PI MS249E - Page 138

8 GCS Commands
132 Version: 1.2.1 MS249E C-863.12 Mercury Controller
MAC START Test 10 50
Meaning of the variables here:
$1: Delay in ms between each step in the STEPS macro. The
value is incremented by 10 by the TEST macro until it
reaches 110.
$2: Number of repetitions of the whole "flashing light"
procedure.
BRA (Set Brake Activation State)
Description:
Activates/deactivates brake for specified axes.
Format:
BRA {<AxisID> <BrakeState>}
Arguments:
<AxisID> is one axis of the controller
<BrakeState> can have the following values:
0 = Brake deactivated
1 = Brake activated
Response:
None
Troubleshooting:
Illegal axis identifier
Notes:
The brake can only be used if parameter 0x1A (Has Brake?)
has the value 1 ("yes").
If parameter 0x1A (Has Brake?) has the value 1 ("yes"), the
following applies:
▪ The brake can be activated or deactivated with BRA
only if the servo mode is switched off. Secure the
positioner against moving unintentionally before you
deactivate the brake before you deactivate the brake
with BRA!
▪ Setting the servo mode with SVO (p. 195) influences
the activation state of the brake:
− Switching servo mode on deactivates the brake.
− Switching servo mode off activates the brake.
▪ If a motion error occurs (p. 73), the servo mode is
switched off and the brake is activated.
If the integrated brake driver of the C-863.12 is to be used,
parameter 0x3094 (Internal Brake) must also have the
value 1. Refer the descriptions in "Parameter Overview" (p.
239) for further information.