Rockwell Automation Publication 750-PM001N-EN-P - February 2017 509
Integrated Motion on EtherNet/IP Application Appendix F
4. An MSF instruction is initiated and the Brake Proving routine is started
when desired.
a. If the brake prove routine is successful, the power structure is disabled
and the axis enters the Stopped state.
b. If the brake has slipped, the axis issues a Brake Slip alarm and remains
active. The axis can be restarted and the load lowered to a safe location.
When the brake no longer slips after an MSF instruction, the Brake
Malfunction fault occurs and requires a power cycle to clear the fault.
c. If enabled, the Auto Sag routine issues a Brake Slip alarm and runs the
Auto Sag routine.
The Auto Sag routine repeatedly attempts to set the brake and check
for slippage. When the load no longer slips, the power structure is
disabled and a Brake Malfunction fault occurs. A power cycle is
required to clear the fault. The Auto Sag routine cannot be interrupted.
Settings
Parameters to Configure Torque Prove, Brake Check, and Auto Sag
The following parameters are accessed via the Axis Properties -> Parameter List
Category.
Table 31 - Axis Properties Parameters
Parameter Name Description
AutoSagConfiguration Enables the drive to control the load to a no slip condition by repeatedly
attempting to set the brake and test for slip until the load no longer slips.
If set to zero, the drive detects a brake slip and holds the load at zero
speed.
AutoSagSlipIncrement The distance in position/feedback units that the brake is allowed to slip
before enabling the Auto Sag routine to control a brake slip event. An
encoder is required to operate.
AutoSagStart Enables the routine that monitors the encoder for brake slip when the
power structure is disabled. If the brake slips more than the value of
AutoSagSlipIncrement, the power structure is enabled and the Auto Sag
routine begins. The AutoSagConfiguration parameter must also be
enabled. AutoSagStart is not used when encoderless operation is
enabled.
BrakeProveRampTime The time that is required to ramp the torque reference from 100 % to
zero during the brake slip test.
BrakeSlipTolerance Sets the number of motor shaft revolutions allowed during the brake
slippage test. Drive torque is reduced to check for brake slippage. When
slippage occurs, the drive allows the number of motor shaft revolutions
before regaining control. BrakeSlipTolerance is not used when
encoderless operation is enabled.
BrakeTestTorque Percentage of motor rated torque that is used to test the brake before
releasing on the brake test. Any setting above 0 enables the brake test
routine before releasing the brake for normal motion of the axis.
BrakeTestTorque is only active with encoder feedback.
MechanicalBrakeEngageDelay The time that is required for the brake to mechanically engage the
system before the brake slip test begins in encoder feedback mode. In
Encoderless, it is the time that the axis will remain active after the brake
is commanded to set before the axis power structure is disabled
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