4.2 Main Commands
72
4.2.15 Release Brake (BRK_OFF: 22H)
BRK_ON and BRK_OFF become always valid as commands unless a warning occurs.
If a BRK_OFF command is sent while power is being supplied to the servomotor, the servo-
motor continues running.
However, if a Servo OFF command is sent later, the brake will remain released because the
BRK_OFF command is valid and may cause a critical situation.
When using a BRK_ON or BRK_OFF command, always keep in mind the status of the com-
mand.
Byte
BRK_OFF
Description
Command
Response
1
22H
22H
Processing clas-
sifications
Control com-
mand group
Synchronization
classifications
Asynchronous
2
−
ALARM
Processing time
Within commu-
nications cycle
Subcommand
Cannot be used
3
STATUS
• Turns ON the brake signal and releases the brake.
• Can be used during phases 2 and 3.
• Brake signal output timing
4
5
MONITOR
1
6
7
8
9
MONITOR
2
10
11
12
13
SEL_MON
1/2
SEL_MON
1/2
14
−
IO_MON
15
16
WDT
RWDT
Within 3 ms
BRK_OFF received
BK
IMPORTANT
TOEP_C710806_03A_1_0.book Seite 72 Montag, 2. Juli 2007 3:55 15
