Festo CMMT-ST-SW, Original Instructions Manual

Page: 146 / 616

Parameters Index.Subindex Name Data type
7160 0x2162.11 Holding brake BOOL
7163 0x2162.12 Current switch-on delay holding brake FLOAT32
7166 0x2162.13 Current switch-off delay holding brake FLOAT32
7188 0x2162.14 Current NOC code motor STRING(32)
71422 0x2162.16 Current nominal motor voltage FLOAT32
71425 0x2162.17 Current continuous current FLOAT32
71426 0x2162.18 Current Lq inductance FLOAT32
71427 0x2162.19 Current Ld inductance FLOAT32
71428 0x2162.1A Motor type UINT8
Tab. 112 Active motor data object parameters
3.3.2 Brake control
3.3.2.1 Function
The device has 1 switching output for direct connection of the holding brake in the motor.
Output Connection Name in the CMMT plug-in Description
BR+/BR- X6 Holding brake 1 Motor holding brake
Tab. 113 Output for the brakes (holding brake)
The output is intended for the actuation of a brake that drops when the system is in a non-energised
status and holds the motor and/or axis in position.
The mechanical delay of the brake means that release and activation takes a certain length of time.
The behaviour of the device can be adapted to the mechanical delay of the brake using parameters:
Parameters Description
Switch-on
delay Delay in switching on the closed-loop controller until a command is accepted
–
The holding brake is not released until the controller is enabled. The closed-
loop controller takes over the control (actual position = setpoint position).
– No orders are accepted until the switch-on delay has elapsed, so the holding
brake can release completely.
– After the switch-on delay has elapsed, orders are accepted.
Product configuration
146 Festo — CMMT-ST-SW — 2019-02