Infranor XtrapulsPac - Motor Brake

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X
trapulsPac - User Guide
Chapter 3 – Reference
When reading, this object returns the operation status:
Read Value Meaning
0 Procedure not executed
1 Cannot execute
2 Procedure running
3 Procedure aborted by user
4 Procedure stopped on error
>= 5 Procedure performed
When running, the BUSY bit of status word (0x6041) is set.
The motor phasing procedure calculates these parameters: motor offset 0x3410,3
3.2.2.2 - Motor Brake
Servo On/Off Timing Diagram
T_brake: Motor Brake Reaction Time
T_drive: Drive Reaction Time
Index Object Name Type
A
ttr.
0x3304 VAR Amplifier Reaction Time Unsigned16 rw
0x3305 VAR Motor Brake Reaction Time Unsigned16 rw
Note
: The motor brake control is automatic with Switch On/Off by the control_word. To disable the motor brake
control, it is necessary to set at 1 bit 0 of object 60FE sub-index 2 (digital output bitmask). The motor brake is then
manually controlled by bit 0 of object 60FE sub-index 1.
Control_Word
xx07h
Brake Cmd
Status_Word
Servo
xx21h
T_drive
T_brake
xx23h xx27h xx40h
Switch On
xx0Fh xx00h xx06h
xx23ht
xx21h
xx07h xx06h
xx40h
Switch On
Switch On
Disabled
xx00h
T_brake
Servo On Servo Off
Brake Off Brake On
Switch On
Disabled
Ready To
Switch On
Ready To
Switch On
Operation
Enable