User`s manual

Functions
5
5-8
5. Functions
BRK terminal (relay contact)
This signal is for controlling an externally
installed brake.
Use this signal only when the connected robot
has a mechanical brake. No additional wiring
is required since the connection to the robot
is made via the input/output connector.
Two methods of brake signal output are
available: output while the motor is stopped
and output while the motor is operating. As
shown in the table below, each setting can be
made to exclude the other setting. Their
output methods are described below.
FA-24 : Servo OFF wait time
FA-26 : Brake operation start speed
FA-27 : Brake operation start time
FC-02 : Output terminal polarity setting
Related parameters
Note: In the case of the RDP, this signal cannot be used as a relay output since no relay
is mounted on the PC board in the RDP.
Parameter (1) Brake signal during stop (2) Brake signal during run
Servo OFF wait time FA-24 Wait time setting 0
Brake operation start
speed
FA-26 – Start speed
Brake operation start
time
FA-27 0 Start time
This function will not work correctly unless the exclusive setting is made as shown above.
(1) Brake signal while robot is stopped
In this function, after the brake signal (BRK) has turned on, the servo OFF signal can
be delayed in order to counteract delays in the brake operation. So use this signal
when the robot stops such as when stopped after positioning. Using this signal
frequently while the robot is moving will cause abnormal brake wear.
• This signal turns on simultaneously with servo ON operation when a servo-ON
signal is input. This signal immediately turns off when the servo ON signal turns
off. The servo then turns off after a time preset by the "Servo OFF wait time" (FA-24)
parameter has elapsed. (See figure below.)
• The "Servo OFF wait time" (FA-24) can be set from 0 to 1.00 seconds in 10ms steps,
and operation may have a maximum delay of 1ms.
• If an alarm trips then the servo turns off simultaneously with this signal.
• By changing the "Output terminal polarity" (FC-02) setting, this output terminal can
also be opened when the brake is released.
• When using this function, set the "Brake operation start time" (FA-27) to 0.
Note: Operation is controlled by pulse train input even during the "Servo OFF wait time".
To stop the operation, turn off the PEN input or stop the pulse train input.
FA-24
SON
Servo status
BRK
Brake OFF state
Power being supplied
Servo ON state
Servo OFF wait time