January 2012 6.14 Synchronized Axes (Option 24) 787
Constraints for the brake test:
As a prerequisite for the brake test of a synchronized axis, all servo drives of
the axis must be switched on and the brakes must be open. The test can only
be performed if all relevant servo drives are switched on.
For slave drives for which the brake test has been disabled via
MP_testBrakeCurrent, the current is adjusted so that the servo drive is not
moved while the other servo drives of the synchronized axis are being tested.
Since the algebraic sign of the test torque cannot be determined until the
drives are feedback-controlled and the brakes are open, an appropriate waiting
time must be specified for the start of the brake test of synchronized axes. The
time set in MP_vCtrlSwitchOnDelay (400929) is used for this. The value for
MP_vCtrlSwitchOnDelay must equal the time that passes until the brake is
really open after the controller has been switched on. The same time must be
entered in MP_vCtrlSwitchOnDelay for all servo drives of a synchronized
axis. For the CC61xx controller unit the time in MP_vCtrlSwitchOnDelay is
taken into account each time the controller is switched on.
In general, the following applies to the brake control: If the brakes are
controlled by the PLC, and not by the inverters, the PLC module 9159 (drive
controllers are switched off) transmits the status message to the PLC program
regarding the closing of the brakes during the brake test.
Before performing the brake test, ensure via the PLC program that all servo
drives of a synchronized axis are switched on and the holding brakes are
open.
HEIDENHAIN recommends the sequential brake test of synchronized axes
for all machines on which a brake test for synchronized axes made
(MP_autoBrakeTest = off).
Test the behavior of the PLC program and the brake test on the machine.
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