Actuators equipped with a brake have an emergency stop function. When using Profile Position Mode, Position Mode, or Hybrid Mode, if a power outage occurs (with an appropriately sized capacitor connected) or a reset happens, the actuator will automatically engage the brake.
The brake can also be controlled independently. Regardless of whether the actuator is in a reset state, in control mode, or experiencing an error (indicator light turns red), a message can be sent at any time to release the brake. For brake control messages, please refer to the CAN2.0B communication protocol.
The brake is controlled by its voltage (PWM) and control duration. When the voltage (PWM) is positive, the brake engages; when the voltage (PWM) is negative, the brake releases.
The default PWM value for engaging the brake is 2000 (20V), and for releasing the brake is -2000 (-20V), with a duration of 500ms. If the brake does not engage correctly, these values may need to be adjusted. For assistance, please contact technical support.
The brake control command differs slightly depending on whether a mode has been entered. After entering any mode, sending 1500 represents 15V. When no mode has been entered, sending 1500 represents a duty value of 1500 out of a full scale of 4000. For example, if the supply voltage is 24V, 1500 corresponds to 9V (1500 ÷ 4000 × 24).