Not much, 1-2 kg perhaps. But the brake check is always done without parts in gripper.
Posts by henke11uif
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It's a pick and place application with a tool of about 40 kg.
Some I/O-modules mounted on a plate on the elbow but nothing mounted on the arm.
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The tool seems to be correctly defined but there are only zeros on all parameters for arm loads.
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I'm working on a ABB 6620-150/2.2 RobotWare Version: 5.15.9149.15.
The robot performs cyclic brake check once a week and a couple of months ago it started to warn as follows:
-20485 SC1 Too low brake torque (axis 4)
-37230 Brake Performance Warning
To complete the brake check, it helped to reduce the override from 100% to 15%.
However, it has been working on 100% for several years before.
I've changed the motor for axis 4, changed the drive module and changed the circuit board for brake release, none of the actions has helped the issue.
I also activated Brake Maintenance but this has not helped either.
For now I have deactivated axis 4 from the cyclic brake check to avoid production downtime.
I understand that this is merely a warning but since it has worked before, I would like to resolve this.
Does anyone have any suggestions?