Function description
System Description Service Robotics Modules
1004870-EN-05
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4.8.5
Evaluation of brake test
After a brake test has been performed in the robot arm, the robot arm reports the test res-
ults for each axis to the motion controller. The test results are compiled in the motion con-
troller and the result is downloaded to the safety control system for safe evaluation.
The following test results are possible:
}
Brake test was performed and was successful
A brake test is deemed to be successful if the motion controller reports to the safety con-
trol system within the monitoring time that the test has been successful. Following a suc-
cessful brake test, the timers for the advance warning time and monitoring time are re-
started. A corresponding message will appear in the teach pendant.
}
Brake test was performed but failed
A brake test is deemed to have been performed but have failed if the motion controller re-
ports to the safety control system within the monitoring time that the brake test has failed.
The robot arm drives will come to a controlled stop (SS1). A corresponding message will
appear in the teach pendant.
CAUTION!
Possible loss of the safety function "Safe retention with holding
brakes"
Loss of the safety function may lead to injury and/or material damage, de-
pending on the application.
If the fault condition "Brake test was performed but failed" should occur, the
robot arm may no longer be operated in production mode.
Make sure that the robot arm is either moved to a safe repair or transport
position. Have the brakes repaired and perform the brake test again.
