Panasonic MINAS A6 Multi Series Technical Reference page 44

2.5 Mechanical brake output
The mechanical brake release signal selected in Pr4.59 "Mechanical brake signal setting" is output from
the mechanical brake output (BRK+/BRK-) of the driver module.
 Relevant parameters
Class No. Attribute
4 59 B
Pr4.59 "Mechanical brake signal setup" can be used to select the timings at which the brake connected
to the mechanical brake output (BRK+/BRK-) is operated or released.
0: The brake is operated and released at the timing of BRK-OFF output.
1: The brake is operated and released at the timing of set brake output.
2: The brake is operated and released by the logical sum (or) of BRK-OFF output and set brake output.
 Operating the brake while the motor is rotating may cause the brake to be worn or damaged, and result in a
damage to the motor bearing or encoder.
 Pr4.59 is a parameter of always effective attribute.When changing the setting value, employ caution not to
cause abnormal operation of the brake.
 This parameter sets up the signal which is output from the mechanical brake output (BRK+/BRK-). It will not
change the output signal from the I/O connector. To control the mechanical brake from the I/O connector,
assign the desired brake release signal.
Depending on the setting in Pr4.59, the mechanical brake operates as described in the following table.
60FEh/68FDh
(Digital outputs)
Pr4.59
setting value
(Mechanical
Signal
brake signal
01h
setup) (Physical
outputs)
0 BRK-OFF
1 set brake
BRK-OFF
2 or
set brake
 The external brake release signal (BRK-OFF) releases the mechanical brake at servo ON and operates the
mechanical brake at servo OFF or in case of an error occurrence.
Refer to the "10 Timing Chart"..
 set brake output (set brake) controls the mechanical brake by force from the controller side via the EtherCAT
communication.It outputs the signal set up in 60FEh/68FDh(Digital outputs)bit0, and turns OFF the output
transistor (operates the brake) when it is 1.
 For 60FEh / 68FDh (Digital outputs), refer to "REFERENCE SPECIFICATIONS Driver module section
(SX-DSV03454)".
Parameter
Unit Range
name
Mechanical - 0 to 2
brake signal
setup
Output transistor state (BRK+/BRK-)
At reset
02h
(Bit mask) Servo
OFF
0
0
1
Hold
0
1
1
0
0 Hold
1
0
1 Hold
1
0
0
1
Hold
0
1
1
Function
Sets the mechanical brake release signal which is output from the
mechanical brake output (BRK+/BRK-).
0: BRK-OFF
1: set brake
2: BRK-OFF or set brake
At communication
establishment
Servo Servo Servo
ON OFF ON
Release Hold Release
Release
Hold
Hold
Release Release
Release
Hold
Interface Specifications
At communication At communication
interruption reestablishment
Servo Servo Servo
OFF ON OFF
Hold Release Hold
Release
Hold
Hold
Hold
Hold Release
Release
Hold
Servo
ON
Release
Release
2-18