Electromagnet brake

/enableElectromagnetBrake (int)motorID (bool)enable

Argument

Argument Range Description
motorID 1-4/1-8, 255 Motor ID
enable 0-1 1:Enable, 0:Disable

Executable timing

Always

Description

Enables / disables electromagnetic brake mode. When the mode is enabled, the controller replies error if motor movement command is sent without releasing the electromagnetic brake.

Response

0 (Disabled)

/activate (int)motorID (bool)state

Argument

Argument Range Description
motorID 1-4/1-8, 255 Motor ID
state 0-1 1:Excited 0:Not excited
state
state Description
1 Motor excited, EM brake released
0 Motor not excited, EM brake activated

Executable timing

Always

Description

Switches motor excitation / release when electromagnetic brake mode is enabled. The EM is also activated together. you You cannot send motor movement command when the motor is not excited by this command.

If the EM mode is disabled, this command is ignored.

/free (int)motorID (bool)state

Argument

Argument Range Description
motorID 1-4/1-8, 255 Motor ID

Executable timing

Always

Description

Releases motor axis when the electromagnetic brake mode is active. It releases motor excitation and keep EM brake in release state.

Be cautious when sending this command. If some load is hanged to the motor, it will loose the hold and the load may fall down.

If the EM mode is disabled, this command is ignored.

/setBrakeTransitionDuration (int)motorID (int)duration

Argument

Argument Range Description
motorID 1-4/1-8, 255 Motor ID
duration 0-10000 [ms] Transition duration

Executable timing

Always

Description

Sets the transitional duration to keep the motor excited when the electromagnetic brake is activated or released. This is to keep holding the motor axis until the brake movement is completed, due to the physical transition time for the brake mechanism.

Initial value

100[ms]

/getBrakeTransitionDuration (int)motorID

Argument

Argument Range Description
motorID 1-4/1-8, 255 Motor ID

Executable timing

Always

Description

Returns the transitional duration to keep holding the motor axis when the electromagnetic brake is activated or released.

Response

/brakeTransitionDuration (int)motorID (int)duration
Argument Range Description
motorID 1-4/1-8, 255 Motor ID
duration 0-10000 [ms] Transitional duration
Back to top