Operation Example - Omron R88D-KN series User Manual

8-2

Operation Example

This section provides timing charts showing the operation timings to enter a safety status and the timing
of return from a safety status.
Operation Timings to a Safety Status
Servo ON/OFF
Safety input 1
Safety input 2
Motor power is supplied.
EDM output
Dynamic
brake relay
Servo ready completed
output (READY)
Error output
Brake interlock
output (BKIR)
Value set in 3439 hex
Brake interlock
output (BKIR)
Value set in 3439 hex
*1 STO status is entered when either safety input 1 or 2 turns "OFF."
*2 The dynamic brake operates according to the setting of the Fault reaction option code (605E hex).
*3 t1 is the set value of the Brake Timing During Operation (3438 hex), or the time needed for the motor speed to
drop to or below the Brake Threshold Speed During Operation (3439 hex), whichever occurs first.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Servo ON
Normal status
*1
Response time = max 5ms
Power supply
Response time = max 6ms
OFF
DB released
*2
READY
Normal
(/ALM)
Brake released
Motor speed
Brake released
Motor speed
Servo OFF
STO status
No power supply
ON
0.5 to 5ms
DB engaged
Error
Value set in 3438 hex
Brake engaged
*3
t1
When object 3438 hex
set value comes earlier
Value set in 3438 hex
Brake engaged
When object 3439 hex
set value comes earlier
8 Safety Function
8-5
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