ABB OmniCore C30, Product Manual

Page: 215 / 606

4.5.4 Function test of safety switches
Performing the motor function test
Note Action
Start the robot system and change the op-
erating mode to manual. 1
This test is passed if the event message
10011 Motors ON state appears in the
event log.
Press the three-position enabling device
to the middle position and then hold the
enabling device in this position. 2
If the event message 37001 Motor on activ-
ation error appears in the event log, then
the test has failed and the root cause of the
failure must be found.
This test is passed if the event message
10012 Safety guard stop state appears in
the event log.
Release the three-position enabling device. 3
If the event message 20227 Motor contact-
or conflict appears in the event log, then
the test has failed and the root cause of the
failure must be found.
Performing the brake function test
Note Action
Start the robot system and change the op-
erating mode to manual. 1
This test is passed if the brakes are disen-
gaged and the manipulator can be moved. Press the three-position enabling device
to the middle position and then hold the
enabling device in this position. 2
If the event message 50056 Joint collision
appears in the event log, then the test has
failed and the root cause of the failure must
be found. While having eye contact with the manipu-
lator, move the joystick slightly in any dir-
ection to disengage the brakes.
This test is passed if the event message
10012 Safety guard stop state appears in
the event log.
Release the three-position enabling device
to engage the brakes. 3
If the event message 37101 Brake failure
appears in the event log, then the test has
failed and the root cause of the failure must
be found.
Product manual - OmniCore C30 215
3HAC060860-001 Revision: P
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4.5.4 Function test of safety switches