ABB OmniCore S Series Operating Manual page 176

6 Programming and testing
6.10.7 Brake check service routine
Continued
Interrupt the brake check
It is not recommended, but it is possible to stop the execution while running a
brake check.
If the brake check is interrupted, it will be resumed when the program execution
starts again. The brake check can be resumed up to 3 times.
Brake maintenance
Brake maintenance is a feature in the brake check functionality.
The BrakeCheck routine automatically detects if maintenance of the mechanical
brakes is needed and activates the Brake maintenance functionality during
execution. Brake maintenance applies the brake and turns the motor shaft 1 radian
five times, which gives a movement of the robot arm of less than 1 degree.
There are event logs that tell if Brake maintenance is needed, and if it has been
run.
For more information see parameter Brake Maintenance, type General Rapid, topic
Controller, in Technical reference manual - System parameters.
Event logs
When BrakeCheck is executed, the following event logs will be shown:
Event log
10272
10273
If there is a problem with one or several mechanical brakes, an event log that is
describing which mechanical unit and which axis that has bad brakes will be shown:
Event log
37234
37235
Brake check on additional axes
To be able to run brake check 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. Brake check 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:
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Note
The RAPID function IsBrakeCheckActive can be used to check if BrakeCheck
is active.
Title
Brake Check Done
Brake Check Started
Title
Brake Performance Warning
Brake Performance Error
Max Static Arm Torque = (M*L*g)/n
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Operating manual - OmniCore
3HAC065036-001 Revision: E