70 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
2.13 Electro Mechanical brake
This section is only for MAC40x to MAC4500 with the -D5 / -D6 option.
2.13.1 Brake Introduction
The motor can be equipped with a electro mechanical brake to hold the position in Pas-
sive mode and power off situations where the motor has no torque. This is often desired
to keep mechanics in position for example if it’s a vertical movement.
The brake control always takes care that the brake is activated (hold the motor) if a sit-
uation occurs where the motor is not powered and therefore can slip away from the de-
sired position.
This will typically be in situations like when the motor is in Passive mode or an error has
occurred which will cause the motor to be power less and not able to keep its position
in a controlled manner.
No involvement from users side is needed to activate and de-activate the brake.
2.13.2 Brake timing
The brake is always active in Passive mode because the motor has zero torque. When
changing to an active mode, the standby current is applied and the brake is disabled. The
brake needs some milliseconds to release and therefore there will be a short delay (typ
-
ically ~40 ms) before the motor can move. The brake is always off in active modes.
When changing to Passive mode the motor goes into Stop mode to decelerate according
to the “Deceleration”-ramp. When “Actual velocity” is 0, the brake is activated and also
here a short delay makes sure that the brake is active before the motor goes passive.
The “Deceleration”-ramp is determined via the “Error Deceleration” if set to a value dif-
ferent from 0. Otherwise it will use the “Acceleration” value set i register 6 as “Deceler-
ation.
2.13.3 Brake register
Setting bit 7 in Reg. 36 makes it possible to disable the brake, so that the motor can run
freely regardless which mode or condition the motor is in.
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