ABB IRC5 with FlexPendant, Руководство по эксплуатации

Страница: 236 / 306

Length to mass (L)
1
L
2
3
M * g
xx1600001289
Mass (M) * Gravity constant (g)
Transmission (n)
Motor (1)
Gearbox (2)
Arm (3)
To calculate the parameter for an axis that has no gravity, for example a track, the
below formula may be used:
Max Static Arm Torque = Tbrake min/1.35
Tbrake min for ABB motor units can be found in the product specification for the
specific motor unit, see Product specification - Motor Units and Gear Units .
For more information about parameter Max Static Arm Torque , see topic Motion ,
type Brake in Technical reference manual - System parameters .
Note
Note that the calculated value should be entered in [Nm] and calculated to the
motor side.
Description of the I/O setup
Signal configuration
It is possible to configure digital output signals that reflect the status of the
mechanical brakes in an open RAPID module. The digital output signals that can
be configured are
OK
,
WARNING
,
ERROR
, and
ACT
(brake check active) for each
drive module.
The signal configuration should be done in the RAPID module BC_config_IO.sys ,
see Description of the I/O setup on page 236 .
The file BC_config_IO.sys can be found in directory hd0a\<active
system>\PRODUCTS\RobotWare_6.0x.xxxx\utility/BrakeCheck , and must then be
copied to the HOME directory of the active system.
Note
Remember to update the I/O configuration with the digital output signals.
In a MultiMove system you need to define an
OK
,
WARNING
,
ERROR
, and
ACT
digital
output signals for each drive module.
Note
If the signals should keep their values after a power fail, the power fail settings
in the system parameters must also be updated, see
Description of the I/O setup
on page 236 .
Continues on next page
236 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.9.6 Brake check service routine
Continued