0x2004 Brake options

Provides options for operating a brake. A brake is spring-activated such that it engages when powered off for safety. It must be disengaged by applying current to a solenoid to be released.

A disengage Pull voltage can be applied to the solenoid to disengage the brake quickly for the duration of the Pull time. After the pull time, a holding voltage is applied to keep the pin retracted.

image/svg+xml pull voltage hold voltage disengage hold pull time V t

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Pull voltage 0x2004:1 UDINT 32 0 mV readwrite

Voltage required to disengage the brake. It is ignored in manual mode.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Hold voltage 0x2004:2 UDINT 32 0 mV readwrite

Voltage required to hold the brake in a disengaged state. This voltage may be set lower than the "Pull voltage" to reduce losses in the brake. CAUTION! Before setting this parameter, contact your brake manufacturer to ensure reliable operation. It is ignored in manual mode.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Pull time 0x2004:3 UINT 16 0 ms readwrite

Time period in which 0x2004:3 Pull voltage is applied to release the brake. It is ignored in manual mode.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Release strategy 0x2004:4 USINT 8
Manual output voltage 0
Clutch-style brake control 1
Pin brake control 2
readwrite

Sets the method used to control the brake. The options are:

Manual output voltage (0) - Manually control the brake with output voltage.
Clutch-style brake control (1) - For brakes that will disengage even if a load is applied to them.
Pin brake control (2) - For brakes that require extra motion handling to ensure they release.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Controller disable delay 0x2004:5 UINT 16 100 ms readwrite

Time from when the brake is commanded to engage, to when the controller is disabled. It is ignored in manual mode.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
DC bus voltage (deprecated) 0x2004:6 UINT 16 0 V readonly (default)

Deprecated. Refer to 0x6079 DC link circuit voltage instead.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Brake status 0x2004:7 USINT 8
Not configured 0
Engaged 1
Disengaged 2
readwrite

Reports the status of the brake. Can also control the brake in automatic mode (Pin brake or Clutch brake)*

The options for controlling or reading this value are:

Not configured (0) - No action will be taken for the brake
Engaged (1) - The brake will prevent motion (Output voltage disabled in manual mode)
Disengaged (2) - The brake will not prevent motion (Output voltage applied to 4th phase in manual mode)

* In Manual Mode, output voltage is controlled by bit 0 of Digital Output Object (0x60FE)

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Minimum displacement (pin brake) 0x2004:8 UDINT 32 0 2147483647 0 readwrite

Minimum angle that the motor needs to turn in before it is certain that the brake pin is pulled out. The units are in commutation sensor increments.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Maximum torque (pin brake) 0x2004:9 UINT 16 0 mNm readwrite

Maximum torque applied to the brake during the release process. The units are in mNm.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Output voltage 0x2004:10 UINT 16 0 mV readwrite Receive PDO (Outputs)

Voltage which is applied on the 4th phase when the Release strategy is set to manual mode (0) and Physical output bit 0 as well as corresponding Bit mask in object 0x60FE is set to 1.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Switching frequency 0x2004:11 USINT 8
16 kHz 0
32 kHz 1
64 kHz 2
readwrite

Select the switching frequency for the 4th phase (D).