ABB OmniCore S Series, Operating Manual

Page: 183 / 236

Note/illustration Action
Do not change the default value for Stand-
still tolerance .
Standstill tolerance is used for Stand Still
Supervision during brake test. The motor
is in regulation during brake test, and a
small movement may be allowed. The size
of the allowed movement is specified in
Standstill tolerance (in radians on motor
side). The default value is 2 radians.
4
Do not change the default value for Super-
vision threshold .
Supervision threshold defines the
threshold to verify that a brake check has
been made. The default value is 0.02 radi-
ans.
5
WARNING
An axis can be excluded only after an appro-
priate safety analysis has been performed.
Make sure axes 1 to 6 are selected. If not,
select the appropriate check box for the
corresponding axis. 6
This must correspond with the axis that has
the system parameter
Deactivate Cyclic
Brake Check for axis set to On .
For the axes not included in SafeMove, de-
activation of the axes must be done by set-
ting the parameter
Deactivate Cyclic Brake
Check for axis to On through RobotStudio.
Note
An error or warning message is logged for each axis with low brake torque. A
status message is also logged for each complete brake cycle.
Example of RAPID program
A signal
diPSC1CBCPREWARN
is defined and cross connected to the safety signal
PSC1CBCPREWARN
in the I/O parameters. This cross connection is required because
there is a restricted usage of safety signals in the RAPID program. The
PSC1CBCPREWARN
signal will be set to a logical high state when the prewarning
time interval expires. It will be kept high until a successful brake check has been
carried out. The status of the
diPSC1CBCPREWARN
signal is checked in the Main
loop in the application program.
PROC main()
IF diPSC1CBCPREWARN=1 THEN
MoveAbsJ *, v1000, fine, tool1;
! Call to the predefined service routine CyclicBrakeCheck
CyclicBrakeCheck;
ENDIF
....
ENDPROC
Brake maintenance
Brake maintenance is a feature in the Cyclic Brake Check functionality.
Cyclic Brake Check automatically detects if maintenance of the mechanical brakes
is needed and activates the
Brake maintenance functionality during execution.
Continues on next page
Operating manual - OmniCore 183
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.10.8 Cyclic Brake Check service routine
Continued