AXIS#.SAFEPARAM.SBC​.BRAKE#ATTACHED

Description

Indicates whether Safe Brake Control (SBC) is enabled on this axis. Axis 1 can have SBC enabled with two assigned brakes. Axis 2 can only have SBC enabled with one brake (ie: BRAKE2ATTACHED cannot be set).

Value	Description
0	No brake configured
1	Brake attached – without SDB (brake is applied before STO occurs according to AXIS#.SAFEPARAM.SBC​.BRAKETIMEDELAY)
2	Brake attached – with SDB (brake is applied after STO occurs)

IfAXIS#.MOTOR.BRAKE and BRAKE#.AXIS indicates no brake is attached to the axis but this safety parameter indicates a brake is attached, a warning will occur.

It is allowed to have a brake configured on the axis without enabling SBC using AXIS#.MOTOR.BRAKE and BRAKE#.AXIS.

 

Context

For complete SBC information refer to SBC (Safe Brake Control).

Related safety parameters:

• AXIS#.MOTOR.BRAKE
• AXIS#.SAFE.SBC.ACTIVE
• AXIS#.SAFEPARAM.SBC.BRAKETIMEDELAY
• AXIS#.SAFEPARAM.SBC.MUTINGSOURCE
• BRAKE#.AXIS

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Units	N/A
Range	0, 1, 2
Default Value	0
Data Type	Integer
Stored in Non-Volatile Memory	No

Fieldbus Information

EtherCAT ***EtherCAT 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

Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
AXIS1.SAFEPARAM.SBC.BRAKE1ATTACHED	3156h	01h	Unsigned8	-	-	Read/Write	No
AXIS1.SAFEPARAM.SBC.BRAKE2ATTACHED	3156h	02h	Unsigned8	-	-	Read/Write	No
AXIS2.SAFEPARAM.SBC.BRAKE2ATTACHED	3256h	02h	Unsigned8	-	-	Read/Write	No