ABB IRB6400 - Manual Brake Release Circuit

Brake Circuitry
Page 8 - 4
Electrical
Troubleshooting Guide
IRB6400 M94A
8.2 Manual Brake Release Circuit
The Manual Brake Release circuit:
- Begins at the power supply GS1 pin D16.
- 24 VDC (known as Brake PB) goes to the power
unit's KM4 relay terminal 51.
Contacts 51 and 52 of KM4 are normally closed contacts
that prevent the use of manual brake release buttons
when the brake relay KM4 is energized.
As long as KM4 is NOT energized:
- 24 VDC goes through terminal 52 to XS/XP1 pin
B16.
- Into R1.MP pin B16.
- Out to the brake unit (located on the robot's right
side.)
- 24 VDC goes through the cable labeled R3.BU1-6
on the brake unit to R3.X8 pin 5.
- 24 VDC is then distributed to each of the six axis
brake switches mounted on the brake unit.
When a brake button is pressed:
- 24 VDC will go to the individual axis brake coil.
For example Axis 1:
- 24 VDC would go through R3.X9 pin 10.
- Into the Axis 1 motor connector R2.MP1 pin L.
- Inside the motor the 24 VDC will energize the coil
of the brake, releasing the brake pads allowing the
motor to turn freely.
Each individual axis brake works similarly to Axis 1.
If the brakes need to be released before the Control
Cabinet is connected to the robot, use a 24 VDC power
source connected to R1.MP pin B16 and 0 VDC to
R1.MP pin B15. Then use the brake release push
buttons on the robots right side.
USE EXTREME CAUTION WHEN MANUALLY
RELEASING BRAKES. ROBOT MAY FALL OR RISE
UNEXPECTEDLY CAUSING PERSONAL INJURY
OR TOOLING DAMAGE!!
Sheet 6, line 10 ............
Fig. 8-1,4 .........
Sheet 9, line 12 ............
Sheet 13.1, line 11........
Sheet 105, line 10.........
Fig. 8-3 ............
Sheet 104, line 01.........
Sheet 105-110..............
Sheet 104, line 09.........
Sheet 105, line 06.........
Sheet 105, line 11.........
Fig. 8-3 ............
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