Operation Example - Omron R88M-K Series User Manual

8-2 Operation Example

Operation Timings to a Safety Status
Servo ON/OFF
Safety input 1
*1
Safety input 2
Motor power is
supplied.
EDM output
Dynamic brake
*2
relay
Servo ready
completed output
(READY)
Error Output (/ALM)
Brake interlock
output (BKIR)
*1. STO status is entered when either safety input 1 or 2 turns OFF
*2. The dynamic brake operates according to the setting of the Fault reaction option code (605E hex).
*3. t1 is the set value of the Brake Timing During Operation (3438 hex), or the time needed for the motor
rotation speed to drop to or below the Brake Threshold Speed During Operation (3439 hex),
whichever occurs first.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Servo ON
STO status
Normal status
max 5 ms
Power supply
max 6 ms
OFF
0.5 to 5 ms
DB released
READY
Normal
3438 hex set value
Brake released
*3
t1
3439 hex
set value
3438 hex
set value
Brake released
3439 hex
set value
8-2 Operation Example
Servo OFF
No power supply
ON
DB engaged
Error
Brake held
When object 3438
hex set value comes
earlier.
Brake held
When object 3439 hex set
value comes earlier.
8
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