Omron R88D-KN series User Manual page 227

Operation Timing When Resetting Errors
Error reset command
Servo ready
output (READY)
Error Output (/ALM)
Servo ON/OFF
Released
Dynamic brake
Engaged
Motor power supply
Brake interlock
*2
output (BKIR)
Operation command input
*1 The servo does not turn ON until the motor speed drops to approx. 30 mm/s or below.
*2 The Brake Interlock Output (BKIR) signal is output either when a release request command is received via Servo controls
or when a release request command is received via EtherCAT communications. The above example shows when there is
no brake release request from EtherCAT communications. The BKIR signal is assigned to the general-purpose output
(CN1).
Note After the error has been reset, the system enters the servo OFF state (motor not energized). To turn ON the servo, send
a servo ON command again after resetting the error, according to the above timing.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Reset
ON
OFF
16 ms or more
ON
OFF
ON
Error
OFF
0 ms or more
ON
Servo OFF
OFF
2 ms or more
Brake Engaged
ON
No power supply
OFF
ON
Brake operation
OFF
ON
Input prohibited
OFF
7 Applied Functions
READY
Normal
*1
Servo ON
Brake Released
Approx. 60 ms
Power supply
4 ms
Release request
100 ms or more
Input allowed
7
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