MPIMotorBrake

Definition

typedef struct MPIMotorBrake {
	MPIMotorBrakeMode      mode;
	double                applyDelay;
	double                releaseDelay;
} MPIMotorBrake;

Description

MPIMotorBrake specifies the configuration for a motor's dedicated brake logic. Each motor object has a dedicated brake output. The controller enables/disables the brake depending on the amp enable state and the brake configuration. When the amp enable is disabled, the brake is set to an active state. When the amp enable is enabled, the brake is set to an inactive state.

See Motor Brake (brake enable/disable delay) for more information.

mode	An enumerated brake mode. See MPIMotorBrakeMode.
applyDelay	The time between when the brake is active and the amp enable is disabled. The units are in seconds.
releaseDelay	The time between when the amp enable is enabled and the brake is inactive. The units are in seconds.

See the diagrams below for the brake logic details:

MPIMotorBrake

Definition

Description

See Also