DRV.HWENDELAY

Description

By default, when the Hardware Disable input deactivates, the drive is immediately disabled. However, on a vertical axis this may allow the load to drop slightly before the brake is applied.

To ensure that the brake is applied before the power stage is disabled, set DRV.HWENDELAY to a value which allows the brake to apply fully.

While the brake is applying, the drive will also attempt to decelerate the motor using the standard drive disable settings such as DRV.DISMODE, CS.DEC, CS.VTHRESH and CS.TO.

Prior to version 01-05-08-000, the brake would only apply when velocity dropped below CS.VTHRESH or MOTOR.TBRAKETO expired. Starting with 01-05-08-000, the brake will now apply immediately when the Hardware Enable Input line is deactivated.

General Information

Type	NV Parameter
Units	Milliseconds
Range	0 to 167 ms
Default Value	0 ms
Data Type	Integer
Start Version	01-05-08-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	5264h/0	M_01-05-08-000