ABB OmniCore C30, Operating Manual, Page: 180 / 236

Signal state Signal
0 BCERR
0 BCWAR
1 BCACT
Interrupted brake check test, program pointer moved from BrakeCheck routine
Signal state Signal
0 BCOK
0 BCERR
0 BCWAR
0 BCACT
Configure system parameters
About the system parameters
The configuration of system parameters required for a robot system should be
made before running the brake check.
Note
The controller must be restarted after changing the system parameters.
Type Mechanical Unit
All mechanical units for additional axes that shall be supervised must have the
parameters
Activate at Start Up and Deactivation Forbidden set to On. (Supervised
mechanical units must always be active.)
Type Arm
If an axis should be excluded from brake check, set the parameter Deactivate
Cyclic Brake Check for axis to On.
Type Brake
If brake check is executed on an additional axis, a lowest safe brake torque must
be defined. A 5% margin is added during the test for setting the fail limit. The
parameter used is
Max Static Arm Torque defined in Nm on motor side. A warning
limit is set with a higher torque value (depending on the brake).
180 Operating manual - OmniCore
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.10.7 Brake check service routine
Continued