Bosch Rexroth IndraDrive MPH-02 Functional Description page 131

MPH-02, MPB-02, MPD-02
Applying the Holding Brake
Behavior of the Holding Brake
Control in the Case of Error
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Motor, Mechanical Axis System, Measuring Systems
See also "Basic Functions of Master Communication: Device Control " in
chapter "Master Communication"
1
AF from NC
0
bit 15: 1
0
bit 14: 1
0
P-0-0115
drive disables
bit 3: 1
0
motor
released
holding
applied
brake
DK000007v01_en.fh7
Fig. 5-2: Time response when releasing the holding brake
When "AF" (drive enable) is reset by the control unit the applying of the
brake is activated. The brake is applied with a delay, due to the
inductance of the brake winding. The controller is informed on this delay
via S-0-0207, Drive off delay time.
In order to avoid, for example, that a non-equilibrated vertical axis in
standstill does not move down due to weight force, "AF" (drive enable) is
internally reset by this delay later. During this delay the velocity command
value is internally set to zero.
In the case of interruptions and errors that can suddenly occur for
different causes during normal operation, in most of the cases there is a
demand to quickly shut down the mechanical system for reasons of
personnel and installation safety. This is done, if possible, by actively
braking the drive.
In the case of error it is decisive whether the drive is able by itself to
decelerate. This is the case when the drive comes to a standstill within an
axis-specific maximum braking time. The controller is informed on this
time via parameter S-0-0273, Maximum drive off delay time.
Note: The "maximum drive off delay time" is the time that the drive
needs in order to stop the axis out of maximum velocity at
maximum inertia or mass with maximum allowed braking
torque or braking force.
If the drive is unable to shut down the mechanical system within the
maximum braking time the drive at least reacts with the most convenient
control of the holding brake. What is decisive for the control in this case is
whether the customer determined the application type to be "servo drive"
or "main drive".
(AF internal)
drive ready for command
cmd values value acceptance
S-0-0206
5-7
t