Omron R88L-EC Series User Manual page 247

Servo ON/OFF Operation Timing When Motor is Moving
Based on these operation timings, regenerative energy is produced if the motor movement stops
abnormally.
Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes for the
motor to cool down.
Servo ON/OFF
OFF
Released
Dynamic
Brake
Engaged
Motor Power
Supply
OFF
Brake Interlock
*3
Output (BKIR)
OFF
Motor Speed
*1 The servo does not turn ON until the motor speed drops to approximately 30 mm/s or below. If a Servo ON is
commanded during motor movement, the Command Warning (Warning No. B1 hex) will occur. The Servo ON
command is ignored.
*2 The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation
option code (605C hex).
*3 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. 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).
*4 "t1" is the period until the value becomes lower than the set value on the Brake Timing During Operation (3438
hex) or the Brake Threshold Speed During Operation (3439 hex), whichever is shorter.
Note 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.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
ON
Servo OFF
*1
DB engaged
ON
No power supply
ON
Brake operation
Approx. +30 mm/s
Servo ON enabled
Approx. -30 mm/s
*1
Servo ON
DB released
Approx. 60 ms
Power supply
Approx. 4 ms
Request to release brake
When object 3438 hex
set value comes earlier
3439 hex set value
BKIR
Request to
When object 3439 hex
release brake
set value comes earlier
3439 hex set value
7 Applied Functions
Servo OFF
1 to 5 ms
*2
DB engaged
*2
No power supply
*4
t1
3438 hex
Brake operation
Brake
operation
7 - 17
7