3.3. Applications

3.3. Applications

 

 

(1)   Now that your program is ready to execute the brake test function, apply it to the actual job program.

 

(2)   This example executes one brake test per day.

 

 

(3)   0063.JOB file is the job program of the robot. Call the test job program No. 9800 for the brake test just before starting the job.

 

(4)   If the brake test has already been performed for the day, the date string is the same so it returns to the job program and executes the job.

 

(5)   For the first brake test of the day, the date string is different, so change the comparison variable to the date of the day and then execute the brake test. If the test result is OK, it just returns to the job program and executes the job.

 

(6)   If a hold error is found in the brake test, the escape job program No. 9900 is automatically called to move to the escape position.

 

(7)   While the brake failure detection signal is for output, it moves to the safe position even though the brake is released, and then stops with the motor on.