Omron OMNUC G User Manual page 245

Operation timing during Servo ON or OFF (when Servomotor is stopped)
ON
Run Command (RUN)
OFF
ON
Dynamic Brake
Relay
OFF
ON
Servomotor
OFF
ON
Break Release Request
via Servo Control
OFF
Break Release Request ON
via MECHATROLINK-II
OFF
Control
ON
Brake Interlock
Output (BKIR)*3
OFF
Released
Holding Brake
Engaged
*1. The Servo ON status will not occur until the Servomotor speed drops below approximately 30 r/min.
*2. The operation of the dynamic brake during Servo OFF depends on the Stop Selection with Servo OFF (Pn069).
*3. The Brake Interlock (BKIR) signal is output on the release request command that comes first, either from the Servo
Controller or the MECHATROLINK-II. The BKIR signal is used by assigning it to the general purpose outputs on
CN1.
Note The brake attraction and release time varies depending on the brake on the Servomotor. For details, refer
to 3-2 Servomotor Specifications on page 3-17.
Servo OFF *1
Approx. 2 ms
DB Engaged
Approx. 40 ms
Deenergized
Servo ON
DB Released
Energized
Approx. 2 ms
Release Request
Release Request
Release Request
Attraction Time
Brake Released
5-5 Brake Interlock
Servo OFF
DB Engaged *2
Pn06A
Deenergized
1 to 5 ms
Release Time
5-12
5