7 Applied Functions
7-20
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
*1 The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*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).
Note After the error has been reset, the system enters the servo OFF state (motor not energized). To turn ON the servo, send
a servo ON command again after resetting the error, according to the above timing.
Operation Timing When Resetting Errors
Error reset command
ON
OFF
16 ms or more
Error Output (/ALM)
Reset
OFF
ON
OFF
Servo ON/OFF
ON
OFF
ON
Brake Released
Brake Engaged
READY
Released
Engaged
Approx. 60 ms
Brake interlock
output (BKIR)
*2
Error Normal
OFF
Power supply
ON
OFF
ON
FF
No power supply
Servo ready
output (READY)
Dynamic brake
Motor power supply
ON
Operation command input
Servo OFF
Input prohibited Input allowed
Servo ON
*1
Release request
Brake held
0 ms or more
2 ms or more
4 ms
100 ms or more
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