Control Output Details - Omron R88D-KN01L-ECT-L User Manual

3 Specifications
3-1-9

Control Output Details

Control Output Sequence
The chart below illustrates the timing of the command inputs after the control power supply is turned ON.
Input the Servo ON/OFF operation, position, speed, and force commands in the correct timing, as
shown in the chart.
Control power supply
(L1C, L2)
Internal control power supply
MPU operation
Main circuit power supply
(L1, L2, L3)
Servo ready completed output
(READY, NO)
Servo ready completed output
(READY, NC)
Servo ON accepted/rejected
Dynamic brake
Motor power supply
Brake interlock output
(BKIR)
Magnetic pole position estimation
completion output
Magnetic pole position estimation
completion output
Position, speed, or force command
*1 Once the internal control power is established, the protective function starts working about 1.5 seconds after
the MPU starts initializing itself. Be sure that all I/O signals that are connected to the Servo Drive are stable
before the protective function starts working. This is true especially for the Positive/Negative Drive Prohibition
Input (POT/NOT), the Origin Proximity Input (DEC), and the external encoder input. The period can be
extended by setting the Power Supply ON Initialization Time (3618 hex).
*2 The Servo Ready Completed Output (READY) turns ON only when all of these conditions are met: MPU
initialization is completed. The main power supply is established. No error exists. EtherCAT communications
and servo are synchronized (phase alignment).
*3 If general-purpose output signals are used as NO contact, wait at least 3.3 seconds after the control power is
turned ON.
*4 The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled.
*5 The Brake Interlock Output (BKIR) turns ON either when a release request is received via servo controls or
when a release request is received via EtherCAT communications
*6 The magnetic pole position estimation completion output is enabled. The Magnetic Pole Detection Method
(3920 hex) is set to 2 (Magnetic pole position estimation).
3 - 12
ON
OFF
Approx. 100 to 300 ms
ON
OFF
Less than 3 s
Approx. 1.5 s
ON
*1
Initialization
OFF
0 s or more
ON
OFF
ON
OFF
ON
Unknown
OFF
Accepted
Rejected
ON
*4
OFF
ON
OFF
ON
*5
OFF
ON
Magnetic pole position estimation not completed
OFF
*6
ON
Magnetic pole position estimation not completed
OFF
*8
ON
OFF
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Establishment
Normal operation
10 ms or more (after initialization and main circuit ON)
10 ms or more
Output Tr ON
*3
Output Tr ON
0 ms or more
Approx. 2 ms
Approx. 60 ms
Brake engaged
Without command
*2
Approx. 4 ms
Brake released
Magnetic pole position estimation
in progress
*7
Completed
Completed
*9
100 ms or more
With command