Brake test for "Skew priority"

The following steps are performed when starting the brake test (setpoint application mode "700"). The sequence starts with axis group member 1 and is repeated for each additional axis group member.

  1. Set the axis group members that are not to be tested to control (FCB 06) so that their positioning accuracy is maintained, e.g. when the brake slips. If the axis group members report "Setpoints active", continue with the next step.
  2. Perform the brake test (FCB 21) for the axis group member to be tested. The active brake test is indicated by the feedback "Brake test active" (8521.8, Bit0 = 1).
  3. If one brake is present, wait for test result OK (8521.8, Bit3 = 1) or NOK (8521.8, Bit2 = 1) for brake 1. If 2 brakes are present, additionally wait for test result OK (8521.8, Bit5 = 1) or NOK (8521.8, Bit4 = 1) for brake 2. 8521.32 Bit0 is the selection for testing 1 or 2 brakes, not the test result. In addition, the bit "Brake test aborted" (8521.8 Bit1) is also observed.
  4. End of the brake test on this axis group member and switch to the next axis group member.
  5. Integration of the tested drive into the axis group, i.e. this drive is additionally set to control (FCB 06).
  6. Perform the brake test for the next axis group member in the same way as described previously.
  7. The previous steps are repeated automatically for each axis group member until the brake test has been performed on all axis group members (maximum 4 axis group members).

INFORMATION: If position monitoring/skew monitoring is triggered during the brake test, the brakes are applied on all axis group members (even if they are currently being tested). For axis group members with a brake, it is already applied. However, this is not the case for axis group members with 2 brakes. This brake (brake 1 or brake 2) is then applied.