Omron R88M-1M Series User Manual page 518

7 Applied Functions
Servo ON/OFF Operation Timing When Motor Is Operating
Based on these operation timings, regenerative energy is produced if the motor rotation stops abnor-
mally. Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes
for the motor to cool down.
Servo ON/OFF
Released
Dynamic
Brake
Applied
Motor power supply
Brake Interlock
Output (BKIR) *3
Motor rotation speed
*1. The Servo does not turn ON until the motor rotation speed drops to 30 r/min or lower. If the Servo ON com-
mand is input during motor rotation, the Command Warning (Error No. B1.00) will occur. The Servo ON com-
mand is ignored.
*2. The operation of the dynamic brake when the Servo is OFF depends on the set value in Stop Selection –
Disable Operation Option Code (3B20-02 hex).
*3. The Brake Interlock Output (BKIR) signal is output when a release request command is received from either
servo control or EtherCAT communications. The above example shows when there is no brake release
request from EtherCAT communications.
*4. "t1" is the period until the value becomes smaller than the set value in the Timeout at Servo OFF (4610-02
hex) or the Threshold Speed at Servo OFF (4610-03 hex), whichever comes earlier.
*5. Depends on the set value in Brake Interlock Output – Hardware Delay Time (4610-04 hex).
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 Brake Interlock Output (BKIR) is output because of Timeout at Servo OFF (4610-02 hex), a Brake
Interlock Error (Error No. 97.00) will occur.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
ON
Servo OFF
OFF
*1
DB applied
ON
No power supply
OFF
ON
Brake held
OFF
Approx. +30 r/min
Servo ON enabled
Approx. -30 r/min
When the 4610-03 hex set value comes earlier
*1
Servo ON
DB released
Approx. 80 ms
Power supply
*5
21 ms or more
Release request
When the 4610-02 hex
set value comes earlier
4610-03 hex set value
BKIR
4610-03 hex set value
Servo OFF
Approx. 15 ms
DB applied *2
No power supply *2
t1 *4
4610-02 hex
Brake held
Release
Brake held
request