3 Specifications
3 - 12
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The chart below illustrates the timing of the command inputs after the control power supply is turned ON.
Input the Servo ON/OFF operation, position, speed, and force commands in the correct timing, as
shown in the chart.
*1
Once the internal control power is established, the protective function starts working about 1.5 seconds after
the MPU starts initializing itself. Be sure that all I/O signals that are connected to the Servo Drive are stable
before the protective function starts working. This is true especially for the Positive/Negative Drive Prohibition
Input (POT/NOT), the Origin Proximity Input (DEC), and the external encoder input. The period can be
extended by setting the Power Supply ON Initialization Time (3618 hex).
*2
The Servo Ready Completed Output (READY) turns ON only when all of these conditions are met: MPU
initialization is completed. The main power supply is established. No error exists. EtherCAT communications
and servo are synchronized (phase alignment).
*3
If general-purpose output signals are used as NO contact, wait at least 3.3 seconds after the control power is
turned ON.
*4
The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled.
*5
The Brake Interlock Output (BKIR) turns ON either when a release request is received via servo controls or
when a release request is received via EtherCAT communications
*6
The magnetic pole position estimation completion output is enabled. The Magnetic Pole Detection Method
(3920 hex) is set to 2 (Magnetic pole position estimation).
3-1-9
Control Output Details
Control Output Sequence
ON
OFF
ON
OFF
(L1C, L2)
ON
OFF
ON
OFF
(L1, L2, L3)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Approx. 60 ms
Approx. 2 ms
Approx. 4 ms
0 ms or more
0 s or more
100 ms or more
*9
Normal operation
Servo ON accepted/rejected
Dynamic brake
*4
Motor power supply
Brake interlock output
(BKIR)
*5
Position, speed, or force command
Rejected
Less than 3 s
Approx. 1.5 s
Initialization
*1
10 ms or more (after initialization and main circuit ON)
*2
Approx. 100 to 300 ms
Control power supply
Internal control power supply
MPU operation
Main circuit power supply
Servo ready completed output
(READY, NO)
Servo ready completed output
(READY, NC)
Establishment
10 ms or more
Unknown
*3
Output Tr ON
Output Tr ON
Accepted
OFF
ON
OFF
ON
Brake engaged
Brake released
Magnetic pole position estimation
in progress
*7
Completed
Magnetic pole position estimation not completed
Magnetic pole position estimation
completion output
*6
Completed
Magnetic pole position estimation not completed
Magnetic pole position estimation
completion output
*8
With command
Without command
