10.5.3.25. BrakeCheck

10.5.3.25. BrakeCheck

 

This function is for inspecting the state of motor brakes of each axis of the robot and performs diagnosis on failures.

 

Explanation	Inspects whether the motor brake of each axis of the robot is normal.
Syntax	BrakeCheck <Return value>
Parameter	Return value	It returns the axis number if an error occurs during inspection. If there is no error, return to 0.	0: Failure 1:Success
Example	‘Move to the retraction step if an error occurs after its brake test.  BrakeTest RET=LV10%  IF LV10%>0 THEN  PRINT #0,” An error occurred during the brake test: “,LV10%  CALL 9900 ‘Retraction program when a brake error occurs  ENDIF    ‘Retraction program 9900.JOB S1  MOVE P,S=5%,A=1,T=1’ Retraction position against the axis fall      DO200=1 ‘Brake test error signal output      STOP    ‘Robot standby with a stationary state      END

 

 

 

 

l 『Brake inspection posture』

Considering that each axis could move while inspecting the brake, it is necessary to inspect brakes based on a safe posture by taking into account possible interference.

 

l 『Brake failure』

When it is decided that a brake has failed, it is necessary to stop using the robot and put the motor’s brake through a complete inspection. Replace the motor if it is found to have problems.