Omron R88D-KN series User Manual page 225

Servo ON/OFF Operation Timing When Motor Is Moving
Based on these operation timings, regenerative energy is produced if the motor movement stops
abnormally. Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10
minutes for the motor to cool down.
Servo ON/OFF
Dynamic brake
Motor power supply
Brake interlock output
*3
(BKlR)
Motor speed
*1 The servo does not turn ON until the motor speed drops to 3439 hex set value or below. If a Servo ON is commanded
during motor movement, the Command Warning (Warning No. B1 hex) will occur. The Servo ON command is ignored.
*2 The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation option code
(605C hex).
*3 The Brake Interlock output (BKIR) signal is output when a release request command is received from Servo controls or
from EtherCAT communications. In the above example, there is no release request command from EtherCAT
communications. The BKIR signal is assigned to the general-purpose output (CN1).
*4 "t1" is the period until the value becomes lower than the set value on the Brake Timing During Operation (3438 hex) or the
Brake Threshold Speed During Operation (3439 hex), whichever is shorter.
Note Even when the Servo ON Input is turned ON again while the motor is decelerating, the system does not enter the servo
ON state until the motor stops.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
ON
Servo OFF
OFF
Released
DB engaged
Engaged
ON
No power supply
OFF
ON
OFF
Servo ON enabled
Approx. -30 mm/s
*1
Servo ON
*1
DB released
Approx. 60 ms
Power supply
Approx. 4 ms
Brake
Release request
operation
When object 3438 hex
Approx. +30 mm/s
set value comes earlier
Value set on 3439 hex
BKIR
When object 3439 hex
set value comes earlier
Value set on 3439 hex
7 Applied Functions
Servo OFF
1 to 5 ms
*2
DB engaged
*2
No power supply
*4
t1
3438 hex
Brake
engaged
Brake
Release request
engaged
7-17
7