VASS06 safety robot performs brake test or calibration test

FB 292 FB_Rob_Safe

This block is used to control Safe.

This data block is usually called together with its own instance data block.

How it works

This block is used to control the Safe robot.

Perform a brake test or calibration test

The robot queries the selection of brake test, selection of calibration test and service program request at the beginning of the sequence in each work sequence and maintenance sequence. If there is a selection or request, the corresponding function is executed. After execution, the selection or request is reset and the sequence is processed to completion.

Select Brake Test or Calibration Test

If the robot is at point 0 in sequence 125 and there are no further subsequent tasks, then in the case of a brake test or calibration test, maintenance is automatically selected for the robot after the set delay time 'ZVer' has expired. The maintenance position is automatically reconfirmed after the brake test or calibration test has been performed. If the robot does not perform the selected function with a delay, then maintenance must either be selected via the 'Maintenance' button or the block input 'UebZVer' must be True. Here too, the maintenance position is automatically confirmed after the brake test or calibration test has been performed.

The calibration test or brake test can be disabled by .Cfg.X1 true or .Cfg.X5 true if the robot does not support it.

Service Program Request

If the robot is at point 0 in sequence 125 and there are no further follow-up tasks, then if there is a service program request, maintenance is automatically selected for the robot after the set delay time 'ZVer' has expired. The maintenance position is automatically reconfirmed after the requested function has been executed. If the robot executes the service program request without a delay, the block input 'UebZVer' must be True. Here, too, the maintenance position is automatically confirmed after the requested function has been executed. If maintenance is selected via the 'Maintenance' button when a service program request occurs (brake test and calibration test are not selected), the robot moves into the maintenance position after the requested function has been executed and stops there (without automatic confirmation).

If the robot sends the service program request to and the brake test must therefore also be automatically selected, .Cfg.X4 must be true.

Displays brake test, calibration test, reference button, fault and service request

Brake tests, calibration tests, reference buttons, faults and service requests are displayed on the visualization. Detailed fault messages are also entered into the message system.

'A252 Brake Wear Warning' = True -and-

'A253 Brake test abnormal' = False

A254 Calibration parameter search is abnormal' = True

'RefTaster' = True (Safe robot reference seek button) -or- 'A250 When calibration test' = True

'A251 Service Program Request' = True

Selecting and deselecting brake test

The brake test can only be selected visually (via the 'Brake test' button). The brake test cannot be deselected.

Brake test is selected and executed (button color blue) 'A249 When brake test' = True

Selecting and cancelling a calibration test

The calibration test can be selected or deselected via the 'Calibration test' button (toggle function). 'When calibration test' automatically deselects the calibration test when a negative edge occurs. The calibration test is only possible with KUKA robots. With ABB robots, the button is hidden and the function is inactive.

A249 When Calibration Tested' = True

Selecting and canceling the delayed shut-off measurement

The delayed closing measurement can only be selected via the visualization (via the 'Delayed closing measurement' button). The delayed closing measurement cannot be canceled.

Safe robot display and message activation

If .Cfg.X6 is true, the Safe robot display is activated. Also, a message is generated if the Safe robot is not activated.

You can define via .Cfg.X7 whether displays and messages are generated via safe robot output A2.0 (safe axis monitoring activated) or A.7.7 (safe configuration interlock). If .Cfg.X7 is false, A2.0 is used, if true, A7.7 is used.

SafetyConnect

The calibration reference pushbutton should be connected via the fieldbus and not in the robot cabinet.

Safe robot search button

The reference search button used should be designed as 2 channels internally.

The input components should be channelized according to type 1 of the Safety channel setting (see the table "Distribud Safety" in the appendix of the design specification "VASS V6 Standard Design Specification TIA_V_x_y"

Editor: Huang Fei