7 Applied Functions
7 - 26
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Based on these operation timings, regenerative energy is produced if the motor rotation stops abnor-
mally. 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 rotation speed drops to 30 r/min or lower. If the Servo ON com-
mand is input during motor rotation, the Command Warning (Error No. B1.00) will occur. The Servo ON com-
mand is ignored.
*2. The operation of the dynamic brake when the Servo is OFF depends on the set value in Stop Selection –
Disable Operation Option Code (3B20-02 hex).
*3. 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.
*4. “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.
*5. Depends on the set value in Brake Interlock Output – Hardware Delay Time (4610-04 hex).
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 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.
Servo ON/OFF Operation Timing When Motor Is Operating
Servo ON/OFF
ON
OFF
Dynamic
Brake
Released
Applied
Motor power supply
ON
OFF
Brake Interlock
Output (BKIR)
*3
ON
OFF
*1 Approx. 15 ms
21 ms or more
*5
4610-02 hex
Approx. 80 ms
Servo OFF Servo OFFServo ON
*1
DB applied
DB applied
*2
DB released
Power supply
No power supply
No power supply
*2
Release request
Brake held
t1
*4
Motor rotation speed
Servo ON enabled
Approx. +30 r/min
4610-03 hex set value
Approx. -30 r/min
Release
request
Brake held
4610-03 hex set value
BKIR
When the 4610-02 hex
set value comes earlier
Brake held
When the 4610-03 hex set value comes earlier
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