Operation Timing - Omron R88M-K User Manual

Operation Timing When an Error Occurs (Servo ON)
Error status
Motor power supply
Dynamic brake
Servo ready
output (READY)
Error Output (/ALM)
When object 3438 hex
set value comes earlier
Brake interlock
output (BKIR)
When object 3439 hex
set value comes earlier
Brake interlock
output (BKIR)
*1 The operation of the dynamic brake when there is an error depends on the setting of the Fault reaction option code (605E
hex).
*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).
*3 "t1" is the period until the value becomes lower than the set value on the Brake Timing During Operation (3438 hex) or the
Brake Threshold Speed During Operation (3439 hex), whichever is shorter.
Note 1 Even when the servo ON input is turned ON again while the motor is decelerating, the system does not enter the
servo ON state until the motor stops.
2 If the main circuit power supply turns OFF while the motor is operating, a phase loss error or main circuit voltage low
error will occur, in which case this operation timing is applied.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Normal
ON
Power supply
OFF
Released
DB Released
Engaged
ON
READY
OFF
ON
Normal
OFF
Motor rotation speed A
Value set in 3439 hex
ON
Release request
*2
OFF
Motor rotation speed B
Value set on 3439 hex
BKIR
Release request
*2
Error
0.5 to 5 ms
No power supply
*1
DB engaged
Error
*3
t1
3438 hex
Brake held
Brake held
7 Applied Functions
7-19
7