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

 


  • When the brake is applied or released, there is a time delay MOTOR.TBRAKEAPP or MOTOR.TBRAKEREL, after the receipt of the command before this status bit changes. The status is always reported: it is not affected by fieldbus control.
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