ABB OmniCore S Series Operating Manual page 177

To calculate the parameter for an axis that has no gravity, for example a track, the
below formula may be used:
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.
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
The file BC_config_IO.sys can be found in directory
/products/RobotControl_7.x.xxxx/utility/BrakeCheck/, and must then be copied to
the HOME directory of the active system.
Operating manual - OmniCore
3HAC065036-001 Revision: E
L
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Max Static Arm Torque = Tbrake min/1.35
Note
Note that the calculated value should be entered in [Nm] and calculated to the
motor side.
Description of the I/O setup on page
Note
Remember to update the I/O configuration with the digital output signals.
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
on page 177.
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.10.7 Brake check service routine
Length to mass (L)
Mass (M) * Gravity constant (g)
Transmission (n)
Motor (1)
Gearbox (2)
Arm (3)
M * g
177.
Continued
Description of the I/O setup
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