— 5-15 —
l
The brake signal must be controlled through the user's sequence.
Figure 5-15 : Recommended sequence diagram
Close
Open
Releasing time +
α
ON
OFF
ON
OFF
ON
OFF
A case to increase holding rigidity.
Close
Open
Clamp
Release
Clamping time +
α
Servo on
Servo off
BRK output
Clamp
Release
Close
Open
ON
OFF
A case for safrty brake.
Releasing time +
α
Releasing time +
α
Clamping time +
α
ON
OFF
Servo state of
Motor
RUN input
Motor rotation
IPOS output
(FW
≠
0)
IPOS output
(FW=0)
User side
brake signal
Brake state
IOFF input
Brake state
User side
brake signal
IOFF input
Table 5-16
Motor
type
Brake
model
Static friction torque
(N·m)
Torsional rigidity
(sec./N·m)
Brake engaging time
(msec)
Brake releasing time
(msec)
Capacity
(W)
YS2020
RNB2K
20
4.5
26
10
17
YS3040
RNB4K
40
4.9
62
3
23
YS4080
RNB8K
80
1.3
66
5
30
YS5120 RNB12K
120
1.9
78
9
33
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