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ID : 10998

CheckBrake

Function

To check the robot brake performance.

This command is available in Ver.1.1.* or higher.

Syntax

CheckBrake

Description

This command checks the robot brake performance.
To execute this statement, the task must acquire target axis control.
Brake performance check is complete if no error occurs when executing the command.
If the error [0x844071C* : J*:Brake check error] occurs frequently, the brake performance may have deteriorated.
Contact our service representative for inspection and repair.

Related Terms

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Attention

  • Brake performance for extended-joints cannot be checked.
  • This command cannot be executed in the machine-lock state or during robot motion.
  • If you execute it near the software motion limit and the error [0x8320407* : J* software limit over] occurs, execute it again in a position away from the software motion limit.
  • If the error [0x8440731* : J*:Brake check has been interrupted because the limit has been reached] occurs in the VLA series, change to a posture that is not easily affected by gravity (example: J(0,0,0,0,0,0)) and execute again.
  • In the VMB series, command execution time differs between Auto mode and Manual mode, therefore we recommend you use in Auto mode.
  • If the error [0x844072C* : J*:Timeout occurred during checking brake] occurs frequently in the VMB series, execute it again in the external speed 100 % in Auto mode. If it still occurs frequently, the brake or motor performance may have deteriorated. Contact our service representative for inspection and repair.

Example

'!TITLE "Brake performance check"
Sub Sample_CheckBrake

  TakeArm Keep = 1

  ' Brake performance check
  CheckBrake

End Sub

ID : 10998

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