Apply Brake Command (Brk_On: 21H) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.2 Apply Brake Command (BRK_ON: 21h)

3.2.2

Apply Brake Command (BRK_ON: 21h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-26
2, 3
Within
communication
cycle
BRK_ON
Command Response
21h 21h
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
CPRM_SEL_
MON1
CPRM_SEL_
MON2
Reserved MONITOR1
MONITOR2
MONITOR3
Command Servo standard
command
Classification
Subcommand
Description
• The BRK_ON command outputs a brake operation sig-
nal.
• Confirm the completion of the command execution by
checking that RCMD = BRK_ON (= 21h) and
CMD_STAT.CMDRDY = 1.
• Valid only in the servo OFF state.
To use this command, set Pn50F = n.X to allocate
the brake output (/BK) signal. If you do not allocate the
/BK signal, BRK_ON in SVCMD_IO will change, but the
/BK signal will not be output.
Asynchronous
command
Cannot be used