Operation Timing - Omron OMNUC G5 Series User Manual

Operation Timing

This section shows the timing of the Brake Interlock Output (BKIR).
Basic Timing
Control power supply
(L1C and L2C)
Servo ON/OFF
Brake Interlock
Output (BKIR)
Forced-braking is possible.
Servo ON/OFF Operation Timing When Motor Is Stopped
ON
Servo ON/OFF
OFF
ON
Dynamic brake relay
OFF
ON
Motor power supply
OFF
ON
Brake interlock
*3
output (BKIR)
OFF
Released
Holding brake operation
Held
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation option
code (605C hex).
*3. 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 is assigned to the general-
purpose output (CN1).
Note: The brake application time and release time vary depending on the Servomotor brake. For details, refer to 3-3
Servomotor Specifications on page 3-28.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
ON
OFF
OFF
ON
Servo OFF
OFF
ON
Request to release brake
OFF
Servo OFF
Approx. 2 ms
*1
DB engaged
Approx. 60 ms
No power supply
ON
Servo ON Servo OFF
Forced-braking is possible.
*1
Servo ON
DB released
Power supply
Approx. 4 ms
Release request
Attraction time
Brake released
7-5 Brake Interlock
Servo OFF
*2
DB engaged
3437 hex
No power supply
1 to 6 ms
Release time
7-14
7