side from origin
When the origin sensor is OFF with When either of the origin sensor or Z-phase input is
[Origin sensor detection mode] = ON OFF with [Origin sensor detection mode] = OFF
(5) (5)
Continue
start point
CCW Continue CW CCW CW
start point
(6) (6)
(5)The axis moves once at creep speed to the (5)The axis moves at creep speed to the CW side
CW side of the origin sensor. from the point where both the origin sensor
(6)After the axis moves at creep speed again in and Z-phase input turn ON once.
the CCW direction and enters the origin (6)The axis moves again at creep speed in the
sensor ON range, axis movement stops at the CCW direction, and stops at the point where
point where the Z-phase input first turns ON. both the origin sensor and Z-phase input first
* When the LSW is detected during the origin turn ON.
return, an error is generated and axis * When the LSW is detected during the origin
movement stops. return, an error is generated and axis
* “Clear deviation counter” output turns ON for 50 movement stops.
ms when the origin return is completed. * “Clear deviation counter” output turns ON for 50
* The positioning completed relay turns ON, and ms when the origin return is completed.
origin return operation is completed. * The positioning completed relay turns ON, and
origin return operation is completed.
A-12
[Origin return mode] = “CCW LSW OFF” (ON)i
When [Origin return mode] is set to CCW LSW OFF, be sure to set the Z-phase input terminal to
open and the positioning Z-phase polarity to NC (normally closed).
Origin return cannot be performed when [Origin sensor detection mode] is set to ON. Be sure to
set [Origin sensor detection mode] is set to OFF. (On the KZ-HP1, perform zero operation with
[ORG end detection] set to OFF.)
■ When the axis is at the origin detection position when origin return is started
When the origin sensor is ON
● Operation G
(1)The axis moves at creep speed in the CW direction up
to the point where the origin sensor turns OFF once.
Origin sensor Limit switch
detection range (2)The axis moves again at creep speed in the CCW
direction, and stops at the point where the origin
(1) sensor first turns ON.
CCW
Start point
CW
* When the LSW is detected during the origin return, an
(2)
error is generated and axis movement stops.
APPENDICES
when the origin return is completed.
* The positioning completed relay turns ON, and origin
return operation is completed.
■ When the axis is not at the origin detection position when origin return is started
When the origin sensor is OFF
● Operation H
(1)Origin return starts up at the origin return startup
speed, then the axis moves in the CCW direction at
Origin sensor Limit switch the origin return operation speed.
detection range
Axis movement comes to an immediate stop at the
point where the origin sensor first turns ON.
To I
CCW
Start point
CW
error is generated and axis movement stops.
“Clear deviation counter” output turns ON for 50ms after
(1) the immediate stop.
Axis movement stands by for 300 ms at the stop
position after the immediate stop.
● Operation I
(2)The axis moves at creep speed in the CW direction up
to the point where the origin sensor turns OFF once.
Origin sensor Limit switch (3)The axis moves again at creep speed in the CCW
detection range
direction, and stops at the point where the origin
Continue
(2) sensor first turns ON.
start point
CCW CW
(3) error is generated and axis movement stops.
when the origin return is completed.
* The positioning completed relay turns ON, and origin
return operation is completed.
A-13
Detailed origin position
Origin return can be programmed to stop at a midpoint of a width in which the origin sensor turns
ON.
This relatively reduces the fluctuation of the origin position even if the sensitivity of the origin
sensor changes.
Setup method
Positioning Z-phase input: “open”
Positioning Z-phase polarity: “NC”
CCW limit OFF: “OFF”
System parameters: Set [Origin position details] to “Sensor midpoint”
Operation is as follows after a normal origin return is performed.
Details of operation
detection range
(1)The edge position of the origin sensor from the
origin return direction is memorized.
(2)Axis movement is continued at creep speed to
(2) Continue the point where the origin sensor turns OFF.
APPENDICES
start point Operations (1) and (2) are performed at creep

CCW (1) CW speed.
(3)The midpoint is calculated. The axis moves to

detection range
the point where the origin sensor turns OFF
once, and then positioning is performed to the
(3) sensor midpoint in the origin return direction to
Continue compensate for backlash. (During this operation,
start point axis movement is accelerated and decelerated.)
CCW CW
A-14
© KEYENCE CORPORATION, 0025 KV-H20S/H40S-UM Printed in Japan

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Positioning Unit

Chapter 4 TYPES OF PARAMETERS

Chapter 5 MAKING LADDER PROGRAMS

Chapter 6 KZ-HP1/KV-HPD1 OPERATION

1 1-1 Checking the Contents of the Package 1

■ KV-H20S/H40S Unit ■ Instruction Manual

1 1-2 Names and Functions of Parts

KV-H20S/H40S Positioning Unit

(2)Teaching Unit connector

(3)X1/Y1 connector X1/Y1 connector

No. Name Explanation

KZ-HP1 Teaching Unit

MENU HELP PREV NEXT

No. Name Explanation

KV-HPD1 Teaching Unit

(2)JOG dial (7)Screw holes

No. Name Explanation

Number of Simultaneous 2 axes (linear Simultaneous 2 to 4 axes (linear

KV-H20S 2.8 KV-H40S 2.8

KZ-HP1 Teaching Unit

Model KZ-HP1 Teaching Unit

KV-HPD1 Teaching Unit

1 3-1 Items to Prepare for Wiring 1

Exclusive Pressure-contact Tool

Cable Connector Parts

Remove the cover.

Connector Conversion Unit with Terminal Block & Exclusive Cable

Connector cable for

Manufacturer Model No. B d1 d2 L Applicable lead wire

3-2 Connecting the Drive Unit and Input Devices

Pin No. Signal Name Function I/O

*1 Connection is not required when using a stepping motor.

3-3 Wiring I/O Connectors

Circuit Pin No. Signal Name Function I/O Device No.

General specifications/performance specifications

CCW limit switch

Circuit Pin No. Signal Name Function I/O Device No.

3 22: Y CCW LSW

22 Y CCW Y-axis CCW limit Input Y1 n+3 15

General specifications/performance specifications

Circuit Pin No. Signal Name Function I/O Device No.

General specifications/performance specifications

Circuit Pin No. Signal Name Function I/O Device No.

24 Y STOP Y-axis stop Input Y1 n+4 14

General specifications/performance specifications

Circuit Pin No. Signal Name Function I/O Device No.

Z-phase plus logic

General specifications/performance specifications

* How to connect positioning Z-phase input

Open collector connection Differential line driver connection

Circuit Pin No. Signal Name Function I/O Device No.

General specifications/performance specifications

Circuit Pin No. Signal Name Function I/O Device No.

General specifications/performance specifications

Circuit Pin No. Signal Name Function I/O Device No.

29 Y SVRDY Y-axis servo ready Input Y1 n+3 13

General specifications/performance specifications

Circuit Pin No. Signal Name Function I/O Device No.

General specifications/performance specifications