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7 Applied Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
7-5 Brake Interlock
7
7-5-2 Operation Timing
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.
*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.
Servo ON/OFF Operation Timing When Motor is Moving
t1
*4
3438 hex
1 to 5 ms
*1
BKIR
ON
OFF
ON
OFF
ON
OFF
Servo ON/OFF
Servo ON
*1
DB engaged DB released DB engaged
*2
3439 hex set value
When object 3439 hex
set value comes earlier
3439 hex set value
When object 3438 hex
set value comes earlier
Brake operation
Request to
release brake
Brake
operation
Motor Speed
Servo ON enabled
Approx. +30 mm/s
Approx. -30 mm/s
Servo OFF Servo OFF
Power supplyNo power supply No power supply
*2
Request to release brake
Brake operation
Approx. 60 ms
Approx. 4 ms
Dynamic
Brake
Released
Engaged
Motor Power
Supply
Brake Interlock
Output (BKIR)
*3
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