Calling a brake test

Description

The function block KRC_BrakeTest calls the program for the brake test. The brake test is started at the position at which the robot is located when the program is called.

	The brake test must be performed with a program override of 100% (function block KRC_SetOverride).

During the brake test, all brakes are checked to see whether the wear limit has been reached. For this purpose, the robot accelerates to a defined velocity limit. Once the robot has reached the velocity, the brake is applied and the result for this braking operation is displayed.

If the brake test is successful, the robot is located back at the start position at the end of the measurement.

If the brake test fails, i.e. a brake has been identified as being defective, the robot moves directly to a parking position. The coordinates of the parking position must be specified in the function block.

Parking position

The parking position must be selected in a position where no persons are endangered if the robot sags because of the defective brake. The transport position, for example, can be selected as the parking position.

	Further information about the transport position is contained in the robot operating or assembly instructions.

	Detailed information about the brake test is contained in the operating and programming instructions for the KUKA System Software (KSS).

Calling a brake test 4: — Function block KRC_BrakeTest

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	Starts/buffers the motion in the case of a rising edge of the signal.
ParkPosition	E6POS	Coordinates of the Cartesian parking position (>>> E6POS) The data structure E6POS contains all components of the parking position (= position of the TCP relative to the origin of the selected coordinate system).
ParkVelocity	INT	Velocity 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type. Default: 0% (= velocity is not changed)
ParkAcceleration	INT	Acceleration 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type. Default: 0% (= acceleration is not changed)
ParkCoordinateSystem	COORDSYS	Coordinate system to which the Cartesian coordinates of the parking position refer (>>> COORDSYS)
BufferMode	INT	Mode in which the statement is executed 1: ABORTING 2: BUFFERED (>>> BufferMode)

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = statement is currently being transferred or has already been transferred
Active	BOOL	TRUE = motion is currently being executed
Done	BOOL	TRUE = motion has stopped
Aborted	BOOL	TRUE = statement/motion has been aborted
Result	DINT	Result of the brake test 0: brake test failed (brake identified as defective or no connection to robot controller) 1: brake test successful (no brake defective, but at least one brake has reached the wear limit) 2: brake test successful (no brake defective or reached wear limit)
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number