Omron R88M-K - Control Output Details

3 Specifications
3-24
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
The chart below illustrates the timing of the command inputs after the control power supply is turned
ON. Input the Servo ON/OFF operation, position, speed, and torque commands in the correct timing, as
shown in the chart.
*1 Once the internal control power is established, the protective function starts working about 1.5 s after the MPU starts
initializing itself. Be sure that all I/O signals that are connected to the Servo Drive, especially the Forward/Reverse Drive
Prohibition Input (POT/NOT), the Origin Proximity Input (DEC), the external encoder input, are stable before the protective
function starts working. The period can be extended by setting the Power Supply ON Initialization Time (3618 hex).
*2 The Servo Ready Completed Output (READY) turns ON only when all of these conditions are met: MPU initialization is
completed. The main power supply is established. No error exists. EtherCAT communications and servo are synchronized
(phase alignment).
*3 The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled.
*4 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.
*5 Although the servo ON operation is accepted in this section, it is not yet enabled.
3-1-10 Control Output Details
Control Output Sequence
Control power supply
(L1C and L2C)
Internal control
power supply
MPU operation
Main circuit power
supply
(L1, L2 and L3)
Servo ready
completed output
(READY)
Approx. 100 to 300 ms
Approx. 3 s
Approx. 1.5 s
Initialization
*1
Approx. 10 ms after initialization
and main circuit ON
*2
Dynamic brake
*3
Motor power supply
Brake interlock
output (BKIR)
*4
Position, speed or
torque command
Approx. 60 ms
Approx. 2 ms
Approx. 4 ms
0 ms or more
0 s or more
100 ms or
more
*5
O
N
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Servo ON accepted/rejected
ON
OFF
ON
OFF
ON
OFF
ON
O
FF
Normal operation
Accepted
Rejected