Control Output Details - Omron OMNUC G5 Series User Manual

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 torque commands in the
correct timing, as shown in the chart.
Control power supply
Servo ON accepted/rejected
Motor power supply
Position, speed or
*1. Once the internal control power is established, the protective function starts working about 1.5 s after the MPU starts
initializing itself. Be sure that all I/O signals that are connected to the Servo Drive, especially the Forward/Reverse
Drive Prohibition Input (POT/NOT), the Origin Proximity Input (DEC), the external encoder input, are stable before
the protective function starts working. 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. The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled.
*4. 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.
*5. Although the servo ON operation is accepted in this section, it is not yet enabled.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
ON
(L1C and L2C)
OFF
ON
Internal control
power supply
OFF
ON
MPU operation
OFF
Main circuit power
ON
supply
(L1, L2 and L3)
OFF
Servo ready ON
completed output
OFF
(READY)
Accepted
Rejected
ON
*3
Dynamic brake
OFF
ON
OFF
ON
Brake interlock
*4
output (BKIR)
OFF
ON
torque command
OFF
3-1 Servo Drive Specifications
Approx. 100 to 300 ms
Approx. 3 s
Approx. 1.5 s
*1
Normal operation
Iinitialization
0 s or more
Approx. 10 ms after initialization
and main circuit ON
0 ms or more
Approx. 2 ms
Approx. 60 ms
*2
Approx. 4 ms
100 ms or
*5
more
3-16
3