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When an Error (Alarm) Has Occurred (at Servo-ON Command)
When an Alarm Has Been Cleared (at Servo-ON Command)
Caution
*1. t1 will be a shorter time of either the setup value of Pr4.38[Mechanical brake action at
running setup] or elapsing time for the motor speed to fall below Pr4.39[Brake release
speed setup].
t1 will be 0 when the motor is in stall regardless of the setup pf Pr4.37.
*2. When an alarm is generated, the dynamic brake operates according to Pr5.10 Se-
quence at alarm.
normal
released
energized
output Tr ON
(not Alarm)
alarm
engaged *2
non-energized
output Tr OFF (not ready)
output Tr OFF (Alarm)
0.5 to 5 ms
t1 *1
output Tr OFF (Break engage)
engaged (OFF)
output Tr ON
(Break release)
Setup value of Pr4.39
output Tr ON
(Break release)
motor speed
motor speed
t1 *1
Setup value of Pr4.38
Alarm
Dynamic brake
Motor energization
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
when time to fall
below value of
Pr4.39 is shorter,
output Tr ON
(ready)
value of Pr4.38
Setup value of Pr4.39
when setup
value of Pr4.38
is shorter,
approx.60ms
approx.2ms
120ms or longer *1
input coupler ON
input coupler
OFF
input coupler
OFF
engaged released
energizednot-energized
output Tr OFF
(Break engage)
output Tr ON
(Break release)
output Tr ON
(ready)
output Tr OFF
(alarm)
output Tr ON
(not alarm)
no input entry
input enabled
100ms or longer
approx.4ms
Dynamic brake
Motor energization
External brake
release output
(BRK-OFF)
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
Alarm-clear input
(A-CLR)
Position/Speed/
Torque command
output Tr OFF
(not ready)
Caution
*1.
The alarm clear input recognition time can be changed in Pr5.16 Alarm clear input setup.
2
Preparation
10.
Timing Chart
Alarm