0x2004

0x2004:0 Brake Options

This parameter provides options for operating a brake. A brake can be used to fix the motor shaft in a given position, for example for holding up a robot's arm. Since a brake pin is spring-activated when powered off, it must be pulled out by a solenoid to be released. Therefore a release (pull) voltage must be applied to the solenoid to disengage the brake, and after a pre-defined time, a holding voltage is applied to keep the pin retracted.

image/svg+xml Brake Release

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2004:1 Pull voltage

Voltage required to release/open the brake.

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 1
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit mV
Access readwrite
Category optional
PDO Mapping

0x2004:2 Hold voltage

Voltage required to hold the brake in an open 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.

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 2
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit mV
Access readwrite
Category optional
PDO Mapping

0x2004:3 Pull time

Time period in which "Pull voltage (0x2004:3)" is applied to release the brake.

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 3
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit ms
Access readwrite
Category optional
PDO Mapping

0x2004:4 Release strategy

Brake release strategy (0: Brake inactive, 1: Brake active (normal mode), 2 - 100: Pin Brake Mode - Applies torque to motor in both directions subsequently until the brake pin pulled out successfully. Level can be defined up to 100% of motor rated torque)

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 4
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
No braking 0
Brake Active (normal mode) 1
Pin Brake Mode - Torque Level 2% 2
Pin Brake Mode - Torque Level 3% 3
Pin Brake Mode - Torque Level 4% 4
Pin Brake Mode - Torque Level 5% 5
Pin Brake Mode - Torque Level 6% 6
Pin Brake Mode - Torque Level 7% 7
Pin Brake Mode - Torque Level 8% 8
Pin Brake Mode - Torque Level 9% 9
Pin Brake Mode - Torque Level 10% 10
Pin Brake Mode - Torque Level 11% 11
Pin Brake Mode - Torque Level 12% 12
Pin Brake Mode - Torque Level 13% 13
Pin Brake Mode - Torque Level 14% 14
Pin Brake Mode - Torque Level 15% 15
Pin Brake Mode - Torque Level 16% 16
Pin Brake Mode - Torque Level 17% 17
Pin Brake Mode - Torque Level 18% 18
Pin Brake Mode - Torque Level 19% 19
Pin Brake Mode - Torque Level 20% 20
Pin Brake Mode - Torque Level 21% 21
Pin Brake Mode - Torque Level 22% 22
Pin Brake Mode - Torque Level 23% 23
Pin Brake Mode - Torque Level 24% 24
Pin Brake Mode - Torque Level 25% 25
Pin Brake Mode - Torque Level 26% 26
Pin Brake Mode - Torque Level 27% 27
Pin Brake Mode - Torque Level 28% 28
Pin Brake Mode - Torque Level 29% 29
Pin Brake Mode - Torque Level 30% 30
Pin Brake Mode - Torque Level 31% 31
Pin Brake Mode - Torque Level 32% 32
Pin Brake Mode - Torque Level 33% 33
Pin Brake Mode - Torque Level 34% 34
Pin Brake Mode - Torque Level 35% 35
Pin Brake Mode - Torque Level 36% 36
Pin Brake Mode - Torque Level 37% 37
Pin Brake Mode - Torque Level 38% 38
Pin Brake Mode - Torque Level 39% 39
Pin Brake Mode - Torque Level 40% 40
Pin Brake Mode - Torque Level 41% 41
Pin Brake Mode - Torque Level 42% 42
Pin Brake Mode - Torque Level 43% 43
Pin Brake Mode - Torque Level 44% 44
Pin Brake Mode - Torque Level 45% 45
Pin Brake Mode - Torque Level 46% 46
Pin Brake Mode - Torque Level 47% 47
Pin Brake Mode - Torque Level 48% 48
Pin Brake Mode - Torque Level 49% 49
Pin Brake Mode - Torque Level 50% 50
Pin Brake Mode - Torque Level 51% 51
Pin Brake Mode - Torque Level 52% 52
Pin Brake Mode - Torque Level 53% 53
Pin Brake Mode - Torque Level 54% 54
Pin Brake Mode - Torque Level 55% 55
Pin Brake Mode - Torque Level 56% 56
Pin Brake Mode - Torque Level 57% 57
Pin Brake Mode - Torque Level 58% 58
Pin Brake Mode - Torque Level 59% 59
Pin Brake Mode - Torque Level 60% 60
Pin Brake Mode - Torque Level 61% 61
Pin Brake Mode - Torque Level 62% 62
Pin Brake Mode - Torque Level 63% 63
Pin Brake Mode - Torque Level 64% 64
Pin Brake Mode - Torque Level 65% 65
Pin Brake Mode - Torque Level 66% 66
Pin Brake Mode - Torque Level 67% 67
Pin Brake Mode - Torque Level 68% 68
Pin Brake Mode - Torque Level 69% 69
Pin Brake Mode - Torque Level 70% 70
Pin Brake Mode - Torque Level 71% 71
Pin Brake Mode - Torque Level 72% 72
Pin Brake Mode - Torque Level 73% 73
Pin Brake Mode - Torque Level 74% 74
Pin Brake Mode - Torque Level 75% 75
Pin Brake Mode - Torque Level 76% 76
Pin Brake Mode - Torque Level 77% 77
Pin Brake Mode - Torque Level 78% 78
Pin Brake Mode - Torque Level 79% 79
Pin Brake Mode - Torque Level 80% 80
Pin Brake Mode - Torque Level 81% 81
Pin Brake Mode - Torque Level 82% 82
Pin Brake Mode - Torque Level 83% 83
Pin Brake Mode - Torque Level 84% 84
Pin Brake Mode - Torque Level 85% 85
Pin Brake Mode - Torque Level 86% 86
Pin Brake Mode - Torque Level 87% 87
Pin Brake Mode - Torque Level 88% 88
Pin Brake Mode - Torque Level 89% 89
Pin Brake Mode - Torque Level 90% 90
Pin Brake Mode - Torque Level 91% 91
Pin Brake Mode - Torque Level 92% 92
Pin Brake Mode - Torque Level 93% 93
Pin Brake Mode - Torque Level 94% 94
Pin Brake Mode - Torque Level 95% 95
Pin Brake Mode - Torque Level 96% 96
Pin Brake Mode - Torque Level 97% 97
Pin Brake Mode - Torque Level 98% 98
Pin Brake Mode - Torque Level 99% 99
Pin Brake Mode - Torque Level 100% 100

0x2004:5 Engage delay

Delay until the break is engaged, after drive control has been disabled.

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 5
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit ms
Access readwrite
Category optional
PDO Mapping

0x2004:6 DC bus voltage

Expected DC bus voltage used as a reference to create the PWM signal for the brake.

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 6
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit V
Access readonly (default)
Category optional
PDO Mapping

0x2004:7 Brake status

Shows the commanded status of the brake.

Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 7
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data 0
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
Not configured 0
Engaged 1
Disengaged 2