Omron R88M-1M Series User Manual page 519

Operation Timing When an Error Occurs (Servo ON)
Error status
Motor power supply
Dynamic
Brake
Servo Ready Output
(READY)
Error
Output (/ERR)
When the 4610-02 hex
set value comes earlier
Brake Interlock
Output (BKIR)*2
When the 4610-03 hex
set value comes earlier
Brake Interlock
Output (BKIR)*2
*1. The operation of the dynamic brake when there is an error depends on the set value in the Stop Selection –
Fault Reaction Option Code (3B20-04 hex).
*2. 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.
*3. "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.
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 main circuit power supply turns OFF while the motor is operating, a phase loss error or main circuit
undervoltage will occur, in which case this operation timing is applied.
3. 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.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Normal
ON
Power supply
OFF
Released
DB released
Applied
ON
READY
OFF
ON
Normal
OFF
Motor rotation speed A
4610-03 hex set value
ON
Release request
OFF
Motor rotation speed B
4610-03 hex set value
BKIR
Release request
7 Applied Functions
Error
1 to 2 ms
No power supply
DB applied*1
Error
t1*3
4610-02 hex
Brake held
Brake held
7
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