User`s manual

5-9

Functions

5. Functions

(2) Brake signal while robot is operating

This function is used when applying the brake while the robot is operating so use in

applications where the robot can slow sufficiently such as when the robot is free-

running. Using this function when moving a heavy payload may cause braking delays,

resulting in dropping hazards so use caution.

• This signal turns on simultaneously with servo ON operation when a servo-ON

signal is input. Also, when the servo turns off or an alarm trips, the brake is applied

when the robot speed falls below the "Brake operation start speed" (FA-26) or after

the "Brake operation start time" (FA-27) has elapsed after the servo turns off. (See

figure below.)

• The "Brake operation start time" (FA-27) can be set from 0 to 1.000 second in 4ms

steps, and operation may have a maximum delay of 1ms.

• 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 "Servo OFF wait time" (FA-24) to 0.

FA-27

FA-26

SON

Servo status

BRK

Robot speed

Power being supplied

Servo ON state

Brake OFF status

*Operation condition

FA-26 > | Speed | or FA-27 time has elapsed.

Brake operation start time

Brake operation

start speed

SON=OFF

or alarm