Omron R88M-K Series User Manual page 302

7-5 Brake Interlock
Operation Timing When Resetting Errors
Error reset command
Servo ready
output (READY)
Error Output (/ALM)
Servo ON/OFF
Dynamic brake relay
Motor power supply
Brake interlock
7
*2
output (BKIR)
Operation command input
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*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).
Note: After the error has been reset, the system enters the servo OFF state (motor not energized). To turn ON the
servo, send a servo ON command again after resetting the error, according to the above timing.
7-17
Reset
ON
OFF
ON
OFF
ON
Error
OFF
ON
Servo OFF
OFF
ON
Brake Engaged
OFF
ON
No power supply
OFF
ON
Brake held
OFF
ON
OFF
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
16 ms or more
READY
Normal
0 ms or more
Servo ON
2 ms or more
Brake Released
Approx. 60 ms
4 ms
Input prohibited
*1
Power supply
Release request
100 ms or more
Input allowed