Brake Control
The Brake_Control_Settings object allows the user to enable/disable (bit0) the Automatic Brake Control. It also allows the user to define the digital output used for the Brake (bit4÷bit7 and bit3) and the details of the Brake control handling (bit1 and bit2).
The following descriptions are related to Automatic Brake Control enabled (bit0 = 1 of Brake_Control_Settings object).
When the drive is in one of the following states, the brake is immediately closed (active) and the settings of the bit1 and bit2 of Brake_Control_Settings object are not considered.
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‘Switched On’ state
-
‘Ready to switch on’ state
-
‘Switch on disabled’ state
-
‘Not ready to switch on’ state
-
‘Fault’ state then the brake is close (active)
When the drive enters in one of the indicated states, the brake is immediately closed (active) and the motor current is switched off.
When the drive is in the ‘Operation enable’ state, then the brake’s close or open state depends on bit1 and bit2 settings of Brake_Control_Settings object:
|
bit2 |
bit1 |
bit0 |
‘Operation mode’ state |
|---|---|---|---|
|
0 |
0 |
1 |
The brake is open (released). |
|
0 |
1 |
1 |
The procedure described below can be used when automatic handling of the closing/opening of the brake during the stop and movement of the motor is required. The brake is closed (activated) when the motor is at a standstill and open (released) when motor is running. The following automatic sequence is performed by the drive when the brake is closed: 1. After the motor stop, the time defined by Brake_Control_Time1_Close_Brake (2C01.0H) is allowed to elapse. 2. The brake is closed (activated). 3. The time defined by Brake_Control_Time2_Close_Brake (2C02.0H) is allowed to elapse. 4. The motor current is switched off. The following automatic sequence is performed from the drive when the brake is open: 1. The motor current is switched on. 2. The time defined by Brake_Control_Time1_Open_Brake (2C03.0H) is allowed to elapse. 3. The brake is open (released). 4. The time defined by Brake_Control_Time2_Open_Brake (2C04.0H) is allowed to elapse. 5. The drive can perform motor movements. Note: This type of automatic brake handling can be used for Profile Position Mode (pp) and Homing mode (hm). For other modes, we suggest using the brake handling as defined by settings of the bit2 = 1 and bit1 = 0. The Ethercat / CANopen master controls the brake directly, included the timing and switch off and switch on of the motor current. For example, with Cyclic Synchronous Position mode (csp), the slave drive does not know when it will receive the first step to move and therefore could apply the automatic sequence to open the brake simultaneously with the reception of the subsequent movement steps, risking a block of the motor movement. |
|
1 |
X |
1 |
The brake’s state can be changed by the B0_Digital_Outputs object (if bit3 = 0 of Brake_Control_Settings object) or the B1_Digital_Outputs object (if bit3 = 1 of Brake_Control_Settings object). The Ethercat / CANopen master can control the brake directly during ‘Operation Enable’ state and must to handle the sequence concerning the open/close of the brake, included the timing of the Brake and switch off and switch on of the motor current (2C01.0H , 2C02.0H , 2C03.0H , 2C04.0H objects are not considered in this case). To switch off the motor current:
To switch on the motor current, restore the values previously used for the objects Min_Current, Max_Current, Boost_Current, and Feedback_Boost_Current before they were forced to 0 with switch off motor current. |
Brake control is available with firmware V03r20 or superior.
Related objects:
|
Object name |
Index.Sub |
|---|---|
|
2C00.0H |
|
|
2C01.0H |
|
|
2C02.0H |
|
| 2C03.0H | |
| 2C04.0H | |
|
6200.1H |
|
|
6300.2H |
