CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 3: Device Control, Configuration, and Status<br />
MOTOR HAS A BRAKE INDEX 0X6410, SUB-INDEX 16<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - See Description, below. NO F<br />
Description<br />
Value Description<br />
0 The motor has a brake.<br />
1 The motor does not have a brake.<br />
MOTOR STOPPING TIME INDEX 0X6410, SUB-INDEX 17<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW milliseconds 0 - 10,000 NO F<br />
Description<br />
Also known as Brake/Stop Delay Time. When the amplifier is disabled, it will actively <strong>de</strong>celerate<br />
the motor for this amount of time (in milliseconds) before activating the brake output.<br />
This <strong>de</strong>lay may be cut short if the motor velocity falls below the value programmed in Motor Brake<br />
Velocity (In<strong>de</strong>x 0x2383, Sub-In<strong>de</strong>x 19, p. 95).<br />
MOTOR BRAKE DELAY INDEX 0X6410, SUB-INDEX 18<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW milliseconds 0 - 10,000 NO F<br />
Description<br />
After the brake output is activated, the amplifier will stay enabled for this amount of time to allow<br />
the brake to engage.<br />
MOTOR BRAKE VELOCITY INDEX 0X6410, SUB-INDEX 19<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts / second 0 - 500,000,000 NO F<br />
Description<br />
During the Motor Stopping Time (In<strong>de</strong>x 0x2383, Sub-In<strong>de</strong>x 17, p. 94), if the motor's actual velocity<br />
falls below this value the brake output is activated immediately.<br />
Copley Controls 101
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