Galil Motion Control DMC-40x0 Series - Page 66

56 ● BW DMC-40x0 Command Reference
BW
FUNCTION: Brake Wait
DESCRIPTION:
The BW command sets the delay between when the brake is turned on and when the amp is turned
off. When the controller goes into a motor-off (MO) state, this is the time (in samples)
between when the brake digital output changes state and when the amp enable digital output
changes state. The brake is actuated immediately upon MO and the delay is to account for the
time it takes for the brake to engage mechanically once it is energized electrically. The brake
is released immediately upon SH.
Outputs 1-8 are used for Axes A-H, where output 1 is the brake for axis A and output 2 is the
brake for axis B and so on.
Note: The Brake Wait does not apply when the motor is shut off due to OE1 (Off on Error). In
this case (position error exceeded or Abort triggered) the motor off and brake output will be
applied simultaneously.
ARGUMENTS: BW n,n,n,n,n,n,n,n or BWA=n where
n specifies the brake wait time in samples. n ranges from 1 to 32000
n = 0 Turns Brake Wait off
n = ? Returns the brake wait time in msec for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format
Command Line Yes
OPERAND USAGE:
_BWn contains the brake wait time in samples for the specified axis.
RELATED COMMANDS:
MO Motor Off
SH Servo Here
EXAMPLES:
BW100 Set brake delay to 100 ms (TM1000) for the X axis