ABB IRC5 with FlexPendant, Operating Manual

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WaitSyncTask
instructions before and after the actual brake check. If running a
movement instruction when one motion task is execution a
BrakeCheck
, you will
have an error (41888) and all execution will stop. Instruction
ExitCycle
is also
forbidden to use during an active
BrakeCheck
.
The RAPID function
IsBrakeCheckActive
can be used to check if there is an
ongoing
BrakeCheck
.
Only one call to
BrakeCheck
can be done at a time. This is checked by the service
routine and if more than one RAPID task or client try to execute the routine, you
will have an error (41886).
Program example
T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
IF PLC_di1_DO_CBC = 1 THEN
WaitSyncTask sync1, task_list;
BrakeCheck;
WaitSyncTask sync2, task_list;
ENDIF
T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
IF PLC_di1_DO_CBC = 1 THEN
WaitSyncTask sync1, task_list;
! Wait for T_ROB1 to be ready with BrakeCheck
WaitSyncTask sync2, task_list;
ENDIF
Brake check on additional axes
To be able to run brake check on additional axes, the parameter Max Static Arm
Torque (in topic Motion and type Brake ) needs to be calculated for the additional
axis and entered into the configuration. Brake check uses this value when testing
the brake at error-level.
The parameter should be the maximum static torque that the brake needs to
withstand when the additional axis is positioned in maximum gravity. The following
formula should be used:
Max Static Arm Torque = (M*L*g)/n
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Operating manual - IRC5 with FlexPendant 235
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.9.6 Brake check service routine
Continued