Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 330 of 909
BRKRLS
Brake Release
APPLICATION: Motion control
DESCRIPTION: Immediately release hardware brake
EXECUTION: Immediate; remains in effect until otherwise commanded
CONDITIONAL TO: Hardware brake option is required
LIMITATIONS: None
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: See BRKSRV on page 332
FIRMWARE VERSION: 5.x and later
COMBITRONIC: BRKRLS:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
CAUTION: It is important to turn the servo off when the brake is engaged.
Otherwise, the motor could drive against the brake and overheat. When the
SmartMotor™ powers up or comes out of a soft reset, the brake control is set
to BRKSRV, by default, to automatically enforce this safety rule.
The SmartMotor™ may be purchased with optional, internal, zero-backlash brakes, which are
used to hold a load for safety purposes. They are fail-safe, magnetic-clutch, disk brakes. The
default power-on state is to disengage the brake when the drive stage is turned on. When
power is lost, the brake engages. The brake takes from 3 to 5 milliseconds to actuate or
release.
When BRKRLS is issued, the brake is energized (disengaged), which allows full shaft
movement.
BRKRLS terminates the brake control modes BRKSRV, BRKTRJ and BRKENG.
BRKRLS OFF is required to release MTB mode even if no brake is installed. For details on MTB
mode, see MTB on page 591.
Part 2: Commands: BRKRLS
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