No. SX-DSV02472 -145-
9-2 Timing Chart
9-2-1 Servo-on signal accept timing on power-up
• The above chart shows the timing from AC power-ON to command input.
• Input the servo-On command, position/velocity/torque commands according to the above timing chart.
*1. It is shown that an instruction input receptionist is not ready in this section.
Please input instructions after the completion of preparation.
*2. The servo ready is turned on when all the following conditions are satisfied: “Initialization of microcomputer is
completed”, “Main power supply is established”, “No alarm is issued”, and “Synchronization (phase matching)
between EtherCAT communication and servo is completed and EtherCAT communication is established”.
*3. After Internal control power supply, protective functions are active from approx. 1.5 sec after the start of
initializing microcomputer. Please set the signals, especially for protective function, for example over-travel
inhibit input (POT, NOT) or external scale input, so as to decide their logic until this term. The lapse time can be
changed with Pr 6.18 Wait time after power-up.
*4. A brake release output (BRK-OFF) is output by a release request from the EtherCAT communication (set brake
of 60FEh).
Control power supply OFF
ON
(L1C, L2C)
Internal control power supply OFF Established
Approx.3 s
Approx.1.5 s
Action of driver CPU Reset Initialization *3 Usually operation
0 s or longer
Main power supply OFF
ON
(L1, L2, L3) *2
Servo-Ready OFF
10 ms or longer
Output Tr ON
*2
0 s or longer
Servo-ON command Input coupler OFF
Input coupler ON
Approx.2 ms
Dynamic brake Engaged Released
Approx. 60 ms
Motor energization Not-energized
Energized
Approx. 4 ms
Brake release output Output Tr OFF (brake engaged)
(BRK-OFF)
Position/Speed/Torque instruction
No instruction entry
Output T r OFF
(brake released)
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
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