ABB OmniCore S Series Operating Manual page 183

4
5
6
Example of RAPID program
A signal diPSC1CBCPREWARN is defined and cross connected to the safety signal
PSC1CBCPREWARN in the I/O parameters. This cross connection is required because
there is a restricted usage of safety signals in the RAPID program. The
PSC1CBCPREWARN signal will be set to a logical high state when the prewarning
time interval expires. It will be kept high until a successful brake check has been
carried out. The status of the diPSC1CBCPREWARN signal is checked in the Main
loop in the application program.
Brake maintenance
Brake maintenance is a feature in the Cyclic Brake Check functionality.
Cyclic Brake Check automatically detects if maintenance of the mechanical brakes
is needed and activates the Brake maintenance functionality during execution.
Operating manual - OmniCore
3HAC065036-001 Revision: E
Action
Standstill tolerance is used for Stand Still
Supervision during brake test. The motor
is in regulation during brake test, and a
small movement may be allowed. The size
of the allowed movement is specified in
Standstill tolerance (in radians on motor
side). The default value is 2 radians.
Supervision threshold defines the
threshold to verify that a brake check has
been made. The default value is 0.02 radi-
ans.
Make sure axes 1 to 6 are selected. If not,
select the appropriate check box for the
corresponding axis.
Note
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.
PROC main()
IF diPSC1CBCPREWARN=1 THEN
MoveAbsJ *, v1000, fine, tool1;
! Call to the predefined service routine CyclicBrakeCheck
CyclicBrakeCheck;
ENDIF
....
ENDPROC
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6 Programming and testing
6.10.8 Cyclic Brake Check service routine
Note/illustration
Do not change the default value for Stand-
still tolerance.
Do not change the default value for Super-
vision threshold.
WARNING
An axis can be excluded only after an appro-
priate safety analysis has been performed.
This must correspond with the axis that has
the system parameter Deactivate Cyclic
Brake Check for axis set to On.
For the axes not included in SafeMove, de-
activation of the axes must be done by set-
ting the parameter Deactivate Cyclic Brake
Check for axis to On through RobotStudio.
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