Allen-Bradley Kinetix 6200 User Manual page 74

Chapter 4 Connector Data and Feature Descriptions
74
Control of the relay to release the motor brake (BC-5 and BC-6) is
configurable in the Logix Designer application (refer to Configure Axis
Properties on page 157). An active signal releases the motor brake. Turn-on
and turn-off delays are specified by the BrakeEngageDelayTime and
BrakeReleaseDelayTime settings. Refer to Controlling a Brake Example on
page 253 for brake coil currents.
IMPORTANT Holding brakes that are available on Allen-Bradley® rotary motors are
designed to hold a motor shaft at 0 rpm for up to the rated brake-
holding torque, not to stop the rotation of the motor shaft, or be used as
a safety device.
You must command the servo drive to 0 rpm and engage the brake only
after verifying that the motor shaft is at 0 rpm.
The resistive brake relay (BC-1 and BC-2) controls the resistive brake module
(RBM) contactor. The RBM module is wired between the drive and motor by
using an internal contactor to switch the motor between the drive and a
resistive load. The RBM module contact delay is the time it takes to fully close
the contactor across the motor power input lines, and must be configured in
the software. Refer to RBM Module Interconnect Diagrams beginning on
page 313 for wiring examples.
These steps provide one method you can use to control a brake.
1. Wire the mechanical brake according to the appropriate interconnect
diagram in Appendix A beginning on
2. Enter the BrakeEngageDelay and BrakeReleaseDelay times in the Logix
Designer application.
Refer to Axis Properties>Parameter List. The delay times must be from
the appropriate motor family brake specifications table in the Kinetix
Rotary Motion Specifications Technical Data, publication
TD001.
3. Use the drive stop-action default setting (Current Decel & Disable).
Refer to Axis Properties>Actions>Stop Action in the Logix Designer
application (this step applies to only Kinetix 6500 servo drives).
4. Use the motion instruction Motion Axis Stop (MAS) to decelerate the
servo motor to 0 rpm.
5. Use the motion instruction Motion Servo Off (MSF) to engage the
brake and disable drive.
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
page 231.
GMC-