Omron R88M-K User Manual page 374

7 Applied Functions
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
output (BKIR) *2
Operation command input
*1 The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min 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.
7-20
Reset
ON
OFF
16 ms or more
ON
OFF
ON
Error
OFF
ON
Servo OFF
OFF
Brake Engaged
ON
No power supply
OFF
ON
Brake held
OFF
ON
Input prohibited
OFF
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
READY
Normal
0 ms or more
*1
Servo ON
2 ms or more
Brake Released
Approx. 60 ms
Power supply
4 ms
Release request
100 ms or more
Input allowed