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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 332 of 909
BRKSRV
Brake Servo, Engage When Not Servoing
APPLICATION:
Motion control
DESCRIPTION:
Release hardware brake while motor is on;
engage hardware brake while motor is off
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Hardware brake option is required
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
This is the default brake command at power up
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
BRKSRV:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
CAUTION:
It is important to turn the servo off when the brake is engaged.
Otherwise, the motor could drive against the brake and overheat. When the
SmartMotor™ powers up or comes out of a soft reset, the brake control is set
to BRKSRV, by default, to automatically enforce this safety rule.
The SmartMotor™ may be purchased with optional, internal, zero-backlash brakes, which are
used to hold a load for safety purposes. They are fail-safe, magnetic-clutch, disk brakes. The
default power-on state is to disengage the brake when the drive stage is turned on. When
power is lost, the brake engages. The brake takes from 3 to 5 milliseconds to actuate or
release.
BRKSRV terminates the brake control modes BRKRLS, BRKTRJ and BRKENG.
NOTE:
A position error will terminate both the trajectory in progress state and
servo on state. In this instance, the brake would then be asserted automatically.
Part 2: Commands: BRKSRV
