PD4-E CANopen Online Manual

Automatic brake control

Note: The following chapter concerns only the motor variants with integrated brake (PD4-E591L42-EB... and PD4-EB59CD-EB...).

Description

Automatic brake control is activated if the controller is switched to the Operation enabled state of the CiA 402 Power State Machine; the brake otherwise always remains closed.

For information on the interaction of the brake with the motor stopping behavior, see also chapter Power State machine – halt motion reactions.

Activation

The brake can be controlled either automatically or manually:

Automatic (factory setting for variants with brake): Setting bit 2 of object 3202_h to "1" activates the automatic brake control.
Manual: Setting bit 2 of object 3202_h to "0" deactivates the automatic brake control; the brake can now be controlled with bit 0 in object 60FE_h:01_h.

Breaking in brake

To achieve the maximum braking force, it is necessary to break in the brake before the first use and then at intervals of max. four weeks. Nanotec recommends the following process:

Allow the motor to run at a speed of 200 rpm with the brake released.
Close the brake five times for approx. 0.5 seconds.

Brake control

The following graphic shows the states of the CiA 402 Power State Machine together with the states of the brake for the automatic mode.

The following steps are performed on the transition, which is marked with 1:

The motor current is switched on.
The time stored in 2038_h:03_h is allowed to elapse.
The brake releases.
The time stored in 2038_h:04_h is allowed to elapse.
The Operation enabled state is reached, the motor controller can perform travel commands.

The following steps are performed on all transitions that are marked with 2:

The motor is brought to a standstill.
The time stored in 2038_h:01_h is allowed to elapse.
The brake is activated.
The time stored in 2038_h:02_h is allowed to elapse.
The motor current is switched off.

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