Is there a system variable I can use to check if a brake test is required?
Safe Operations - Brake Test
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brianr -
June 26, 2014 at 3:07 PM -
Thread is marked as Resolved.
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Yes.
goto STEU/ MADA / $machine.dat
on my KRC4s it's line 14 :
SIGNAL $BRAKETEST_REQ_INT $OUT[20] ;TRUE= Bremsentest wird angefordert
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So to be clear, if I monitor $BRAKETEST_REQ_INT internally, I can use it to trigger a brake test when appropriate.
If so, that's great, thanks!
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Yes, you may also link it to an output to allow PLC to know / initiate brake test as well
Personally, I removed the brake test requirement from the KRC4s I've been working with. The customer hated it, as did/do I.
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Yes, you may also link it to an output to allow PLC to know / initiate brake test as wellPersonally, I removed the brake test requirement from the KRC4s I've been working with. The customer hated it, as did/do I.
How did you remove it? Just curious for future installations.
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I'm going to make an informative post regarding it. Here it is, it's really quite easy:
First, login as Expert. Decouple the robot (not sure if this is required or not but I do anyway). Minimize the KukaHMI so that you're in Windows CE (This is from the smart-pad).
Go to \KRC\ROBOTER\Config\User\Common\MotionDrivers folder. There is a file motiondrv.ini. Open it, there should be something along these lines at the bottom of the file:
All you have to do is comment out the BRAKE_TEST line like so:
Reboot the controller and brake tests are gone forever.
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I would be careful about this, if controller is using SafeOperation, brake test is required.
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Yes, if you have SafeOperation enabled, do not disable the brake test. I did because the robots I'm using came with SafeOp, but it isn't being used.
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we have instal safeoparation on the robot controler but in safty configuration we didn't use this option in otherwise we don't need safe operation so can we disable this option in motiondrv.ini. to baypass brake test in the robot for ever ?
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If i'm not interest in safe operation, is there a similar way to disable also "Mastering test required"?
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No. If SafeOp is active, then the Mastering Check is required. Period. However, if you have SafeOp installed but are not using it, you can deactivate SafeOp entirely.
HOWEVER! This means that the only safeties left on the robot will be the E-Stop, Operator Safety input (safety gate, lightscreen, etc), and the teach pendant enabler. Which can be fine, but there will be no range limit on the robot -- if a fence is within reach, there's nothing stopping the robot from punching straight through it, if someone were to fat-finger a coordinate. No safety zones, or safety speed limitation either.
Disabling SafeOp should never be done unless you've carried out a thorough safety analysis and found that you won't need those features. For example, just saying "we'll never use this robot except in Teach mode" is not enough -- if you're counting on that, then you should disable the Operator Safety input. This will allow the robot to be run in Teach, but disable it if someone turns the mode selector to Auto.
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You are right, infact this robot that i'm playing with is completely encaged,
there was an identical robot before in there that had not the safe option.
Since this is basically used by me, only for learning about robots,
it can be also a good point in how to disable, enable and manage safe operation.
But i read that SafeRobot1.1 can not be disabled, am i right? Or can it be done?
Another point: i don't have a Calibration reference switch
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SafeOp 1.1? Okay, that's older than any of the SafeOp versions I ever worked on. I think this would be a question best asked of KUKA tech support.
If you look in the D:\KUKA_OPT\ directory on the robot, there should be a subdirectory for SafeOp, and a copy of the PDF manual for that version of SafeOp should be in there. That might help as well.
You could replace the Mastering Reference Switch with your own sensor. KUKA provides the switch as a convenience, but any dual-channel, dry-contact (like a dual-channel relay) should serve. The trick is that SafeOp checks the moment the sensor triggers with the recorded MasRef position of the robot, with a tight time window. And both channels have to close/open together with a very tight time window. You would have to match the wiring of the MasRef cable where it connects to the SafeRDC, though.
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SafeOp 1.1? Okay, that's older than any of the SafeOp versions I ever worked on. I think this would be a question best asked of KUKA tech support.
If you look in the D:\KUKA_OPT\ directory on the robot, there should be a subdirectory for SafeOp, and a copy of the PDF manual for that version of SafeOp should be in there. That might help as well.
You could replace the Mastering Reference Switch with your own sensor. KUKA provides the switch as a convenience, but any dual-channel, dry-contact (like a dual-channel relay) should serve. The trick is that SafeOp checks the moment the sensor triggers with the recorded MasRef position of the robot, with a tight time window. And both channels have to close/open together with a very tight time window. You would have to match the wiring of the MasRef cable where it connects to the SafeRDC, though.
Hi Sir!
How to active " Brake test" function?
There are some information about my system.
Thanks bro!
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How to active " Brake test" function?
You add points to the programs located in /R1/TP/Braketest, as described in the manual, then run the BrakeTestReq program. This program must be run in AUT, EXT, or T2, as it requires full-speed operation.
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You add points to the programs located in /R1/TP/Braketest, as described in the manual, then run the BrakeTestReq program. This program must be run in AUT, EXT, or T2, as it requires full-speed operation.
Thanks for your comment!
That's mean We can carry out the brake test inwhile Status of brake test is Deactived and checksum is inactive?
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Status of brake test is Deactived
What does this mean?
checksum is inactive?
What does this mean? If it means what I think it does, I'm not sure you can do any safety-related checks until after approving the checksum change. Why would you even try? Approving the checksum is the first thing to do after completing any SafeOp changes.
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- Best Answer
His screenshots show he does not have SafeOp installed.
Fubini
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His screenshots show he does not have SafeOp installed.
Fubini
...'D'OH!
Well, in that case, the Brake Test is completely irrelevant.
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What does this mean?
What does this mean? If it means what I think it does, I'm not sure you can do any safety-related checks until after approving the checksum change. Why would you even try? Approving the checksum is the first thing to do after completing any SafeOp changes.
Year!
When I check another Kuka Robot System running on my site, i find that when i access safety configuration It's shown on below
that is my question. How to do switch Brake test from Deactived to Enforced? Install Safe Operation is mandatory?
You add points to the programs located in /R1/TP/Braketest, as described in the manual, then run the BrakeTestReq program. This program must be run in AUT, EXT, or T2, as it requires full-speed operation.
Yes. I know, i have read manual and it is not successful
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