ABB IRC5 with FlexPendant, Operating Manual

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Note
The RAPID function
IsBrakeCheckActive
can be used to check if
BrakeCheck
is active.
Interrupt the brake check
It is not recommended, but it is possible to stop the execution while running a
brake check.
If the brake check is interrupted, it will be resumed when the program execution
starts again. The brake check can be resumed up to 3 times.
Brake maintenance
Brake maintenance is a feature in the brake check functionality.
The
BrakeCheck
routine automatically detects if maintenance of the mechanical
brakes is needed and activates the Brake maintenance functionality during
execution. Brake maintenance applies the brake and turns the motor shaft 1 radian
five times, which gives a movement of the robot arm of less than 1 degree.
There are event logs that tell if Brake maintenance is needed, and if it has been
run.
For more information see parameter Brake Maintenance , type General Rapid , topic
Controller , in Technical reference manual - System parameters .
Event logs
When
BrakeCheck
is executed, the following event logs will be shown:
Title Event log
Brake Check Done 10272
Brake Check Started 10273
If there is a problem with one or several mechanical brakes, an event log that is
describing which mechanical unit and which axis that has bad brakes will be shown:
Title Event log
Brake Performance Warning 37234
Brake Performance Error 37235
Brake check for MultiMove systems
Note
Make sure that all mechanical units are standing still before ordering a
BrakeCheck
.
One of the motion tasks call the routine
BrakeCheck
to perform brake check for
all mechanical units in all tasks.
The brake check must not be performed while any tasks are in synchronized mode
(coordinated movement). It is necessary to synchronize all motion tasks with
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234 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.9.6 Brake check service routine
Continued