3.6.2 Action sequence of the holding brake 3.6.2.1 The holding brake is subject to action delay; for the releasing and closing time of the holding brake, refer to the following figure Not powered on Powered on Fig. 3-18 Delay in releasing and closing of the holding brake *1: The delay in action of the holding brake may differ with different motor models. For details, refer to Chapter 11. The actual conditions shall always prevail. *2: P0-16 provides the time from when the servo driver receives a Servo On (/S-ON) command to when a position/speed/torque command can be received, and the time must be longer than that required for the holding brake to release.
When the upper device outputs a command to the servo driver, the command shall be output upon the lapse of the time following the /S-ON signal. *3: The holding brake actuation and the servo OFF shall be set through P0-09, P0-10 and P0-11. 3.6.2.2 Brake signal (/BK) output time when the servo motor stops Upon application to a vertical shaft, gravity of mechanical moving parts or external force may cause slight movement of the machine. Such slight movement can be eliminated by setting the P0-11 to make the motor power off after the brake closes. Fig.
3-19 Action sequence of the holding brake when the servo is off 3.6.2.3 Brake signal (/BK) output time when the servo motor rotates When an alarm occurs during rotation of the servo motor, or when the off signal is forced during rotation of the servo motor, the servo motor immediately enters the power-off state. At this time, the brake signal (/BK) output time can be adjusted by setting the brake command output speed value P0-10 and the servo OFF-brake command waiting time P0-09. Brake actuation condition upon rotation of the servo motor Brake signal will act when any of the following conditions establish:
● When the motor speed goes below the P0-10 set value after the motor enters the power-off state. ● When the time set by P0-09 elapses after the motor enters the power-off state. Fig. 3-20 Brake action upon rotation of the servo motor 36 Technical Manual for EA190 Series Servo Driver V100 Caution☞ When an alarm occurs in any circumstance, P0-11 is invalid and the servo motor immediately enters the power-off state.At this time, the moving part of the machine can move freely before the brake acts.