0x2004 Brake options¶
Provides options for operating a brake. A brake is spring-activated such that it engages when powered off for safety. It must be disengaged by applying current to a solenoid to be released.
A disengage Pull voltage can be applied to the solenoid to disengage the brake quickly for the duration of the Pull time. After the pull time, a holding voltage is applied to keep the pin retracted.
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Pull voltage | 0x2004:1 | UDINT | 32 | 0 | mV | readwrite | |||||||||
Voltage required to disengage the brake. It is ignored in manual mode. |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Hold voltage | 0x2004:2 | UDINT | 32 | 0 | mV | readwrite | |||||||||
Voltage required to continously hold the brake in a disengaged state. This voltage may be set lower than the "Pull voltage" to reduce losses in the brake. CAUTION! Before setting this parameter, contact your brake manufacturer to ensure reliable operation. It is ignored in manual mode. |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Pull time | 0x2004:3 | UINT | 16 | 0 | ms | readwrite | |||||||||
Time period in which |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||
Release strategy | 0x2004:4 | USINT | 8 |
|
readwrite | ||||||||||
Sets the method used to control the brake. The options are:
|
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Controller disable delay | 0x2004:5 | UINT | 16 | 100 | ms | readwrite | |||||||||
Time from when the brake is commanded to engage, to when the servo drive operation is disabled. Parameter is ignored in manual mode. |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
DC bus voltage (deprecated) | 0x2004:6 | UINT | 16 | 0 | V | readonly (default) | |||||||||
Deprecated. Refer to |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||
Brake status | 0x2004:7 | USINT | 8 |
|
readwrite | ||||||||||
Reports the expected status of the brake.
In "Manual output voltage" mode, this object can be used to enable or disable the output voltage by writing (1) to disable and (2) to enable. |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Minimum displacement (pin brake) | 0x2004:8 | UDINT | 32 | 0 | 2147483647 | 0 | readwrite | ||||||||
Minimum angle that the motor needs to turn in before it is certain that the brake pin is pulled out. The units are in commutation sensor increments. |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Maximum torque (pin brake) | 0x2004:9 | UINT | 16 | 0 | mNm | readwrite | |||||||||
Maximum torque applied to the motor during the release process. The units are in mNm. |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Output voltage | 0x2004:10 | UINT | 16 | 0 | mV | readwrite | Receive PDO (Outputs) | ||||||||
Sets the voltage on the brake voltage supply when the "Release strategy" is set to manual output voltage mode (0), and the Brake status is set to (2) for enable. |
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||
Switching frequency | 0x2004:11 | USINT | 8 |
|
readwrite | ||||||||||
Select the PWM switching frequency for the brake voltage supply.
|
|||||||||||||||
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Field strength factor | 0x2004:12 | UDINT | 32 | 0 | readonly (default) | ||||||||||
Internal drive information about brake magnetic field around current sensors. |
|||||||||||||||