Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x2234 Motor Braker Holding Torque
Index
0x2234
Object type
VAR
Name
Motor Braker Holding Torque
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
NO
rw
UINT16
‰
Motor brake holding torque
Set the motor braker holding torque, which is a permillage of the rated torque. When the torque exceeds the set value of
0x2234, report fault: Abnormity in motor brake.
Control power
Power supply
DC bus voltage
Main power status
(0x6041.4)
Servo enabled
(0x6040.3)
Motor is working
(0x6041.2)
Motor braking
action
The target values
from upper control
system is valid
(0x6041.12)
Motor speed
0msec (min)
3sec
Drive enabled DC voltage threshold
(0x204D,No56)
Control power closed
Power supply closed
0
1
0: Servo disabled
1: Servo enabled
Motor brake activated
Motor brake released
0: Motor is not exciting
1: Motor is working
0: The host computer
command is invalid
1: The target values from upper
control system is valid
TMBR
TMBR
TMBRDLY: Motor Brake Release Delay Time
(0x2067,No152)
TMBR: Motor Brake Release Time
(0x2232,No164)
100msec
Servo enabling process:
Control word (0x6040.[3~0]) 0x06
→
0x0F
Servo enabling process:
Control word (0x6040.[3~0]) 0x06
→
0x07
→
0x0F
DC bus charging time
TMBRDLY
TMBRDLY
Shaft - locked time
Figure 7.4-1.
Electromagnetic brake releasing timing diagram
76
Содержание EtherCAT CoolDrive RC Series
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