ABB SafeMove2, Applications Manual, Page: 201 / 238

Note/illustration Action
xx1600000136
On the tab CBC , tap Execute . 3
Cyclic Brake Check for MultiMove systems
Note
Make sure that all mechanical units are standing still before ordering a
CyclicBrakeCheck
.
One of the motion tasks call the routine
CyclicBrakeCheck
to perform Cyclic
Brake Check for all mechanical units in all tasks.
The brake check must not be performed while any tasks are in synchronized mode
(coordinated movement). It is necessary to synchronize all motion tasks with
WaitSyncTask
instructions before and after the actual brake check. If running a
movement instruction when one motion task is execution a
CyclicBrakeCheck
,
you will have an error (41888) and all execution will stop. Instruction
ExitCycle
is also forbidden to use during an active
CyclicBrakeCheck
.
The RAPID function
IsBrakeCheckActive
can be used to check if there is an
ongoing
CyclicBrakeCheck
.
Only one call to
CyclicBrakeCheck
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;
CyclicBrakeCheck;
WaitSyncTask sync2, task_list;
ENDIF
T_ROB2
Continues on next page
Application manual - Functional safety and SafeMove2 201
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
10 Reference information
10.2 Cyclic Brake Check guidelines
Continued