7
7-16
7-5 Brake Interlock
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Applied Functions
Operation Timing When an Error Occurs (Servo ON)
*1. The operation of the dynamic brake when there is an error depends on the setting of the Fault reaction option code
(605E hex).
*2. The Brake Interlock Output (BKIR) signal is output either when a release request command is received via Servo
controls or when a release request command 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).
*3. “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 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.
Note 2. If the main circuit power supply turns OFF while the motor is operating, a phase loss error or main circuit voltage
low error will occur, in which case this operation timing is applied.
Error status
OFF
ON
0.5 to 5 ms
Motor power supply
Dynamic brake relay
Brake interlock
output (BKIR)
*2
Brake interlock
output (BKIR)
*2
Normal
Error
ON
OFF
Power supply
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Release request
No power supply
DB Released
DB engaged
*1
READY
Servo ready
output (READY)
Error Output (/ALM)
Error
Brake held
3438 hex
t1
*3
When object 3438 hex
set value comes earlier
When object 3439 hex
set value comes earlier
Release request
Brake held
Value set in 3439 hex
Value set on 3439 hex
Motor rotation speed A
Motor rotation speed B
BKIR
Normal
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