NP5 CANopen Online Manual

2038h Brake Controller Timing

Function

This object contains the times for the brake control in milliseconds as well as the PWM frequency and the duty cycle.

Object description

Index 2038h
Object name Brake Controller Timing
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 06h
Subindex 01h
Name Close Brake Idle Time
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000003E8h
Subindex 02h
Name Shutdown Power Idle Time
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000003E8h
Subindex 03h
Name Open Brake Delay Time
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000003E8h
Subindex 04h
Name Start Operation Delay Time
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 05h
Name PWM Frequency
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values between 0 and 2000 (7D0h)
Preset value 00000000h
Subindex 06h
Name PWM Duty Cycle
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values 0, between 2 and 100 (64h)
Preset value 00000000h

Description

The subindices have the following functions:
  • 01h: Time between motor standstill and the closing of the brake.
  • 02h: Time between the closing of the brake and the switching off of the motor current.
  • 03h: Time between the switching on of the motor current and opening of the brake.
  • 04h: Time between the opening of the brake and when the Operation enabled state of the CiA 402 Power State Machine is reached.
  • 05h: Frequency of the brake PWM in hertz.
  • 06h: Duty cycle of the brake PWM in percent.
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