ASDA-B2 Chapter 6 Control Modes of Operation
Revision May, 2018 6-49
6.6.4 The Use of Brake
The gravity in the Z-axis direction will cause the mechnism to slide, thus the magnetic
brake is often applied in the Z-axis direction to avoid the mechanism from falling down.
Using the magnetic brake reduces the servo motor's continuous resistance. If the servo
motor continues to output resistance, it generates a huge amount of heat which will
shorten the lifespan of the servo motor. The magnetic brake must be operated after the
servo motor is turned off in order to prevent mis-operation. The servo drive operates the
magnetic brake by controlling the DO. If DO.BRKR is set to Off, the magnetic brake is not
working and the motor is locked; if DO.BRKR is set to On, the magnetic brake is working
and the motor can operate. You can set the relevant delay with register MBT1 (P1-42) and
MBT2 (P1-43).
Timing diagram of the magnetic brake control:
ON
ON
OFF
OFF
OFF
OFF
SON
(DI input)
BRKR
(DO output)
Motor speed
MBT1 (P1-42)
MBT2 (P1-43)
ZSPD (P1-38)
Motor speed
ZSPD (P1-38)
The output timing of BRKR:
1. When Servo OFF, go through the time set by P1-43 and the motor speed is faster
than the setting in P1-38, DO.BRKR is OFF (the brake is locked).
2. When Servo Off, has not reached the time set by P1-43 but the motor speed is
slower than the setting in P1-38, DO.BRKR is OFF (the brake is locked.).
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