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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-14 I
/O-
re
lated
Ob
jects
9
9-
14
-6
4610 hex:
Br
ake I
nter
lock
O
utput
Sets the brake interlock operation. Refer to
on page 7-22 for details.
• Set whether to enable or disable the brake interlock output.
• If this object is set to
0
(disabled), the Brake Interlock Output (BKIR) is turned ON (brake is released).
• If this object is set to
1
(enabled), the Brake Interlock Output (BKIR) is turned ON (brake is released)
and OFF (brake is held) according to the Servo ON or Servo OFF state.
Description of Set Values
• Sets the time from when the OFF state of the operation command is detected (the power supply to
the motor is OFF) until the Brake Interlock Output (BKIR) is turned OFF (brake is held), when the
Servo OFF is performed during motor operation.
• When the Servo OFF is applied during motor operation, the motor decelerates to reduce rotation
speed. The Brake Interlock Output (BKIR) is turned OFF (brake is held) after the set time elapses.
• During operation, the set value of
Threshold Speed at Servo OFF
may be detected earlier, and this
may cause the Brake Interlock Output (BKIR) to turn OFF (brake is held).
• If the Brake Interlock Output (BKIR) is turned OFF (brake is held) because the set value of
Timeout
at Servo OFF
is detected, a Brake Interlock Error (Error No. 97.00) will occur.
• Sets the motor speed at which the Brake Interlock Output (BKIR) can be turned OFF (brake is held)
after the Servo OFF command is detected, when the Servo OFF is performed during motor opera-
tion.
• During operation, the set value of
Timeout at Servo OFF
may be detected earlier, and this may
cause the Brake Interlock Output (BKIR) to turn OFF (brake is held).
9-14-6 4610 hex: Brake Interlock Output
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
operation
4610
---
Brake Interlock
Output
---
---
---
---
---
---
---
Possible
---
00
Number of entries
---
---
04 hex
---
1 byte
(U8)
RO
---
---
---
01
Enable
0 to 1
---
1
R
4 bytes
(INT32)
RW
---
---
---
02
Timeout at Servo
OFF
0 to
10,000
ms
500
E
4 bytes
(INT32)
RW
---
---
---
03
Threshold Speed
at Servo OFF
30 to
3,000
r/min
80
*1
*1. The default setting is 30 for the unit version 1.3 or earlier.
E
4 bytes
(INT32)
RW
---
---
---
04
Hardware Delay
Time
0 to
10,000
ms
0
E
4 bytes
(INT32)
RW
---
---
---
Subindex 01 hex: Enable
Set value
Description
0
Disabled
1
Enabled
Subindex 02 hex: Timeout at Servo OFF
Subindex 03 hex: Threshold Speed at Servo OFF
Summary of Contents for R88D-1SN ECT Series
Page 973: ......