Moog DM2020 Series Installation manual

THISDOCUMENTDESCRIBESTHE INSTALLATION
ANDSTARTUP FOR THE DM2020 SYSTEM
PN: L-MAM2-E-201
INSTALLATIONANDSTARTUP
MULTI AXIS DIGITAL
SERVO SYSTEM
DM2020 TECHNOLOGY
www.moog.com

Table Of Contents
3
9
9
9
9
10
Table Of Contents
Foreword
About Moog
Document Version
Revision Record
Reader Instructions
1 Introduction 12
1.1 Contents 12
1.2 Related Documents 12
1.3 Package Contents 12
1.4 Required Qualifications of Personnel 13
1.5 Applicable Laws 13
1.6 Getting Started 14
2 Safety Information 15
2.1 Safety and Usage Guidelines 15
2.2 Qualified Personnel 15
2.3 Electrical Hazards 16
2.3.1 Voltage Arcs and High Voltage 16
2.3.2 General Hazards and Safeguards 17
2.4 Thermal Hazards 17
2.5 Mechanical Hazards 17
2.6 STO Safety Feature 18
2.6.1 Description 18
2.6.2 Directives on Safety 18
2.7 Safe Use of the DM2020 System 19
2.7.1 Risk Assessment 19
2.7.2 Electrical Connections 19
2.7.3 Motor Selection 19
2.7.4 Power Supply 19
2.7.5 Prohibited Use 20
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2.8 Risk Assessment 21

2.8.1 Installation Risk Assessment 21
2.8.2 General Machine/System Safeguards Information 22
2.8.3 Safeguards Related to SCRF 23
3 System Overview 24
3.1 Product Structure 24
24
26
26
27
3.1.1 Product Description
3.1.2 Storage and Working Conditions
3.1.3 Standard power supply models
3.1.4 DM2020 Standard Models
3.1.4.1 Models and coding of ABC modules
3.1.4.2 Mechanical Dimensions
3.1.5 Axis Modules Coding
3.1.5 PSU Modules Coding
3.2 PSU Features and Details 34
34
36
37
38
39
40
3.2.1 Electrical and Mechanical Data
3.2.2 Module Side Plate Types
3.2.3 Transducers
3.2.4 Connectors
3.2.4.1 Connector Layout
41
413.2.7 Line Inductors
43
43
3.2.7.1 Position transducers
3.2.7.2 Interface with “field” and other modules
3.2.7.3 Connector View 44
3.4 Cables 54
4 Certifications 56
56
58
4.1 CE Certificate
4.2 Safe Torque Off (STO)
4.3 UL 60
60
60
61
4.3.1 Requirements
4.3.2 Short Circuit Protection
4.3.3 Overvoltage Protection
4.3.4 Dynamic Brake Unit Ratings 63
5 Electrical and Mechanical Installation 64
5.1 Tools and Equipment 64
5.1.1 Tools 64
5.1.2 Electronic Equipment 64
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29
30
32
33
3.3 Connector Layout Axis Module 46
3.2.5 Filters
3.2.6 Brake Resistor

5.2 Mechanical Installation 64
5.2.1 Assembly of System Components 64
64
64
5.2.1.1 Assembling the PSU
5.2.1.2 Assembling the Axes
5.2.1.3 Braking Resistor Positioning 65
5.3 Electrical Installation and Thermal Rating 66
66
67
69
69
70
70
5.3.1 Safety and General Instructions
5.3.2 Electrical Installation
5.3.3 Thermal Rating of the Electrical Panel
5.3.3.1 Drive Axis Power Dissipation
5.3.3.2 Power Supply Unit (PSU) Dissipation
5.3.3.3 Thermal Dissipation of Accessories
5.3.4 Control Power Requirements
5.3.5 ACMains Power/Ground Connection 71
71
72
73
5.3.5.1 Types of Earthing (Grounding) Systems
5.3.5.2 Protection Components
5.3.5.3 Ground Connection
5.3.6 Drive Wiring 74
74
74
75
75
76
76
77
78
78
80
5.3.6.1 Grounding
5.3.6.2 Power Cord and Braking Resistor Connection
5.3.6.3 Busbar Connection
5.3.6.4 Auxiliary Voltage and Signal Connection
5.3.6.5 Signal Connection
5.3.6.6 Motor Cable Connection Details
5.3.6.7 Brake Cable Connection
5.3.6.8 I/O Signal Connection
5.3.6.9 STO Signals Connection
5.3.6.10 Transducer Connection
5.3.6.11 Connecting the Fieldbus - X8, X9, X10 Connectors 81
6 Commissioning with Dx2020 Software 82
6.1 Safety 82
6.2 Dx2020 GUI 83
6.2.1 Overview 83
6.2.2 Minimum PCRequirements 83
6.2.3 Dx2020 GUI Installation 84
6.2.4 GUI Drive Connection 85
6.2.5 Layout 87
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89
90
90
6.2.6 Firmware Update (BootLoader)
6.2.7 Accessing the Dx2020 GUI help on-line
6.3 Activate Power
6.4 System Configuration 91
6.4.1 Axis Identification 91
6.4.2 Motor Parameter Configuration 91
6.4.3 Transducer Configuration 93
6.4.3.1 Sensorless 94
6.4.4 I/O Configuration 95
6.4.4.1 Details of Possible Configurations 96
6.4.4.2 Programming Analog and Digital I/O Connector X5 97
6.4.5 Control Loops Configuration 98
6.4.5.1 Control mode configuration 98
6.4.5.2 Torque loop parameter configuration 99
6.4.5.3 Speed loop parameter configuration 99
Filter configuration 100
6.4.5.4 Configuration of the position loop parameters 102
6.4.6 Fault Configuration 103
6.4.7 Application Parameters Configuration 104
6.4.8 Commands and Modes Configuration 105
108
111
111
113
DM2020 State Machine
6.5 STOActivation
6.6 Auto-Phase Procedure
6.7 Drive (Axis) Enable and Limit Switch Enable/Disable
6.8 Oscilloscope Function and Log File (.UCX) 114
6.8.1 Log Configuration 114
6.8.2 Start Logging 114
6.8.3 View Logs 115
6.8.4 UCX File Management 116
6.9 Using the GUI in Offline Mode 116
6.10 Contextual Help For Parameter Management 117
6.11 Decommissioning Procedure 118
7 Shipment and Storage 120
7.1 Receiving and Checking the Shipment 120
7.2 Storage 120
7.2.1 Regenerating the Electrolytic Capacitors after Storage 120
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8 Maintenance 121
8.1 Periodic Maintenance 121
8.2 What to Do If Repairs Are Required? 122
9 Troubleshooting 123
9.1 Power Section Anomalies 124
9.2 Drive Alarms (Faults) 124
9.2.1 Alarms on the Power Section 124
9.2.2 Alarm for VBUS Voltage Out of Tolerance 125
9.2.3 Drive or Motor Overtemperature 125
9.2.4 Removal of STO Signal 126
9.2.5 Errors on Memory Devices 126
9.2.6 Data Corrupted Fault 126
9.2.7 Brake Feedback Fault 127
9.2.8 Errors on Feedback Devices 127
9.2.9 Synchronization , Interrupt Time and Task Time Error 129
9.2.10 EtherCAT Fault 129
9.2.11 Alarms Related to the Control Loops 129
9.2.12 CAN Bus Alarms 130
9.3 Alarm Display in Analog Operating Mode 130
9.4 Faults During the GUI – Drive Connection 134
10 Safe Torque Off Safety Function 136
136
136
136
137
138
138
138
140
141
141
142
10.1 Application
10.2 Installation Risk Assessment
10.3 Safe Torque Off Function
10.3.1 Characteristic Values According to UNI EN ISO 13849-1
10.3.2 Characteristic Values According to CEI EN 62061
10.4 Safety Requirements
10.4.1 Full Stop
10.5 Safe Torque Off Circuit
10.6 Safe Torque Off Connections
10.6.1 Connector X6 – (X16)
10.6.2 Connector X1 (option)
10.6.3 Electrical Input/Output Specifications
10.7 Example Application 144
10.7.1 Description 144
10.7.2 Example Requirements 145
10.8 Safe Torque Off Installation and Maintenance Procedure 146
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143

10.9 Assembly and Serial Tests 147
10.10 Identification of the STO Function on the Drive Plate 147
11 System Disposital 148
11.1 What to Do If Repairs Are Required? 148
12 Appendix 149
149
12.1 Glossary
12.2 Metric/AWG Conversion Table 153
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Foreword
The DM2020 drives meet the Low Voltage Directive (2014/35/EU) and EMC Directive (2014/30/EU).
The safety function "Safe Torque Off" (STO) integrated in the drive complies with the Machinery
Directive (2006/42 / EC).
To comply with the European Directives, the drive meets the requirements of the relevant harmonized
installation standards EN 50178 (LVD), EN61800-3 (EMC) and EN 61800-5-2 (Safety of machinery).
The DM2020 drives are CE, EAC and ULcertified. Contact Moog for further details.
The manual was written and checked by technical experts at Moog.
About Moog
The Moog Industrial Group designs and manufactures high performance motion control solutions
combining electric, hydraulic, and hybrid technologies with expert consultative support in a range of
applications including test, simulation, plastics, metal forming, and power generation.
Customers of Moog include leading automotive manufacturers, aerospace manufacturers, testing labs
and global automotive racing teams.
We help performance-driven companies design and develop their next-generation machines.
The Moog Industrial Group is part of Moog Inc.
Info Description
Moog Company Moog Italiana Srl
Address Via Avosso, 94, Casella (GE) 16015
Phone Tel: [phone]
Fax Fax: [phone]
E-Mail [e-mail]
Web Site www.moog.it
Document Version
The following table shows the version of this document and all other possible versions:
ES DA DE EL EN FR IT NL PT FL SV CS ET LV HU MT PL SK SL BG RO GA
X
The language of documents and drawings are subject to contractual negotiations with the Customer.
In case of "Translation of the Original Instructions", the manufacturer of the machinery must also
supply the "Original Instructions".
Revision Record
The following table shows the revision record:
PN: L-MAM2-E-201
Moog Casella DM2020 Installation and Startup Guide Foreword
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Revision Description Date
A First release November 2020
Reader Instructions
The following table shows the symbols adopted in Moog documents:
DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious
injury.
WARNING indicates a hazardous situation which, if not avoided, could result in death or serious
injury.
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or moderate
injury.
NOTE indicates possible property damage.
The following table shows the structure of a warning:
SIGNALWORD
Type and source of hazard
Possible consequences of not avoiding the potential hazard
ØHow to avoid the hazardous situation
The following table shows other typographic elements:
Symbol Explanation
Electrical hazard alert symbol.
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BUpdate February 2021

Symbol Explanation
Thermal hazard alert symbol.
Mechanical hazard alert symbol.
General hazard alert symbol.
Notes about important operations and other useful information.
ØThis is an action to be carried out.
●/ - This is a bullet list.
1., 2., ... These are steps in a procedure that must be performed in consecutive order.
The following table shows the abbreviations adopted in Moog documents:
Abbreviation Explanation
EMA Electro Mechanical Actuator
EH Electro Hydraulic Actuator
EHA Electro Hydrostatic Actuator
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1.1 Contents
This manual provides information on the correct installation and optimal operation of the DM2020 series
of digital multi-axis servo drives.
All information in this manual, including methods, technologies and concepts is the exclusive property of
Moog-Casella, and may not be copied or reused without specific authorisation.
Moog-Casella reserves the right to make changes to the product and relative documentation, at any time,
without notice.
1.2 Related Documents
The following related documents are also available:
lUSER AND INSTALLATION MANUAL (this document)
lDM2020 Quickstart Guide (shipped in the box with the drive and also available on the
Moog Casella website)
lFIELDBUS MANUAL
lCONFIGURATION SOFTWARE Dx2020 GUI
1.3 Package Contents
A complete DM2020 system includes:
lOne DM2020 drive modules and PSU unit
lAnchoring support for the shields
lInterconnect cables
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1.4 Required Qualifications of Personnel
WARNING:Personal injury and property damage risk.
Failure to follow all safety precautions when the drive is installed, operated or
maintained may pose a risk of death or serious injury to personnel, or serious
damage to property.
ØThe system builder and end-use company are required to ensure that the safety
instructions detailed in this manual and in the DM2020
Safety Guide are
available to, read, understood and observed by all personnel responsible for
the installation, operation and maintenance of the DM2020 system.
In addition to the following information, also follow the instructions in Safety and Usage Guidelines of
this manual.
This manual and the equipment described in it are intended only for qualified personnel who have
proper training and expertise in the following:
lTransport: All personnel must have knowledge and experience handling components that are
sensitive to mechanical shock and electrostatic discharge (ESD).
lUnpacking: All personnel must have knowledge and experience handling components that are
sensitive to mechanical shock and electrostatic discharge (ESD).
lInstallation and Maintenance: All personnel must have extensive technical knowledge and
experience with the installation and maintenance of AC- and DC-poweredelectrical and electro-
mechanical equipment.
lStartup: All personnel must have extensive technical knowledge and experience with electrical
drives, motors and their technology.
The qualified personnel must know and observe the following standards: IEC 60364, IEC 60664, and
all relevant national accident prevention regulations.
1.5 Applicable Laws
The DM2020 drives meet the Low Voltage Directive (2014/35/EU) and EMC Directive (2014/30/EU).
The safety function "Safe Torque Off" (STO) integrated in the drive complies with the Machinery
Directive (2006/42 / EC).
To comply with the European Directives, the drive meets the requirements of the relevant harmonized
installation standards EN 50178 (LVD), EN61800-3 (EMC) and EN 61800-5-2 (Safety of machinery).
The DM2020 drives are CE certified; certain models are also ULcertified. Contact Moog for details.
Standard products has been configured as No Dual Use device.
Output current frequency has been limited to an absolute max parameter >600 Hz to meet
ECCN-3A225 / AL-3A225 requirements.
Other references or information required by the applicable EC directives:
The conformity of products is subjected to observation of the procedures included in the proper
"Installation and Startup Manual".
The user has the primary EMC responsibility in following the recommendations of the manufacturer.
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1.6 Getting Started
The process for getting the DM2020 system installed, configured and operational looks like this:
1. Read this guide.
2. Read the related documents that are supplied with the DM2020 system,
3. Install the DM2020 drive, see Mechanical Installation section of this manual.
4. Install the supplied Moog motor, see the motor installation guide for your motor.
5. Install the cables and connect power, see Electrical Installation and Thermal Rating
6. Provide a PC in the work area for the Dx2020 software.
7. Commission the system with the Dx2020 software, see Commissioning with Dx2020 Software
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2 Safety Information
2.1 Safety and Usage Guidelines
Do not attempt to install, operate, maintain or inspect the DM2020 system until you have carefully
read this guide and the other supplied documents, and you are properly trained in the correct use of
the equipment. The DM2020 system may only be set up and operated in conjunction with this
manual and the supplied documentation.
SAFETY
FIRST
Human safety and equipment safety must be the first considerations when per-
forming the installation, operation or maintenance procedures for the drive system.
When it comes to electronics in your factory or workplace, you want to make sure
both your facility and its employees are safe. The following gives safety instructions
that must be followed when you are working on the DM2020 system.
WARNING: Risk of death or serious injury to personnel, or damage to equipment.
AVERTISSEMENT: Risque de mort ou de blessures graves pour le personnel ou de
dommages matériels.
Failure to follow the safety and usage guidelines in this chapter can result in
death or serious injury to personnel, or damage to equipment.
ØIn addition to the
DM2020 Installation and Startup Guide (the guide you are
cur-rently reading), you must read the guides listed in Related Documents
chapter.
ØObserve and adhere to the technical data and, in particular, the information given on the
system component nameplates.
ØThe installation must comply with the local regulations and use of equipment and
installation practices that promote electromagnetic compatibility and safety.
ØSafety equipment - To protect yourself against personal injury, always wear suitable safety
equipment, such as safety glasses, work shoes, and other safety equipment required by the
operation.
2.2 Qualified Personnel
WARNING: Risk of death or serious injury to personnel, or damage to equipment. -
AVERTISSEMENT: Risque de mort ou de blessures graves pour le personnel ou de
dommages matériels.
Only qualified, properly trained and certified personnel are permitted to operate
and interact with the system.
This manual and the equipment described in it are intended only for qualified personnel who have
proper training and expertise.
Qualified personnel are those who are specialized with required knowledge and experience, who have
been trained to perform such work and are authorized to commission, systems and circuits in
accordance with established safety practices and standards. The qualified personnel must know and
observe the following standards and regulations:
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lIEC 60364
lIEC 60664
lAccident prevention national, regional and local regulations for the site where the system or
machine will be operated
2.3 Electrical Hazards
WARNING: Electrical hazard - AVERTISSEMENT: risque électrique
High voltage may be present, which can result in death or serious injury to
personnel, or damage to equipment.
ØFollow these safety instructions.
Certain electrical systems have to be maintained and cleaned by staff. Before they can be accessed,
the systems have to be disconnected from the mains supply to eliminate electrical hazards to
operating staff. According to the state of technology, this is accomplished with the five safety rules of
DIN VDE 0105-100.
1. Disconnect the mains.
2. Secure against reconnection.
3. Verify that the system is dead.
4. Carry out earthing and short circuiting.
5. Provide protection from adjacent live parts.
2.3.1 Voltage Arcs and High Voltage
Voltage arcs may occur and/or high voltage may be present that can fatally or seriously harm
personnel or damage equipment. Additionally, the drive's capacitors can have dangerous voltages
present up to eight minutes after the removal of the mains voltage.
lNever attempt to remove safety covers, or loosen or disconnect the electrical connections when
the DM2020 system is powered up,
lNever attempt to perform any cleaning or maintenance operations when the DM2020 system
is powered up.
lAlways ensure that the mains power supply is disconnected and locked out before attempting
any work on the system.
lAlways wait at least eight minutes after disconnecting and locking out the AC mains power
before attempting to work on the DM2020 system equipment. The DM2020 capacitors can still
have dangerous voltages present up to eight minutes after power is switched off.
lAlways measure the voltage of the direct current circuit (BUS) and wait until the voltage drops
below 40V.
lAlways measure the voltage of any other contact point(s) to ensure the power is off and there
is no voltage present.
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lNever attempt to remove safety covers, or loosen or disconnect the electrical connections when
the DM2020 system is powered up,
lNever attempt to perform any cleaning or maintenance operations when the DM2020 system
is powered up.
2.3.2 General Hazards and Safeguards
The power from the drive to the motor can be removed in "a safe manner". In this way, when the safe
power stage is disabled, the motor is not able to produce torque.
During normal operation, the equipment should not be accessible (i.e., protected as described in the
Risk Assessment by covers, guards, barriers, and safety interlocked gates/doors, etc.), all
covers/guards must be installed, and cabinet doors must be kept closed/locked.
During the operation of the drives, there may be uncovered live parts in the control cabinet
installation, depending on the degree of mechanical protection required by regulations governing the
site where the equipment is operated.
At the drive and/or motor, the power and control connections may be live, even when the motor is
stopped.
2.4 Thermal Hazards
CAUTION: Burn hazard - ATTENTION: risque de brûlure.
The surface temperature of the drive may reach a temperature of 80 °C, and the
motor may reach up to 100 °C (212 °F), and may become very hot in operation,
according to their protection category.
ØDo not touch hot surfaces, measure the temperature, and wait until the drive
and motor has cooled down below 40 °C (104 °F) before touching it.
ØIt is recommended to always wear gloves when attempting to handle
DM2020 system components that have been recently operating.
2.5 Mechanical Hazards
WARNING: Mechanical hazard - AVERTISSEMENT: risque mécanique
Large motors can generate very high torque and impact or trapping hazards, which
can result in death or serious injury to personnel, or damage to equipment.
ØFollow these safety instructions.
The motor must be properly mounted and anchored as specified in the Moog motor installation guide
supplied with the DM2020 system motor. For details, consult the Moog motor installation guide.
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2.6 STO Safety Feature
2.6.1 Description
The DM2020 drives include the STO (Safe Torque Off) function as a standard feature to ensure
protection for personnel and equipment against accidental restart and re-enabling of the drive.
The STO function acts as an interlock against accidental motor rotations.
The STO function can be used as a power turn-off command to prevent accidental starts.
The function disables the power control voltage of the semiconductors of the converter output stage,
preventing the drive from generating the voltage required to rotate the motor.
Using this feature, you can perform short-term operations and/or maintenance work only on non-
electrical parts of the machine without switching off the mains. This function must be enabled from a
safe external control (mechanical or semiconductor) or by a specific external security board.
2.6.2 Directives on Safety
WARNING: Electrical hazard - AVERTISSEMENT: risque électrique
High voltage may be present, which can result in death or serious injury to
personnel, or damage to equipment.
ØFollow these safety instructions.
WARNING: Mechanical hazard - AVERTISSEMENT: risque mécanique
Large motors can generate very high torque and impact or trapping hazards, which
can result in death or serious injury to personnel, or damage to equipment.
ØFollow these safety instructions.
Suspended loads must always be securely mechanically locked. The STO function, if activated, does
not ensure against movement of suspended loads.
The interruption of the 24 VDC supply of the STO circuit causes an uncontrolled arrest of the motor.
The STO function does not guarantee an electrical disconnection from the power output to the motor. If
the motor power cable requires service, always disconnect and lock out the mains power supply, wait
for eight minutes for the complete discharge of the intermediate circuit, and then check for residual
voltages at any contact point.
When using the STO function, it is necessary to perform the following sequence of operations.
1. Stop the movement in a controlled manner, placing the nominal speed value to zero.
2. Upon reaching the zero speed, and in the case of suspended loads, mechanically lock the load.
3. Disable the drive and at this point turn on the STO function via supply command
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Input voltage 24 V +/- 10 %
Max input current 50 mA +/- 10 %
Voltage Feedback 30 V max
Current Feedback 200 mA max
2.7 Safe Use of the DM2020 System
The technical data (nameplate) and documentation for the ~DM2020 system and how to install its
components must be available to and observed by all personnel.
The drives contain electrostatically sensitive components, which can be damaged by electrostatic
discharge (ESD) through improper handling. It is recommended to follow proper ESD procedures to
discharge any electrostatic charge before handling the DM2020 system components (e.g., using
ESD straps, ESD mats or other protective surfaces, etc).
2.7.1 Risk Assessment
The drives are safe industrial devices that are placed in electrical systems or machines and can
only be operated as integrated parts of those systems or machines. The builder/manufacturer of
the system or machine must generate a risk assessment, and take appropriate measures to avoid
unexpected movements that could cause death or injury to personnel and/or damage to equipment
or other property. The risk assessment must comply with all national, regional and local regulations
for the site where the system or machine will be operated. For more details, see Risk Assessment
on page 24.
2.7.2 Electrical Connections
The drives must operate only inside an enclosed control cabinet. Additional ventilation or cooling
may be necessary based on the external environmental conditions.
Use only copper conductors for wiring all connections. The conductor cross sections must comply
with IEC 60204.
2.7.3 Motor Selection
The DM2020 drives have been designed to control brushless asynchronous and synchronous
motors with torque control, speed and/or position. The rated voltage of the motors must be at
least the same level as:
produced by the drive. For more details on selecting the proper motor, see Motors on page 48.
2.7.4 Power Supply
The drives of the DM2020 series (overvoltage category III according to EN 61800-5-1) can be
powered by three-phase industrial AC supply, earthing systems (TN system, TT with grounded neutral
and symmetrical rated current not more than 10KA 120V to 480V ± 10%).
Overvoltage between phases and the drive housing must not be greater than 1000 V peak.
According to EN61800-3 transient voltage spikes (<50ms) between the phases must not exceed 1000
V. Transient voltage surge (<50μs) between a phase and the housing must not exceed 2000V.
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2.7.5 Prohibited Use
WARNING: Risk of death or serious injury to personnel, or damage to equipment -
AVERTISSEMENT: Risque de mort ou de blessures graves pour le personnel ou de
dommages matériels.
Uses other than those described above (safe use) can lead to death or serious
injury to personnel, or damage to equipment.
ØAvoid the prohibited use cases described below.
The use of the DM2020 system is normally prohibited in the following environments:
lHazardous areas
lAreas subject to corrosive and/or electrically conductive acids, alkaline solutions, vapors, oils
lDirectly on electrical supplies/circuits not connected to the ground, or on asymmetrically
grounded power supplies with a voltage exceeding 240 VAC
lOn ships or offshore installations
The installation and start-up of the drive are prohibited in cases where the machine on which it is
installed:
lDoes not comply with the requirements of the EC Machinery Directive
lDoes not comply with the Directives on EMC or Low Voltage Directives
lDoes not conform to national, regional and local regulations for the site where the system or
machine will be operated
lDoes not conform to the machine's Risk Assessment.
The control of the brake by the DM2020 drive alone is prohibited in applications where the safety
of personnel must be ensured through the brake.
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