Various commands for operating the holding brake
Requirements for use
•Function block name for SG3/SGC target systems MC_077BR_BrakeControl
•This function block cannot be used for virtual axes, ACOPOSsim or power supply modules.
•For SDC axes, only commands mcCLOSE, mcOPEN, mcGET_BRAKE_STATUS and mcBRAKE_CONTROL_INIT can be executed.
PLCopen axis states in which the function block is permitted to be enabled
"Command" |
Function block can be used in PLCopen axis state |
"BrakeMode.RestrictBrakeControl = TRUE": "BrakeMode.RestrictBrakeControl = FALSE": Disabled and Standstill |
|
"BrakeMode.RestrictBrakeControl = TRUE": "BrakeMode.RestrictBrakeControl = FALSE": Disabled and Standstill |
|
All PLCopen axis states, no effect on the PLCopen axis state |
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All PLCopen axis states, no effect on the PLCopen axis state |
Function block
Parameter
I/O |
Parameter |
Data type |
Description |
IN |
UDINT |
轴对象引用 |
|
IN |
BOOL |
Execution of the function block begins on a rising edge of this input. |
|
IN |
Command |
USINT |
Selects the command mcCLOSE ... Engage brake mcOPEN ... Release brake mcBRAKE_TEST_INIT ... Transfer parameters for holding brake test mcBRAKE_TEST_START ... Start holding brake test mcBRAKE_TEST_INIT + mcBRAKE_TEST_START ... Initialize and start the holding brake test mcBRAKE_CONTROL_INIT ... The control parameters of the holding brake are being transferred. mcBRAKE_TEST_INIT + mcBRAKE_CONTROL_INIT ... Transfer parameters for the holding brake test and control parameters for the holding brake mcGET_BRAKE_STATUS ... The current brake status is being read out. |
IN |
Configuration |
MC_BRAKE_CONFIG_REF |
Input parameters required for operation |
OUT |
Done |
BOOL |
Execution successful. Function block is finished. |
OUT |
Busy |
BOOL |
The function block is active and must continue to be called. |
OUT |
Error |
BOOL |
Error during execution |
OUT |
ErrorID |
UINT |
|
OUT |
PositionError |
REAL |
Maximum position error during brake test [PLCopen units] |
OUT |
BrakeStatus |
BOOL |
Reads the status of the holding brake 0…Holding brake engaged 1…Holding brake released Note: This output is only valid after executing command mcGET_BRAKE_STATUS. |
Table: Parameter MC_BR_BrakeControl
MC_BRAKE_CONFIG_REF data type
Parameter |
Data type |
Description |
BrakeTest |
MC_BRAKE_TEST_REF |
Parameters for the holding brake test |
BrakeMode |
MC_BRAKE_MODE_REF |
Control parameters for the holding brake |
MC_BRAKE_TEST_REF data type
Parameter |
Data type |
Description |
TestTorque |
REAL |
Testing torque for the holding brake test [Nm]
Note: If the value "0.0" is specified here, the rated torque of the holding brake MOTOR__BRAKE_TORQ_RATED is used as the testing torque. |
TestDuration |
REAL |
Duration of the holding brake test [s] (V2.390 and higher) Note: A value less than 0.0008 s is not permitted. If the value 0.0 is specified, however, then the default value 0.1 s will be used for the test duration. If ".TestMode" = 1 is used, then the configured time is extended by a factor of 32. |
PositionLimit |
REAL |
Position error limit for the holding brake test [PLCopen units] |
TestMode |
BOOL |
Test mode: (V2.410 and higher) (default setting on drive: 0) 0 ... Standard brake test 1 ... Safe brake test |
MC_BRAKE_MODE_REF data type
Parameter |
Data type |
Description |
AutomaticControl |
BOOL |
Automatic control on/off (Default setting on drive: On) 0 ... FALSE ... Off 1 ... TRUE ..... On Note: Automatic control can only be used for brakes that release electrically, not for brakes that engage electrically. |
RestrictBrakeControl |
BOOL |
Holding brake can only be engaged and released when the controller is shut off (axis state Disabled)(Default setting on drive: On) 0 ... FALSE ... Off 1 ... TRUE ..... On |
ControlMonitoring |
BOOL |
Control signal on/off (Default setting on drive: On) 0 ... FALSE ... Off 1 ... TRUE ..... On Note: Not available for SDC axes Control monitoring must be disabled when controlling external brake relays or using holding brakes from other manufacturers that are not suitable for control monitoring. |
MovementMonitoring |
BOOL |
Movement monitoring on/off (Default setting on drive: On) 0 ... FALSE ... Off 1 ... TRUE ..... On Note: Not available for SDC axes |
VoltageMonitoring |
BOOL |
Monitoring of the external voltage over 24 V on/off (Default setting on drive: On) 0 ... FALSE ... Off 1 ... TRUE ..... On Note: Not available for SDC axes |
TestAtPowerOn |
BOOL |
Automatic torque testing when controller is switched on (Default setting on drive: Off) 0 ... FALSE ... Off 1 ... TRUE ..... On Note: Not available for SDC axes |
TestAtPowerOff |
BOOL |
Automatic torque testing when controller is turned off (Default setting on drive: Off) 0 ... FALSE ... Off 1 ... TRUE ..... On Note: Not available for SDC axes |
AutomaticInductionStop |
BOOL |
Automatic induction stop on/off (Default setting on drive: Off) 0 ... FALSE ... Off 1 ... TRUE ..... On Note: Not available for SDC axes |
ControlMonitoringFilterTime |
REAL |
Time after which an error is reported after control monitoring is enabled. [s] (Default setting on drive: 0.5) Note: Not available for SDC axes |
EnableSBTRequestBySMC |
BOOL |
Enables the automatic safe brake test requested and monitored by the SafeMC module (Available in Safety Release 1.7) (V2.410 and higher) (Default setting on drive: Disabled) 0 ... FALSE ... Disabled 1 ... TRUE .... Enabled Note: Not available for SDC axes |
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