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- App. 12 -
Timing Chart
After an Alarm is cleared (during Servo-ON)
*1. The value of t depends on the value of Pr6A.
*2. For the operation of the dynamic brake at Servo-OFF, see the explanation of Pr69 in
"Details of Parameters".
Servo-ON/OFF operation when the motor is stopped
Dynamic brake
Motor energized
Brake release
(BRK-OFF)
Motor speed
Servo-ON
(SRV-ON)
approx. 50 ms
approx. 10 ms
approx. 1 to 5 ms
servo-OFF
Servo-ON
Servo-OFF
braking 2
t 1
Not energized
Operation (OFF)
Released
Energized
Released (ON)
approx.
30 r/min
Braking
Not energized
Operation (OFF)
approx. 1 to 5 ms
Dynamic brake
Motor energized
Brake release
(BRK-OFF)
Servo alarm
(ALM)
Alarm clear
(A-CLR)
120 ms or more
Entry of Clear signal
Operation (braking)
Released
Energized
Released (ON)
Not alarm
Not energized
Operation (OFF)
Alarm
Not input
Input
Position/velocity/
torque command
approx, 50 ms
approx, 10 ms
100 ms or more