Omron OMNUC W Series User Manual page 296

Operation
D Power Supply Timing (When Servomotor is Stopped)
Power supply
BKIR (brake interlock)
Energized
Servomotor energized
Deenergized
Note 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, set Pn506 (brake timing 1) so that the Servomotor deenergizes
after the brake has engaged, in consideration of this delay.
D RUN, Error, and Power Supply Timing (When Servomotor Is Stopped)
Power supply
RUN
ALM (alarm output)
BKIR (brake interlock)
Energized
Servomotor energized
Deenergized
Servomotor rotation speed
Note 1. During the approximately 10 ms from the Servomotor deenergizing to dynamic brake being
applied, the Servomotor will continue to rotate due to its momentum.
Note 2. If the Servomotor rotation speed falls below the speed set in Pn507 (brake command speed)
or the time set in Pn508 (brake timing 2) after the Servomotor deenergizes is exceeded, the
BKIR (brake interlock) signal is turned OFF.
4-5-9 Gain Reduction (Position, Speed, Internally-set speed
Control)
H Functions
• This function switches speed loop control from PI (proportional integration) control to P (proportional)
control when gain reduction (MING: CN1-41) is ON. (Pin No. is allocated in the default settings.)
• The speed loop gain is lowered when the proportional gain is lost. Also, resiliency to the external load
force is reduced by the speed error proportion (difference between the speed command and speed
feedback) being lost.
4-80
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
25 to 35 ms
Approx. 10 ms
(See note 1.)
PN507 (brake command
speed)
Pn506 (See note.)
(See note 2.)
Braking using dynamic brake
(when Pn001.0 = 0)
Chapter 4