Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 151)

6 MECHATROLINK II Communications
6.3.14 Apply Brake (BRK_ON: 21H)
6-20
6.3.14 Apply Brake (BRK_ON: 21H)
• Related Parameter
Byte BRK_ON Description
Command Response
1 21H 21H Processing
classifications Control com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Within communi-
cations cycle Subcommand Cannot be used.
3 STATUS • Applies brake. This command is enabled when the parameter Pn50F.2 is not
set to 0. This command is enabled only while the servo is OFF.
• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the following cases.
- During phase 1: MECHATROLINK II command warning1 (A.95A)
- If Pn50F.2 is set to 0: Command setting warning 3 (A.95C)
• Brake signal output timing
4
5
MONITOR 1
6
7
8
9
MONITOR 2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT
Pn No. Description
Pn50F.2 /BK signal allocation
Within 3 ms