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7 Applied Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-6 Brake Interlock
7
7-6-3 Operation Timing
*1. The operation of the dynamic brake when there is an error depends on the set value in the Stop Selection –
Fault Reaction Option Code (3B20-04 hex).
*2. The Brake Interlock Output (BKIR) signal is output when a release request command is received from either
servo control or EtherCAT communications. The above example shows when there is no brake release
request from EtherCAT communications.
*3. “t1” is the period until the value becomes smaller than the set value in the Timeout at Servo OFF (4610-02
hex) or the Threshold Speed at Servo OFF (4610-03 hex), whichever comes earlier.
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
undervoltage will occur, in which case this operation timing is applied.
3. If the Brake Interlock Output (BKIR) is output because of Timeout at Servo OFF (4610-02 hex), a Brake
Interlock Error (Error No. 97.00) will occur.
Operation Timing When an Error Occurs (Servo ON)
ON
OFF
Released
Applied
ON
OFF
ON
OFF
ON
OFF
READY
4610-02 hex
t1*3
BKIR
4610-03 hex set value
4610-03 hex set value
Motor rotation speed A
Motor rotation speed B
Release request
Brake held
No power supply
DB released
DB applied*1
Servo Ready Output
(READY)
Error
Output (/ERR)
Error
Brake held
Release request
Error status
1 to 2 ms
Motor power supply
Dynamic
Brake
Brake Interlock
Output (BKIR)*2
Normal
Error
Power supply
Normal
When the 4610-02 hex
set value
comes earlier
Brake Interlock
Output (BKIR)*2
When the 4610-03 hex
set value comes earlier
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