Time from when the brake is commanded to engage, to when the controller is disabled. It is ignored in
manual mode.
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
DC bus
voltage
(deprecated)
0x2004:6 UINT 16 0 V readonly
(default)
Deprecated. Refer to 0x6079 DC link circuit voltage instead.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Brake status 0x2004:7 USINT 8
Not configured 0
Engaged 1
Disengaged 2
readwrite
Reports the status of the brake. Can also control the brake in automatic mode (Pin brake or Clutch brake)*
The options for controlling or reading this value are:
Not configured (0) - No action will be taken for the brake
Engaged (1) - The brake will prevent motion (Output voltage disabled in manual mode)
Disengaged (2) - The brake will not prevent motion (Output voltage applied to 4th phase in manual
mode)
* In Manual Mode, output voltage is controlled by bit 0 of Digital Output Object (0x60FE)
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
Minimum
displacement
(pin brake)
0x2004:8 UDINT 32 0 2147483647 0 readwrite
Minimum angle that the motor needs to turn in before it is certain that the brake pin is pulled out. The units
are in commutation sensor increments.
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
Maximum
torque (pin
brake)
0x2004:9 UINT 16 0 mNm readwrite
Maximum torque applied to the brake during the release process. The units are in mNm.
Name Index:Sub Type Bit
Size
Min
Data
Max Data Default
Data
Unit Access PDO
Mapping
Output
voltage
0x2004:10 UINT 16 0 mV readwrite Receive
PDO
(Outputs)
Voltage which is applied on the 4th phase when the Release strategy is set to manual mode (0) and Physical
output bit 0 as well as corresponding Bit mask in object 0x60FE is set to 1.
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