Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 161
Chapter 7 Configure the Drive with KNX5100C Software
Enable Vertical Load Control (Motor Holding Brake)
A common requirement for a load is to be held using a holding brake. A
holding brake can be used with a vertical or horizontal load. A vertical load is
classified as a load that stores potential energy either by gravity or spring
effect. In this type of load, the Kinetix servo motor must hold part or all the
load, even when the motor is not moving, but is still powered by the drive. A
horizontal load does not store potential energy (either by spring or gravity
effect) when the motor is disabled. Vertical or horizontal loads can use a motor
holding brake to keep the load stationary while the motor is disabled. Holding
brakes are not designed to stop a motor, but rather to hold a motor when it is
stationary and disabled.
While this feature is named 'Vertical Load Control' it can be used to setup any
load type used with a holding brake. This feature is enabled in the KNX5100C
software Function List>Settings>General Setting and enables the automatic
control of the motor holding brake.
Once the checkbox is selected:
• The Brake DO setting is chosen and a DO is assigned as [0x08] Brake
Control
• The Brake Engage / Disengage times are set to non-zero values (these
must be changed to match your motor holding brake engage/disengage
times, that data is obtained in the Kinetix Rotary Motion Specifications
Technical Data, publication KNX-TD001
)
• The Zero Speed Range is set to a non-zero value; this value is used as one
of the conditions to engage the holding brake
• MotorStopMode ID675 (P1.032).Y is set to use Enable Vertical Load
Control
There must be a DI that is user assigned to provide the enable/disable function
for the motor with the associated timing that is used with the Brake control
DO.
There are three DIs that can be used, the characteristics of each DI is shown in
Table 71
.
Table 71 - Holding Brake Digital Inputs
DI Signal Characteristic
[0x01] Servo On
• Uses brake timing.
• Provides one signal for enable/disable operation of motor.
• Can be used with explicit read/write operation.
• By default uses dynamic braking when deceleration is active (similar to a current
deceleration operation), which can be aggressive.
• Can use disable and coast MotorStopMode ID675 (P1.032).
[0x47] Profile Quick Stop
• Uses brake timing.
• This input is solely used to decelerate and disable the motor.
• Requires an enabling signal (second input is used to enable the motor).
• Uses a programmable deceleration profile AutoProtectionDecelTime ID296
(P5.003).
• Alarm is issued at the end of the disable operation.
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