Y_MS_GroupBrakeRelease
This Function Block allows the application program to operate the motor brakes on robot joints. This function can be used in manual or emergency situations to override the automatic operation.
Use caution! Damage to the mechanical brake will occur if it is engaged while the motor is rotating.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| V | JointIndex | LREAL | Joint Index as listed in the Hardware Configuration. | UINT#0 |
| V | State | LREAL | FALSE=Brake Applied, TRUE=Brake Released. | FALSE |
| VAR_OUTPUT | ||||
| B | Done | BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes for MotomanSync groups
- For groups controlled by YRC1000, brake for each motor can be engaged and released individually.
- For groups controlled by YRC1000micro, brakes are released in two groups due to hardware limitation (Joint 1, 2 ,3 and joint 4, 5, 6). For example, if JointIndex = 1 is specified, joint 1, 2 and 3 will release and engage simultaneously. If JointIndex = 5 is specified, joint 4, 5 and 6 will release and engage simultaneously.
- Must be in remote teach mode and pendant enable switch (PPDSW) pressed
Error Description
See the Function Block ErrorID List .