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

Variants Supported

Variant	Supported
AKD Base	Yes
AKD with Position Indexer	Yes
AKD EtherCAT	Yes
AKD CANopen	Yes
AKD BASIC	Yes
AKD SynqNet	Yes*
AKD EtherNet/IP	Yes
AKD Profinet	Yes
AKD sercos® III	Yes
AKD-N	Yes
AKD-C	No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

Fieldbus	Index/Subindex	Object Start Version
EtherCAT COE and CANopen	5264h /0	M_01-05-08-000

Fieldbus	Address	Attributes	Signed?
Profinet	2612	Byte	No
sercos® III	2612	2 Octets	No

Fieldbus	Instance	Data Size	Data Type
EtherNet/IP	613	1 Byte	Integer

Fieldbus	Index/Subindex	Is 64 bit?	Attributes	Signed?
Modbus	1222	No	8 bit	No