7-19
7 Applied Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-5 Brake Interlock
7
7-5-2 Operation Timing
*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.
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.
Operation Timing When an Error Occurs (Servo ON)
Error status
0.5 to 5 ms
Motor power supply
Dynamic brake
Brake interlock
output (BKIR)
*2
Brake interlock
output (BKIR)
*2
Normal
Error
ON
OFF
Power supply
Released
Engaged
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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