Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation
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ASDA-A2R Series
6-40 Revision December, 2014
6.6.4 The Use of Brake
When operating brake via servo drive, if the DO signal, BRKR is set to OFF, it means the
brake is not working and the motor will be locked. If BRKR is set to ON, it means the
brake is working and the motor can operate. The operation of brake has two kinds. Users
can set the relevant dealy via regiser MBT1 (P1-42) and MBT2 (P1-43). It is usually
applied in Z axis in order to reduce the heat generated when servo motor puts up
resistance and shorten its lifetime. In order to avoid the error of brake, it must be worked
when the servo drive is off. To operate the brake, the brake has to be activated before the
motor stops running (Servo OFF). The brake has to be released after Servo ON.
Otherwise, it would become the loading of the motor and might damage the brake.
If it works during the process of acceleration or constant speed, the servo drive needs to
generate more current to resist the brakeforce of brake and it might cause the alarm of
overload warning.
Timing diagram of brake control:
ON
OFF
OFF
ON
OFF
OFF
SON
(DI )
輸入
BRKR
(DO )
輸出
馬達轉速
MBT1(P1-42)
MBT2(P1-43)
ZSPD(P1-38)
The output timing of BRKR:
1. When Servo OFF, go through the time set by P1-43 and the motor speed is faster
than the setting in P1-38, DO.BRKR is OFF (the brake is locked).
2. When Servo OFF, has not reached the time set by P1-43 but the motor speed is
slower than the setting in P1-38, DO.BRKR is OFF (the brake is locked).
DI input
DO output
Motor speed