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7. Wiring and Connection
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7-8-2 Motor brake release sequence
The motor brake control output (CN9 connector: MBR) releases the motor brakes with the sequence
shown below when canceling the emergency stop. Because the brake is released after the start of the
power ON to the servomotor, dropping due to an uncontrolled state does not occur.
OFF
Emergency stop (EMG)
ON
OFF
Dynamic brake
ON
7-8-3 Control during the servo OFF command
When a servo OFF command is input by an NC sequence input, the motor brake turns ON simultaneously
when the motor ON is shut off. Note that the vertical axis drop prevention control is not validated, so a drop
due to the brake operation lag occurs. When the servo OFF is canceled, a drop due to an uncontrolled
state does not occur.
CAUTION
The vertical axis drop prevention control is performed only during an
emergency stop (including alarms and power failures). It is not performed
when a servo OFF command is input.
7-8-4 Operation sequences when an emergency stop occurs
The motor brake control output operation when an emergency stop occurs differs according to the motor
deceleration stop method. Refer to section "9-4 Setting for emergency stop" for details on the operation
sequences for each stop method.
Servo holding power occurs
ON
OFF
READY ON signal (READY)
ON
OFF
Servo ON signal (SERVO)
0
500 1000 1500
Time
(
ms
)
Command input enable
OFF
ON
Motor brake control output (MBR)
ON
Motor ON (GATE)
OFF
Ready completion
Motor brake control output operation sequence when an emergency stop is canceled
200ms
SERVO ON
SERVO OFF
Servo OFF command
OFF
ON
Motor brake control output (MBR)
Dynamic brake
OFF
ON
ON
Motor ON (GATE)
OFF
Motor brake control output operation sequence when a servo OFF command is input