Brake

Description

Each axis can have at least one brake attached that will lock the motor shaft into place and prevent motion. This is useful to keep the motor shaft from moving while disabled and the drive cannot hold the motor position.

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• Brakes are generally meant to hold position, not stop the motor. Care should be taken in configuring the associated brake parameters such that the brake is not used to stop the motor often. Doing so will damage the motor and/or brake hardware.

There are up to two brake connectors on the AKD2G. Each brake can be configured one per axis, or they can both be set to one axis. When the axis enables or disables the brake(s) assigned to that axis will be commanded to be released or applied accordingly unless the command is manually overridden.

To configure a brake on an axis, a combination of keywords are used:

Keyword	Description
BRAKE#.AXIS	Configures which brake connector the axis controls.
AXIS#.MOTOR.BRAKE	Configures whether the axis has a brake attached.
AXIS#.MOTOR.TBRAKETO	Sets the time to wait for axis to stop before applying the brake.
AXIS#.MOTOR.BRAKEIMM	Sets whether to wait for the axis to stop when disabling in normal instances.
AXIS#.MOTOR.TBRAKERLS	The amount of time before the brake should release.
AXIS#.MOTOR.TBRAKEAPP	The amount of time before the brake should apply.
AXIS#.MOTOR.BRAKECONTROL	Allows manual control of the brakes assigned to this axis.
BRAKE#.STATE	The current state of the brake.
AXIS#.DISVTHRESH	The velocity threshold that the drive will consider the motor shaft as stopped and the brake can be applied .
AXIS#.DISMODE	The action taken by the drive when disabling. This affects when the brake gets applied before the power stage is disabled.

Related Topics

Vertical Loads