Brake Check Service Routine - ABB OmniCore S Series Operating Manual

6.10.7 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 option.
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:
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
Running the brake check
Following are the two ways to initiate a BrakeCheck service routine:
Operating manual - OmniCore
3HAC065036-001 Revision: E
Note
If the controller has SafeMove option, the RobotWare installation includes Cyclic
Brake Check service routine. For more details, see Application
manual - SafeMove.
• 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).
• 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.
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6 Programming and testing
6.10.7 Brake check service routine
Configure system parameters on page 180.
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