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If automatic control is enabled, the digital output for the holding brake is closed automatically when the controller is turned on. The released state of the holding brake is delayed due to inductance and the mechanical components. This delay for releasing the holding brake is specified in the motor data record and can be changed using the ACP10PAR_MOTOR_BRAKE_OFF_TIME ParID.
After the controller has been shut off, the digital output for the holding brake is opened automatically. The engaged state of the holding brake is delayed due to inductance and the mechanical components. This delay for engaging the holding brake is specified in the motor data record and can be changed using the ACP10PAR_MOTOR_BRAKE_ON_TIME ParID.
If "RestrictBrakeControl" is initialized on the drive with FALSE, then the holding brake can be released and engaged regardless of whether the controller is turned on or off. Otherwise, the controller must be turned off in order to use the commands for releasing and engaging the holding brake.
If control monitoring is enabled, the status signal is (electrically) compared with the control signal. If the signals deviate from one another for longer than the "ControlMonitoringFilterTime" filter time, then any active control movements are interrupted. In addition, an axis error is entered in the axis structure that can be read using MC_ReadAxisError or MC_BR_ReadAxisError.
If movement monitoring is enabled, then the actual position is saved when the holding brake is closed and the maximum position error "ACP10PAR_BRAKE_TEST_POS_DELTA" is reset. Changes made to the actual position are monitored while the holding brake is engaged. If the position error limit "PositionLimit" is exceeded, then an error is entered in the axis structure that can be read using MC_ReadAxisError or MC_BR_ReadAxisError.
If the holding brake is released, monitoring is stopped and the maximum position error is frozen.
If voltage monitoring is enabled, then it will be activated when the holding brake is engaged. In this case, if a voltage >24 V is applied to the holding brake output, an error is entered once in the axis structure that can be read using MC_ReadAxisError or MC_BR_ReadAxisError. Monitoring can be re-enabled by releasing and engaging the holding brake again.
Monitoring stops when the holding brake is released.
A connected holding brake will release at a voltage considerably lower than 24 V. It is therefore impossible to detect a releasing of the brake in every case.
The holding brake test is performed automatically when the controller is turned on.
The test procedure and test parameters used are identical to the test procedure and test parameters of the test by mcBRAKE_TEST_START. If the position error limit is exceeded during the test, an error is entered in the axis structure that can be determined with MC_ReadAxisError or MC_BR_ReadAxisError.
The holding brake test is performed automatically when the controller is turned off.
The test procedure and test parameters used are identical to the test procedure and test parameters of the test by mcBRAKE_TEST_START. If the position error limit is exceeded during the test, an error is entered in the axis structure that can be determined with MC_ReadAxisError or MC_BR_ReadAxisError.
When a movement is interrupted, the axis is stopped with an induction stop.
This element enables the drive's ability to perform an automatic safe holding brake test. This is requested by function block SafeLOGIC SF_SafeMC_SBT_BR (Safety Release 1.7及以上版本) and monitored by the SafeMC module. The controller for the axis must be turned on in order for the safe holding brake test to be performed.
Example configuration:
MC_BR_BrakeControl_0.Command := mcBRAKE_TEST_INIT + mcBRAKE_CONTROL_INIT;
MC_BR_BrakeControl_0.Configuration.BrakeTest.TestMode := 1;
MC_BR_BrakeControl_0.Configuration.BrakeMode.EnableSBTRequestBySMC := 1;
MC_BR_BrakeControl_0.Configuration.BrakeMode.AutomaticControl := 1;
MC_BR_BrakeControl_0.Configuration.BrakeMode.RestrictBrakeControl := 1;
MC_BR_BrakeControl_0.Configuration.BrakeMode.ControlMonitoring := 1;
MC_BR_BrakeControl_0.Configuration.BrakeMode.MovementMonitoring := 1;
MC_BR_BrakeControl_0.Configuration.BrakeMode.VoltageMonitoring := 1;