P-0-0341

Use the "Gantry brake configuration" parameter to configure the Gantry Brake function in the control loop of the servo drive. Instead of "Emergency stop deceleration" in parameter S-0-0429, for each braking operation the force is limited to the value set in parameter P-0-0341 "Gantry brake configuration".

Error state "Torque Off" If an axis switches to the error state "Torque Off", the Gantry Brake can only be moved with the error-free axis. Due to the mechanical design, the force usually has to be limited in this case. Switching off the speed controller I component reduces the tendency of the control to oscillate, leaving a braking force proportional to the speed deviation.

The Gantry Brake is activated if the device or the channel of an AX52xx receives an error.

Reaction of the servo drive

Reaction to the error < 100 µs:

• Switch to speed control
• Set the speed setpoint to 0 rpm
• Switch off the I-portion of the speed controller
• Limit the torque setpoint to P-0-0341
  For example: 20% of P-0-0094 "Configured channel peak
  torque / force"