Rockwell Automation Application Content
Rockwell Automation Robotics Libraries
Reference Manual
Brake Control - Robot
raM_Robot_Opr_BrakeControl V2.0
December, 2023
Rockwell Automation Robotics Libraries
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Rockwell Automation Robotics Libraries
Table of Contents
Table of Contents .......................................................................................................................................................................... 3
1 Overview .............................................................................................................................................................................. 4
1.1 Prerequisites ................................................................................................................................................................. 4
1.2 Functional Description ................................................................................................................................................... 5
1.3 Execution ...................................................................................................................................................................... 6
2 Instruction ............................................................................................................................................................................ 8
2.1 Input Data ..................................................................................................................................................................... 8
2.2 Output Data .................................................................................................................................................................. 8
2.3 Error Codes ................................................................................................................................................................... 8
3 Application Code Manager.................................................................................................................................................... 9
3.1 Definition Object: raM_Robot_Opr_BrakeControl .......................................................................................................... 9
3.2 Implementation Object: raM_LD_Robot_BrakeControl................................................................................................... 9
3.3 Attachments ................................................................................................................................................................. 9
4 Application ......................................................................................................................................................................... 10
4.1 Using raM_Robot_Opr_BrakeControl........................................................................................................................... 10
5 Appendix ............................................................................................................................................................................ 11
General.................................................................................................................................................................................... 11
Common Information for All Instructions .................................................................................................................................. 11
Conventions and Related Terms ............................................................................................................................................... 11
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Rockwell Automation Robotics Libraries
1 Overview
raM_Robot_Opr_BrakeControl:
The instruction will activate automatic brake mode or disengage the brake on the selected motor axis.
Use when:
• Using a Device Handler for Robot Management
• Not using the Rockwell Automation Robotics Libraries rOS program/HMI faceplates
Do NOT use when:
• Not using a Device Handler for Robot Management
• Using the Rockwell Automation Robotics Libraries rOS program/HMI faceplates
1.1 Prerequisites
• Device Handler for Robot
o Rockwell Automation Robotics Libraries v2.0 →
• Studio 5000 – Logix Designer
o v35.0 →
• Studio 5000 – Application Code Manager
o v4.03.00 →
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Rockwell Automation Robotics Libraries
1.2 Functional Description
This instruction is used to override the default motor brake state (Auto) to disengage brake. Before executing
this instruction, the robot must be de-energized. Ensure the arm is properly supported externally BEFORE
attempting to release the brake on any axis. The arm could suddenly drop and cause injury and/or equipment
damage. Cfg_Motor bit pattern determines which axes will have their brake state changed. The
Cfg_DisengageBrake input determines the desired state for the brake on each axis selected by this instruction.
Method instance ID
Instruction backing tag
Robot data handle
Robot axes designated for brake state change
Desired brake state (0=Auto, 1=Release)
General Status Bit Behavior:
Note: Status bits not shown on the output side of the instruction are not used and will not exist in the
instruction backing tag.
Status Bit Description / Behavior
• Enable Out indicated the status of the output line of the instruction.
• If false (logically LO) any instruction on the ladder rung between the instruction and the neutral rail will not
*.Sts_EO be energized.
• If the instruction is removed from ladder scan either in a conditional subroutine, MCR zone, JMP/LBL etc.,
the bit will remain in its last evaluated state.
• The rung-in condition of the ladder rung is true and the instruction is being evaluated.
*.Sts_EN • If the instruction is removed from ladder scan either in a conditional subroutine, MCR zone, JMP/LBL etc.,
the bit will remain in its last evaluated state.
• If the instruction experiences an internal error, the *. Sts_ER bit will be set. Error codes / Extended codes
can be found by monitoring the backing tag *.Sts_ERR / *.Sts_EXERR members respectively.
*.Sts_ER
• If the instruction is removed from ladder scan either in a conditional subroutine, MCR zone, JMP/LBL etc.,
the bit will remain in its last evaluated state.
• Used when the execution of the instruction completes within a single scan.
*.Sts_DN • If the instruction is removed from ladder scan either in a conditional subroutine, MCR zone, JMP/LBL etc.,
the bit will remain in its last evaluated state.
• Used to identify the instruction is In-Process
*.Sts_IP • If the instruction is removed from ladder scan either in a conditional subroutine, MCR zone, JMP/LBL etc.,
the bit will remain in its last evaluated state.
• Used when the execution of the instruction requires more than a single scan to complete, and indicates
the ‘process’ carried out by the instruction has successfully completed; Process Complete.
*.Sts_PC
• If the instruction is removed from ladder scan either in a conditional subroutine, MCR zone, JMP/LBL etc.,
the bit will remain in its last evaluated state.
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1.3 Execution
• Level
1.3.1 Overview
Rung in condition transition response:
• False → True
o Initialization
▪ *.Sts_EO = 0
▪ *.Sts_ER = 0
▪ *.Sts_PC = 0
▪ *.Sts_IP = 0
o Running
▪ *.Sts_EO = 1
▪ *.Sts_EN = 1
▪ *.Sts_IP = 1
• Operation
• IF: Method completes
o THEN: *.Sts_PC = 1 and *.Sts_IP = 0
• IF: Error
o THEN: *.Sts_IP = 0 and *.Sts_PC = 0 and *.Sts_ER = 1
• True → False
o *.Sts_EO = 0
o *.Sts_EN = 0
o *.Sts_IP = 0
▪ IF: Error
• THEN: *.Sts_ER = 1
1.3.2 Affected Device Handler Status
None
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Rockwell Automation Robotics Libraries
1.3.3 Execution Table
Rung-In =
TRUE
Brake Brake
command command *.Sts_ER = 1
request already in *.Sts_ERR = 1011
Generate active? use
Method ID
Evaluate Cfg_Motor and set
Cfg_DisengageBrake
command to selected
Device Handler Incorrect *.Sts_ER = 1
motors
State Check State *.Sts_ERR = 1001-1003
\RobotName All
_DH.Sts. commands *.Sts_IP = 1
Available or been issued?
Idle
\[Link]. *.Sts_ER = 1 *.Sts_PC = 1
Energized?
Energized=1 *.Sts_ERR = 1005
\RobotName_DH
.Sts.
Energized=0
Motor(s) Motor
*.Sts_ER = 1
selected in selection out
*.Sts_ERR = 1010
range? of range
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Rockwell Automation Robotics Libraries
2 Instruction
2.1 Input Data
Input Function / Description DataType
Ref_Handle Device Handler Data Structure raM_UDT_Robot_Dvc_DataHndl
Cfg_Motor Motor axis brake selection binary pattern (bit 0 = Motor 0, etc) SINT
Cfg_DisengageBrake Desired Brake State (0=AUTO, 1=Disengage Brake) BOOL
2.2 Output Data
Output Function / Description DataType
Sts_EO Instruction has enabled the rung output. Provides a visible indicator of the EnableOut BOOL
system parameter for use during ladder instantiation
Sts_EN Instruction is Being Scanned - Rung In Condition = TRUE BOOL
Sts_ER Instruction is in Error - See Sts_ERR / Sts_EXERR for Additional Error Information BOOL
Sts_ERR Instruction Error Code - See Instruction Help for Code Definition DINT
Sts_EXERR Instruction Extended Error Code - See Instruction Help for Code Definition DINT
Sts_MtdID Method ID DINT
Sts_IP Instruction is 'In Process' BOOL
Sts_PC Instruction Process is Complete BOOL
2.3 Error Codes
Sts_ERR Description
0 No errors present
1001 Device Handler is not in a running state. Commands to the device cannot be processed.
1002 Device Handler is faulted. Clear faults to apply commands
1003 Device Handler is not in a supported state.
1005 Robot is energized
1010 Motor selected is out of range
1011 Brake instruction is already in use
1012 Timeout Brake Control error (brake not released within 10s)
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Rockwell Automation Robotics Libraries
3 Application Code Manager
3.1 Definition Object: raM_Robot_Opr_BrakeControl
This object contains the AOI definition and used as linked library to implement object. This gives flexibility to choose to
instantiate only definition and create custom implement code. User may also create their own implement library and link
with this definition library object.
3.2 Implementation Object: raM_LD_Robot_BrakeControl
Implementation Language: Ladder
Content Type: Routine
This implement contains only a rung with an instance of the raM_Robot_Opr_BrakeControl object.
Parameter Name Default Value Instance Name Definition Description
RoutineName _{ObjectName} {RoutineName} Routine Name of the routine where the object will be
placed
TagName {ObjectName} {TagName} Tag Instruction backing tag
StartBitTagName Cmd_{ObjectName} Local Tag Tag name for start command enabling bit
Linked Library
Link Name Catalog Number Revision Solution Category
RobotHandler raM_Robot_Dvc_DeviceHandler 2 (RA-LIB) Robotics Robot Handler
raM_Robot_Opr_BrakeControl raM_Robot_Opr_BrakeControl 2 (RA-LIB) Robotics Asset-Control
3.3 Attachments
Name Description File Name Extraction path
V2_{LibraryName} Reference Manual RM-{LibraryName}.pdf {ProjectName}\Documentation
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Rockwell Automation Robotics Libraries
4 Application
4.1 Using raM_Robot_Opr_BrakeControl
This instruction is supported as part of the Rockwell Automation Robotic Library rOS program object.
Interaction with motor brake operation is handled through the HMI faceplates supplied with rOS. No further
user programming would be required for operation.
If required, the instruction can be programmed independently as follows.
Note that the Data Handle is accessed through the Device
Handler Program using DAP (Direct Access Parameters)
Instructions that use a *.Sts_PC bit could
require multiple scans to complete
Ensure rung remains true
until Process Complete
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Rockwell Automation Robotics Libraries
5 Appendix
General
This document provides a programmer with details on this OEM
Building Block instruction for a Logix-based controller. You should
already be familiar with how the Logix-based controller stores and
processes data.
Novice programmers should read all the details about an instruction
before using the instruction. Experienced programmers can refer to the
instruction information to verify details.
This OEM Building Block Instruction includes an Add-On
Instruction for use with Version 24 or later of Studio 5000
Logix Designer.
Common Information
Rockwell Automation Building Blocks contain many common attributes
for All Instructions or objects. Refer to the following reference materials for more
information:
• Foundations of Modular Programming, IA-RM001C-EN-P
Conventions and
Data - Set and Clear
Related Terms This manual uses set and clear to define the status of bits (Booleans) and
values (non-Booleans):
This Term: Means:
Set The bit is set to 1 (ON)
A value is set to any non-zero number
Clear The bit is cleared to 0 (OFF)
All the bits in a value are cleared to 0
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Rockwell Automation Robotics Libraries
Signal Processing - Edge and Level
This manual uses Edge and Level to describe how bit (BOOL) Commands,
Settings, Configurations and Inputs to this instruction are sent by other logic and
processed by this instruction.
Send/Receive
Method: Description:
Edge • Action is triggered by "rising edge" transition of input
(0-1)
• Separate inputs are provided for complementary
functions (such as "enable" and "disable")
• Sending logic SETS the bit (writes a 1) to initiate the
action; this instruction CLEARS the bit (to 0)
immediately, then acts on the request if possible
• LD: use conditioned OTL (Latch) to send
• ST: use conditional assignment [if (condition) then
bit:=1;] to send
• FBD: OREF writes a 1 or 0 every scan, should use
Level, not Edge
Edge triggering allows multiple senders per Command,
Setting, Configuration or Input (many-to-one relationship)
Level • Action ("enable") is triggered by input being at a level
(in a state, usually 1)
• Opposite action ("disable") is triggered by input being
in opposite state (0)
• Sending logic SETS the bit (writes a 1) or CLEARS
the bit (writes a 0); this instruction does not change
the bit
• LD: use OTE (Energize) to send
• ST: use unconditional assignment [bit:=
expression_resulting_in_1_or_0;] or "if-then-else"
logic [if (condition) then bit:= 1; else bit:= 0;]
• FBD: use OREF to the input bit
Level triggering allows only one sender can drive each
Level
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Rockwell Automation Robotics Libraries
Instruction Execution - Edge and Continuous
This manual uses Edge and Continuous to describe how an instruction is
designed to be executed.
Method: Description:
Edge • Instruction Action is triggered by "rising edge"
transition of the rung-in-condition
Continuous • Instruction Action is triggered by input being at a level
(in a state, usually 1)
• Opposite action is triggered by input being in opposite
state (0)
• Instructions designed for continuous execution should
typically be used on rungs without input conditions
present allowing the instruction to be continuously
scanned
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Rockwell Automation Robotics Libraries
Relay Ladder Rung Condition
The controller evaluates ladder instructions based on the rung condition
preceding the instruction (rung-in condition). Based on the rung-in condition and
the instruction, the controller sets the rung condition following the instruction
(rung-out condition), which in turn, affects any subsequent instruction.
If the rung-in condition to an input instruction is true, the controller evaluates the
instruction and sets the rung-out condition based on the results of the
instruction. If the instruction evaluates to true, the rung-out condition is true; if
the instruction evaluates to false, the rung-out condition is false.
The rung-in condition is reflected in the EnableIn
parameter and determines how the system performs each
Add-On Instruction. If the EnableIn signal is TRUE, the
system performs the instruction’s main logic routine.
Conversely, if the EnableIn signal is FALSE, the system
performs the instruction’s EnableInFalse routine.
The instruction’s main logic routine sets/clears the
EnableOut parameter, which then determines the rung-out
condition. The EnableInFalse routine cannot set the
EnableOut parameter. If the rung-in condition is FALSE,
then the EnableOut parameter and the rung-out condition
will also be FALSE.
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Rockwell Automation Robotics Libraries
Pre-scan
On transition into RUN, the controller performs a pre-scan before the first scan.
Pre-scan is a special scan of all routines in the controller. The controller scans
all main routines and subroutines during pre-scan, but ignores jumps that could
skip the execution of instructions. The controller performs all FOR loops and
subroutine calls. If a subroutine is called more than once, it is performed each
time it is called. The controller uses pre-scan of relay ladder instructions to reset
non-retentive I/O and internal values.
During pre-scan, input values are not current and outputs are not written. The
following conditions generate pre-scan:
• Transition from Program to Run mode.
• Automatically enter Run mode from a power-up condition.
Pre-scan does not occur for a program when:
• Program becomes scheduled while the controller is running.
• Program is unscheduled when the controller enters Run mode.
The Pre-scan process performs the Process Add-On
Instruction’s logic routine as FALSE and then performs its
Pre-scan routine as TRUE.
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