2.1.2. Detailed brake test items

2.1.2. Detailed brake test items

 

(1)   Brake test items

 

Select to test hold or release for each axis. In general, select both.

 

n Hold test

Torque is applied for 3 s with the brake working.

It checks if the movement of the motor angle exceeds the reference value within 3 s.

The following warning is displayed if the reference value is exceeded:

“Abnormality is detected in W0162 brake hold test.” And then the test continues with the next axis.

 

n Release test

Torque is applied for 3 s with the brake open.

It checks if the movement of the motor angle reaches the reference value within 3 s.

The following warning is displayed if the reference value is not reached:

“Abnormality is detected in W0163 brake release test.” And then the test continues with the next axis.

 

(2)   Torque application ratio

 

Set the ration of torque for a motor when testing each axis. The torque is a ratio for rating the friction torque of motor (maximum torque of motor brake).

The use of default ratio in most cases is recommended.

However, adjust the value in the following cases:

-   If warning occurs because the change is too big in the hold test, decrease the torque application ratio.

-   If warning occurs because the change is too small in the release test, increase the torque application ratio.

 

 

(3)   Error detection reference (degree)

 

Set error reference values for axes in the hold or release test.

 

n Hold

Reference value for hold test. Decrease the value for a more precise brake hold test.

 

n Release

Reference value for release test. Increase the value for a more precise brake release test.

 

This value can be automatically set by executing the brake test command in the Reference Setting Mode.

 

 

(4)   Escape program number

 

Specify the job program number that the robot escape position has recorded for errors. If the escape program is not set, an error will occur when executing the brake test command. The escape program is automatically run when an issue occurs during brake hold test after the test command is finished. For more details, refer to Chapter 3, Application Example.

 

 

(5)   Reference setting mode

 

It is used to change the error detection reference according to the actual system. Press the F1 key to disable the Brake Test Item and Error Detection Reference of axis so as to enter Reference Setting Mode. Press F1 again to disable the Reference Setting Mode. For more details, refer to 2.3 Brake test data monitoring.