5003h, 5103h AXIS#.CANOPEN.*
Brake Control Command
This object allows the fieldbus to control the brake directly, overriding the drive logic. When the brake state is controlled by the fieldbus, the drive state (enabled, disabled, faulted) will have no effect on the brake, and the fieldbus will be in control.
-
- Applying or releasing the brake at the wrong time can be a safety hazard and can destroy your mechanic as well as drive or motor. Unexpected behavior might be possible. It is the responsibility of the customer using this mode to use this function appropriately.
When fieldbus control is disabled, the drive will control the brake as defined by existing AKD brake related parameters. When fieldbus control is enabled, the Brake Command received over the field bus will take effect. If the Brake Command is set to APPLY and the current state is RELEASE, the brake will begin to apply .
The default value of the fieldbus control will be disabled, so that the drive is always in control until the fieldbus is operational. It is recommended that this bit remain 0 except for special operating conditions where the fieldbus will control the brake. When fieldbus communication is lost, the drive will regain control of the brake if the fieldbus had previously taken control.
| Enable Fieldbus Control | Serious Failure condition present | Brake Command | Controlled by... | Final Brake State |
|---|---|---|---|---|
| 0 | x | x | Drive | Drive |
| 1* | No | 0 | Fieldbus | Applied |
| 1* | No | 1 | Fieldbus | Release |
| x | Yes | 0 | Drive | Drive |
1* indicates that a rising edge was seen since the last time the drive applied the brake.
Brake Status Response
The brake command can be controlled using subindex 3h. The following table contains the brake control bit definitions.
| Bit | Name | Description |
|---|---|---|
| 0 | Brake Control Status |
0 - brake control via 0x345A is disabled or not possible due to drive failure. 1 - enable fieldbus control via this object. This function works edge triggered, i.e., this bit has to have a 0 -> 1 transition to activate the brake control functionality. After a fault the functionality is reset and has to be activated again. The activation can be controlled by subindex 2 bit 0. |
| 1 | Brake Status |
0 - apply the brake 1 - release the brake
|
| 2 | STO Status |
0 - STO is not active (drive may be enabled) 1 - STO is active (drive can not be enabled) |
| 3 | HW Enable Status | 0 - HW enable is disabled, drive function can not be enabled 1 - HW enable is enabled, drive function can be enabled |
Target Torque (mA)
The target torque can be specified using subindex 5h as an alternative to DS402 parameter 6071h as the input to the torque controller in profile torque mode. It allows the torque command to be specified in mA instead of percent rated torque.
Profile Position Control
This object allows the motion task controlword to be set for custom applications. It is not recommended for general use.
The following tables specify the CANopen mapping for the axis specific objects described above.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5003h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.CANOPEN.PSCALE | 5003h | 1 | Unsigned8 | - | - | Read/Write | No | All |
| Reserved 5003h sub 02h | 5003h | 2 | Signed32 | - | - | Read only | No | All |
| Brake control command - Axis 1 | 5003h | 3 | Unsigned16 | - | - | Read/Write | Yes | All |
| Brake status response - Axis 1 | 5003h | 4 | Unsigned16 | - | - | Read only | Yes | All |
| Target torque (mA) - Axis 1 | 5003h | 5 | Signed32 | - | - | Read/Write | Yes | All |
| Profile position control - Axis 1 | 5003h | 6 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.PERRMODE | 5003h | 7 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.STATUSEGDETIME | 5003h | 8 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.TARPOSMODE | 5003h | 9 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.CONTROLBIT11.MODE | 5003h | 10 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.CONTROLBIT12.MODE | 5003h | 11 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.CONTROLBIT13.MODE | 5003h | 12 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.CONTROLBIT14.MODE | 5003h | 13 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.CANOPEN.CONTROLBIT15.MODE | 5003h | 14 | Unsigned8 | - | - | Read/Write | No | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5103h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.CANOPEN.PSCALE | 5103h | 1 | Unsigned8 | - | - | Read/Write | No | All |
| Reserved 5103h sub 02h | 5103h | 2 | Signed32 | - | - | Read only | No | All |
| Brake control command - Axis 2 | 5103h | 3 | Unsigned16 | - | - | Read/Write | Yes | All |
| Brake status response - Axis 2 | 5103h | 4 | Unsigned16 | - | - | Read only | Yes | All |
| Target torque (mA) - Axis 2 | 5103h | 5 | Signed32 | - | - | Read/Write | Yes | All |
| Profile position control - Axis 2 | 5103h | 6 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.PERRMODE | 5103h | 7 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.STATUSEGDETIME | 5103h | 8 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.TARPOSMODE | 5103h | 9 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.CONTROLBIT11.MODE | 5103h | 10 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.CONTROLBIT12.MODE | 5103h | 11 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.CONTROLBIT13.MODE | 5103h | 12 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.CONTROLBIT14.MODE | 5103h | 13 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.CANOPEN.CONTROLBIT15.MODE | 5103h | 14 | Unsigned8 | - | - | Read/Write | No | All |
