Panasonic MINAS A6 Series, Technical Reference

Page: 44 / 306

Interface Specifications
2-18
2.5 Mechanical brake output
The mechanical brake release signal selected in Pr4.59 "Mechanical brake signal setting" is output from
the mechanical brake output (BRK+/BRK-) of the driver module.

Relevant parameters
Class No. Attribute
Parameter
name
Unit Range Function
4 59 B Mechanical
brake signal
setup - 0 to 2 Sets the mechanical brake release signal which is output from the
mechanical brake output (BRK+/BRK-).
0: BRK-OFF
1: set brake
2: BRK-OFF or set brake
Pr4.59 "Mechanical brake signal setup" can be used to select the timings at which the brake connected
to the mechanical brake output (BRK+/BRK-) is operated or released.
0: The brake is operated and released at the timing of BRK-OFF output.
1: The brake is operated and released at the timing of set brake output.
2: The brake is operated and released by the logical sum (or) of BRK-OFF output and set brake output.

Operating the brake while the motor is rotating may cause the brake to be worn or damaged, and result in a
damage to the motor bearing or encoder.

Pr4.59 is a parameter of always effective attribute.When changing the setting value, employ caution not to
cause abnormal operation of the brake.

This parameter sets up the signal which is output from the mechanical brake output (BRK+/BRK-). It will not
change the output signal from the I/O connector. To control the mechanical brake from the I/O connector,
assign the desired brake release signal.
Depending on the setting in Pr4.59, the mechanical brake operates as described in the following table.
Pr4.59
(Mechanical
brake signal
setup)
Signal
60FEh/68FDh
(Digital outputs)
setting value
Output transistor state (BRK+/BRK-)
01h
(Physical
outputs)
02h
(Bit mask)
At reset
At communication
establishment At communication
interruption At communication
reestablishment
Servo
OFF Servo
ON Servo
OFF Servo
ON Servo
OFF Servo
ON Servo
OFF Servo
ON
0 BRK-OFF
0
0
Hold Release Hold Release Hold Release Hold Release
1
0
1
1
1 set brake
0
0 Hold
1
0
1 Hold
Release
Hold
Release
1 Hold Hold
2
BRK-OFF
or
set brake
0
0
Hold Release
Hold
Release Hold Release
Hold
Release
1
0
1
Release Release
1 Hold Hold

The external brake release signal (BRK-OFF) releases the mechanical brake at servo ON and operates the
mechanical brake at servo OFF or in case of an error occurrence.
Refer to the "10 Timing Chart"..

set brake output (set brake) controls the mechanical brake by force from the controller side via the EtherCAT
communication.It outputs the signal set up in 60FEh/68FDh(Digital outputs)bit0, and turns OFF the output
transistor (operates the brake) when it is 1.

For 60FEh / 68FDh (Digital outputs), refer to "REFERENCE SPECIFICATIONS Driver module section
(SX-DSV03454)".