ABB IRC5 with FlexPendant, Руководство по эксплуатации

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5.9.6 Brake check service routine
Overview
The
BrakeCheck
service routine is used to verify whether the mechanical brakes
work correctly.
The
BrakeCheck
service routine is included in the RobotWare installation if the
controller does not have SafeMove or EPS option.
Note
If the controller has SafeMove or EPS option, the RobotWare installation includes
Cyclic Brake Check
service routine. For more details, see Application
manual - Functional safety and SafeMove2 .
While running the
BrakeCheck
service routine the brakes are tested in consecutive
order and each test takes 10-15 seconds.
Prerequisites for running the
BrakeCheck
service routine
Following are the prerequisites for running the
BrakeCheck
service routine:
• The robot and all 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 check.
• Move the robot to a stop point before performing a brake check.
• The brake check can be performed only at normal execution level (not from
a trap routine, error handler, event routine, or store path level).
Exclude individual axes from the brake check
It is possible to exclude individual axes from the brake check. For this, set the
value of system parameter
Deactivate Cyclic Brake Check for axis
to
On. For more details, see Configure system parameters on page 239 .
Running the brake check
Following are the two ways to initiate a
BrakeCheck
service routine:
• Call the
BrakeCheck
service routine from FlexPendant. The controller must
be in manual mode.
• Call the procedure
BrakeCheck
from the RAPID program.
WARNING
While the brake check routine is active, do not change the speed from the
FlexPendant and do not use the instructions
VelSet
,
AccSet
,
SpeedRefresh
,
or any other instruction that affects the motion performance in
TRAPS
or event
routines.
Continues on next page
Operating manual - IRC5 with FlexPendant 233
3HAC050941-001 Revision: G
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5 Programming and testing
5.9.6 Brake check service routine