Control Output Details - Omron R88D-KN series User Manual

3 Specifications
3-1-9

Control Output Details

Control Output Sequence
The chart below illustrates the timing of the command inputs after the control power supply is turned ON. Input
the Servo ON/OFF operation, position, speed, and force commands in the correct timing, as shown in the chart.
Control power supply
(L1C, L2)
Internal control power supply
MPU operation
Main circuit power supply
(L1, L2, L3)
Servo ready completed output
(READY, NO)
Servo ready completed output
(READY, NC)
Servo ON accepted/rejected
Dynamic brake
Motor power supply
Brake interlock output
Magnetic pole position
estimation completion output
Magnetic pole position
estimation completion output
Position, speed,
or force command
*1 Once the internal control power is established, the protective function starts working about 1.5 s after the MPU
starts initializing itself. Be sure that all I/O signals that are connected to the Servo Drive are stable before the
protective function starts working. This is true especially for the Positive/Negative Drive Prohibition Input (POT/
NOT), the Origin Proximity Input (DEC), and the external encoder input.
*2 The Servo Ready Completed Output (READY) turns ON only when all of these conditions are met: MPU initial-
ization is completed. The main power supply is established. No error exists. EtherCAT communications and
servo are synchronized (phase alignment).
*3 If general-purpose output signals are used as NO contact, wait at least 3.3 seconds after the control power is turned ON.
*4 The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled.
*5 The Brake Interlock Output (BKIR) turns ON either when a release request is received via servo controls or
when a release request is received via EtherCAT communications.
*6 The magnetic pole position estimation completion output is enabled. The Magnetic Pole Position Detection
Method (3920 hex) is set to 2 (Magnetic pole position estimation method).
*7 The Magnetic Pole Position Estimation Command Time changes with the servo parameter object settings. Make sure that the
magnetic pole position estimation completion output flag is turned "ON" before executing the command. If magnetic pole posi-
tion estimation is not completed successfully, the magnetic pole position estimation completion flag will not turn "ON".
*8 The magnetic pole position estimation completion output is disabled. The Magnetic Pole Position Detection Method
(3920 hex) is set to 0 (Not specified), 1 (Reserved), or 3 (Magnetic pole position restoration method).
*9 Although the servo ON operation is accepted in this section, it is not yet enabled.
3-12
ON
OFF
Approx. 100 to 300 ms
ON
OFF
Less than 3 s
Approx. 1.5 s
ON
Initialization
OFF
0 s or more
ON
OFF
ON
OFF
ON
OFF
Accepted
Rejected
ON
*4
OFF
ON
OFF
ON
*5
(BKIR)
OFF
ON
Magnetic pole position estimation not completed
OFF
*6
ON
Magnetic pole position estimation not completed
OFF
*8
ON
OFF
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Establishment
*1
Normal operation
10 ms or more (after initialization and main circuit ON)
10 ms or more
*3
Unknown Output Tr ON
0 ms or more
Brake engaged
Without command
Output Tr ON
Approx. 2 ms
Approx. 60 ms
Approx. 4 ms
Brake released
Magnetic pole position estimation in progress
Completed
*9
100 ms or more
*2
*7
Completed
With command