Bug on automatic brake control

[RafaelFalcaro]

Hello, I am having a problem with the automatic brake control system, where when I command a new movement during the BrakeOnDelay period, the brake is not enabled and the motor runs with the brake output off (engaged).

I found this topic about the same problem: 

 

but in the firmware version I'm using the problem doesn't seem to have been solved (Power PMAC Brick LV cpu ARM fw 2.7.1.0).

This is a test performed with a virtual motor with the pBrakeOut register pointing to Sys.Idata[3500]:

 

Motor configuration:
 

Motor[10].pBrakeOut = Sys.Idata[3500].a
Motor[10].BrakeOutBit = 0
Motor[10].BrakeOnDelay = 7000
Motor[10].BrakeOffDelay = 0

 

Test execution:

#10j/
#10j=15000

// Issued new jog command during BrakeOnDelay period:

#10j=20000

 

 

 

[MoMo]

I am not sure if this is a bug, as the manual does not describe how the controller responds when a new command is received during the delay period caused by Motor[x].BrakeOnDelay after executing the dkill command. Currently, it has been observed that after sending the dkill command, the brake output turns off, and the motor is disabled after waiting for the BrakeOnDelay period. If a new motion command is received during this period, the controller does not release the brake.

[RafaelFalcaro]

To fix the problem of moving the axis with its brake engaged, I've added a check in the Motion Program that the brake output is ''on" before the movement, considering BrakeOffDelay.