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Timing Chart
After Power ON (receiving Servo-ON signal)
Control power
Control voltage 5V
Main power
Dynamic brake
Motor energized
Brake release
(BRK-OFF)
Internal reset
Servo ready
(S-RDY)
Servo alarm
(ALM)
Servo-ON
(SRV-ON)
Position/velocity/
torque command
＜ Notes ＞
*1. The main power should be turned on at the same time or after turning on the control power.
*2. This means that SRV-ON signal is entered mechanically, but not accepted actually.
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＊1
Activated
Free (not energized)
Activated (braking)
approx. 2 ms
Reset
approx. 2 ms
Not ready
Alarm
*2 Invalid
− App. 14 −
approx. 50 ms
No
Released
Energized
Released
Released
Ready
Not alarm
Valid
Yes
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