text: <s>[INST] Latest Kinetix Firmware 1.116 help Rockwell published this firmware a couple of weeks ago. As of version 1.114 they added remote control of the brake control relay when the drive is disabled. This is from the release notes- This enhancement corresponds to Kinetix 6000 drive firmware revision 1.114 or later, when used with RSLogix 5000 software, version 17. When the drive is in the disabled state, the engagement and disengagement of the motor parking brake, if present, can be manually controlled. By setting the Brake Override IDN (16 bit, P00140) to a value of 1, the SERCOS Brake Enable/Disable IDN becomes writable and allows manual control of the motor parking brake. Once the drive is enabled, the Brake Override IDN is reset to 0, the parking brake is again under control of the axis, and the Brake Enable/Disable IDN becomes read-only, reflecting the current state of the parking brake. This description give you the new P00140 parameter and what it does but, what parameter do i write to, to control the brake? I think P00528 but this is just a guess based on the DriveExecutive file looking at the parameters in the Kinetix. Also what does it mean by disabled state? does the enable input need to be off (Axis.EnableInputStatus=0) or just logically disabled (Axis.DriveEnableStatus=0?) I think that a technote should be written that explains most of this and maybe even has a some sample code that could be used. -Paul [/INST] I guess this is like a self help forum. No rockwell employees surf their own forum? \\n </s>