ABB SafeMove2, Руководство по применению, Страница: 202 / 238

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;
! Wait for T_ROB1 to be ready with CyclicBrakeCheck
WaitSyncTask sync2, task_list;
ENDIF
Cyclic Brake Check output
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.
Cyclic Brake Check on additional axes
To be able to run CBC on additional axes, the parameter Max Static Arm Torque
(in topic Motion and type Brake ) needs to be calculated for the additional axis and
entered into the configuration. CBC uses this value when testing the brake at
error-level.
The parameter should be the maximum static torque that the brake needs to
withstand when the additional axis is positioned in maximum gravity. The following
formula should be used:
Max Static Arm Torque = (M*L*g)/n
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 .
Note
Note that the calculated value should be entered in [Nm] and calculated to the
motor side.
Brake maintenance
Brake maintenance is a feature in the
CyclicBrakeCheck
functionality.
Continues on next page
202 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
10 Reference information
10.2 Cyclic Brake Check guidelines
Continued