Subindex
1
Name
Brake Control Command
Category
optional
Access
R/W
PDO Mapping
possible
Value Range
UNSIGNED16
Default Value
0
With subindex 1 the brake is controlled. Bit definition:
Bit
Name
Description
0
Enable fieldbus
control
0 - brake is not controlled via this object
1 - enable fieldbus control via this object. This function works
edge triggered, i.e. this bit has to have a 0 -> 1 transition to
activate the brake control functionality. After a fault the func-
tionality is reset and has to be activated again. The activation
can be controlled by subindex 2 bit 0.
1
Brake Command
This command bit is only active, if the functionality was activ-
ated via bit 0. The function is as follows:
0 - apply the brake
1 - release the brake
Subindex
2
Name
Brake Status Response
Category
optional
Access
R/O
PDO Mapping
possible
Value Range
UNSIGNED16
Default Value
0
With subindex 2 the brake status can be checked. Bit definition:
Bit
Name
Description
0
Fieldbus control
Status
0 - brake control via 0x345A is disabled or not possible due to
drive failure.
1 - enable fieldbus control via this object. This function works
edge triggered, i.e. this bit has to have a 0 -> 1 transition to
activate the brake control functionality. After a fault the func-
tionality is reset and has to be activated again. The activation
can be controlled by subindex 2 bit 0.
1
Brake Status
0 - apply the brake
1 - release the brake
Note
: When the brake is applied or released, there is a time
delay MOTOR.TBRAKEAPP or MOTOR.TBRAKEREL, after
the receipt of the command before this status bit changes. The
status is always reported: it is not affected by fieldbus control.
2
STO Status
0 - STO is not active (drive may be enabled)
1 - STO is active (drive can not be enabled)
3
HW Enable Status 0 - HW enable is disabled, drive function can not be enabled
1 - HW enable is enabled, drive function can be enabled
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
127
