ABB OmniCore S Series, Operating Manual

Page: 181 / 236

6.10.8 Cyclic Brake Check service routine
Introduction
Cyclic Brake Check is a function that verifies that the brakes work correctly.
The Cyclic Brake Check service routine is included in the RobotWare installation
if the controller has the option SafeMove . For details about working with Cyclic
Brake Check and SafeMove , see Application manual - SafeMove .
Functionality
The Cyclic Brake Check is initiated by the robot controller or an external PLC. The
robot moves to a safe position where the brakes are locked with servos engaged.
The motors of the robot are then used to generate the torque. If any axis moves,
the system is set in reduced speed mode. A new successful Cyclic Brake Check
must be performed before the robot can be used again with normal speeds.
With a defined interval (brake cycle time), the robot must move to the safe position
and perform a Cyclic Brake Check. If Cyclic Brake Check is not performed within
the brake cycle time an error message is generated, and depending on configuration
the robot will be set to reduced speed or keep its normal supervision levels. A
predefined time (pre-warning time) warning appears on the FlexPendant before
the brake cycle time has passed.
Pre-requisites for Cyclic Brake Check
Pre-requisites for Cyclic Brake Check:
• The robot and all the additional axes must be moved to a safe and relaxed
position (away from people, equipment, and not too much stretched) before
performing a brake check. Normally the robot moves only a few centimeters
during the brake tests.
• Move the robot to a stop point before performing a Cyclic Brake Check.
• A Cyclic Brake Check can only be performed at normal execution level (not
from a trap routine, error handler, event routine or store path level).
• Brakes are tested in consecutive order and each test takes about 10-15
seconds.
• Do not change the speed from the FlexPendant and do not use
VelSet
,
AccSet
,
SpeedRefresh
, or any other instruction that affects motion
performance in
TRAPS
or event routines while Cyclic Brake Check is active.
Note
The RAPID function
IsBrakeCheckActive
can be used to check if Cyclic Brake
Check is active.
Activate Cyclic Brake Check
Cyclic Brake Check can be initiated in the following way:
• Run the Cyclic Brake Check service routine from FlexPendant. The controller
must be in manual mode.
Continues on next page
Operating manual - OmniCore 181
3HAC065036-001 Revision: E
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6 Programming and testing
6.10.8 Cyclic Brake Check service routine