Run Command Timing (When Servomotor Is Stopped); Power Supply Off Timing (When Servomotor Is Stopped) - Omron R88D-GT series User Manual

Operation
 RUN Command Timing (When Servomotor Is Stopped)
ON
RUN Command (RUN)
OFF
ON
Brake Interlock (BKIR)
OFF
ON
Brake power supply
OFF
ON
Brake operation
OFF
+V
Speed command
(or pulse command)
Released
Dynamic brake
Engaged
Energized
Servomotor
Deenergized
*1. The time from turning ON the brake power supply to the brake being released is 200 ms max.
Take this delay into account and be sure the brake has been released before providing a speed
command (pulse command).
*2. The time from turning OFF the brake power supply to the brake engaging is 100 ms max.
If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing
when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged.
*3. The Servo ON status will not occur until the Servomotor drops to 30 r/min or less.
 Power Supply OFF Timing (When Servomotor Is Stopped)
Power supply
Brake Interlock (BKIR)
Energized
Servomotor
Deenergized
*1. The time from turning OFF the brake power supply to the brake engaging is 100 ms max.
If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing
when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged.
Approx. 42 ms
Approx. 2 ms
200 ms max.
(*1)
Approx. 2 ms (*3)
Approx. 42 ms
ON
OFF
ON
OFF
5-10 Brake Interlock
1 to 5 ms
25 to 35 ms
Pn6A (*1)
100 ms max.
Pn6A (*2)
5-22
5