ABB OmniCore S Series Operating Manual page 180

6 Programming and testing
6.10.7 Brake check service routine
Continued
Signal
BCERR
BCWAR
BCACT
Interrupted brake check test, program pointer moved from BrakeCheck routine
Signal
BCOK
BCERR
BCWAR
BCACT
Configure system parameters
About the system parameters
The configuration of system parameters required for a robot system should be
made before running the brake check.
Type Mechanical Unit
All mechanical units for additional axes that shall be supervised must have the
parameters Activate at Start Up and Deactivation Forbidden set to On. (Supervised
mechanical units must always be active.)
Type Arm
If an axis should be excluded from brake check, set the parameter Deactivate
Cyclic Brake Check for axis to On.
Type Brake
If brake check is executed on an additional axis, a lowest safe brake torque must
be defined. A 5% margin is added during the test for setting the fail limit. The
parameter used is Max Static Arm Torque defined in Nm on motor side. A warning
limit is set with a higher torque value (depending on the brake).
180
Signal state
0
0
1
Signal state
0
0
0
0
Note
The controller must be restarted after changing the system parameters.
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Operating manual - OmniCore
3HAC065036-001 Revision: E