AKD CANopen | 7 CANopen Drive Profile
7.2.2.12 Object 345Ah: Brake Control
These objects implement the possibility to control the brake directly, overriding the drive logic. When the brake
state is controlled by the fieldbus, the drive state (enabled, disabled, faulted) will have no effect on the brake - the
fieldbus will be in control.
Applying or releasing the brake at the wrong time can be a safety hazard and can
destroy your mechanic as well as drive or motor. Unexpected behaviour might
be possible. It is the responsibility of the customer using this mode to use this
function appropriately.
When fieldbus control is disabled, the drive will control the brake as defined by existing AKD brake related param-
eters. As soon as fieldbus control is enabled, the Brake Command received over the field bus will take effect. So,
if the Brake Command is set to APPLY and the current state is RELEASE, the brake will begin to apply .
The default value of the fieldbus control will be disabled, so that the drive is always in control until the fieldbus is
operational. It is recommended that this bit remain 0 except for special operating conditions where the fieldbus
will control the brake. When fieldbus communication is lost, the drive will regain control of the brake if the fieldbus
had previously taken control.
Enable Fieldbus
Control
Serious Failur econ-
dition present
Brake Com-
mand
Fieldbus Control
Status
Controlled
by...
Final Brake
State
0 x x 0 Drive Drive
1* no 0 1 Fieldbus Applied
1* no 1 1 Fieldbus Released
x yes any 0 Drive Drive
1* indicates that a rising edge was seen since the last time the drive applied the brake
Index 345Ah
Name Brake Control
Object code ARRAY
Data type UNSIGNED16
Category optional
Defined sub-indices
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value Range 2
Default Value 2
66 Kollmorgen™ | November 2012
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