3.1.9.1.42 0x2004 Brake options
Provides options for operating a brake. A brake is spring-activated such that it engages when powered off for
safety. It must be disengaged by applying current to a solenoid to be released.
A disengage Pull voltage can be applied to the solenoid to disengage the brake quickly for the duration of the
Pull time. After the pull time, a holding voltage is applied to keep the pin retracted.
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
Pull voltage 0x2004:1 UDINT 32 0 mV readwrite
Voltage required to disengage the brake. It is ignored in manual mode.
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
Hold voltage 0x2004:2 UDINT 32 0 mV readwrite
Voltage required to hold the brake in a disengaged state. This voltage may be set lower than the "Pull
voltage" to reduce losses in the brake. CAUTION! Before setting this parameter, contact your brake
manufacturer to ensure reliable operation. It is ignored in manual mode.
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
Pull time 0x2004:3 UINT 16 0 ms readwrite
Time period in which 0x2004:3 Pull voltage is applied to release the brake. It is ignored in manual
mode.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Release
strategy
0x2004:4 USINT 8
Manual output voltage 0
Clutch-style brake
control
1
Pin brake control 2
readwrite
Sets the method used to control the brake. The options are:
Manual output voltage (0) - Manually control the brake with output voltage.
Clutch-style brake control (1) - For brakes that will disengage even if a load is applied to them.
Pin brake control (2) - For brakes that require extra motion handling to ensure they release.
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
Controller
disable delay
0x2004:5 UINT 16 100 ms readwrite
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