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 perform diagnosis on failures.

 

Explanation	Inspects whether the motor brake of each axis of the robot is normal.
Syntax	BrakeCheck <Inspection type>,<Axis number>,<Torque ratio>,<Error detection level>,<Return value>
Parameter	Inspection type	Brake inspection type	HOLD RELEASE
	Axis number	The number of the axis to be inspected
	Torque ratio	Decides the applicable ratio (%) of the brake static friction torque during inspection. The higher the ratio becomes, the larger the applicable torque becomes.	1~100
	Error detection level	Decides the error detection level. The lower the value becomes, the stricter the inspection gets	1~40
	Return value	Whether the inspection is successful, values will be returned in constant variables	0: Failure 1:Success
Example	Inspects whether the motor brake of the 2nd axis is working well.  BrakeCheck HOLD,AXIS=2,TQ=30,LEVEL=5,RET=V2%

 

 

 

 

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.