Maintenance
Running a Brake Check (BRCH) on a Robot
For maintenance technicians verifying axis holding brake torque using the controller's Brake Check function, which compares measured torque against $BCK_GRP.$BRK_TORQUE and reports pass or fail via BRCH alarm codes.
- Step 1.
Clear the cell and secure the area
Make sure no one's inside the robot envelope before starting. The axis will be commanded and the brake loaded during the test.
- Step 2.
Confirm the brake torque threshold
Check that $BCK_GRP[group].$BRK_TORQUE[axis] matches the motor's BRAKE SPECIFICATIONS torque value in the maintenance manual for each axis being checked.
- Step 3.
Move the robot to the Brake Check reference posture
Jog to the posture configured for the Brake Check so the brake sees the expected load during the test.
- Step 4.
Run the Brake Check
Start the BRCH function from the controller. The system commands torque against the engaged brake and measures the result automatically.
- Step 5.
Read the BRCH result
A pass completes without a BRCH alarm. A fail posts one of BRCH-001 through BRCH-011 identifying the axis and failure mode.
- Step 6.
Interpret a failed code
Cross-reference the BRCH code in the alarm manual. A torque-below-threshold result means the brake didn't hold against the configured $BRK_TORQUE value and the brake's degraded.
- Step 7.
Escalate on fail
Treat any BRCH fail as a stop-use condition for that axis. Don't return the robot to production until the brake is serviced or the motor's replaced and the check passes.
- Step 8.
Log the result
Record the BRCH pass or fail per axis, the date, and any follow-up work order.
Common questions
- How long does Running a Brake Check (BRCH) on a Robot take?
- Running a Brake Check (BRCH) on a Robot is rated Intermediate and takes about 30 minutes across 8 steps.
- What tools do I need?
- You will need Teach pendant, Maintenance manual with BRAKE SPECIFICATIONS for the motor.
- What should I do before starting?
- Robot powered and operational. Brake Check schedule and $BCK_GRP[group].$BRK_TORQUE[axis] configured per the motor's BRAKE SPECIFICATIONS. Cell clear of personnel.
- What is the first step?
- Clear the cell and secure the area. Make sure no one's inside the robot envelope before starting. The axis will be commanded and the brake loaded during the test.