Where can I compensate the Motor Brake delay time.What I want is that the drive is enabled and on power before the brake is released.
I have a vertical movement with a big mass. When switching on (enabling) the drive I do not want the mass to drop, not even as small movement. I like to have it steady to get a smooth behaviour. What I see changing the delay times is that the drive ready bit can be shifted. Its also explained in the manual.
When I add 100 ms in the Delay time the Drive Ready Status bit is indeed delayed.
Where can I found the function to prevent the load to drop.
I found it and its more easy as I expected.
Its called "weight counterbalance" You can fill in the load which the axis need to hold the load against gravity. You can find this parameter in Axis Control - Velocity control loop.
If you switch on the drive this torque will be applied before the brake loosen. This result the load to be on position without a drop when you enable the drive. I made some scope measurements to make it more clear.
In normal operation the brake is spring release. You see the torque building up (green) and the position drop a little bit (blue)
When using "weight counterbalance" het on 15% you can see that the drive delivers 15% before the brake is released resulting iin smooth drive enable.
Now I found also an Exaple in the "How To's"
