Design and planning
System Description Service Robotics Modules
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5.5
Planning the position for the brake test
Before you can perform a brake test, the motion controller must move the axes of the robot
arm to a suitable test position. The system or plant integrator is tasked with determining a
suitable test position, depending on the application.
Criteria for a suitable test position
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The brake test must take place in a position that poses no hazard for the robot operator
(e.g. park position, closed safety gate).
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In the test position, the robot arm is not to be gravity loaded at all or if so only slightly,
otherwise an additional force is acting on the holding brakes, which unnecessarily
toughens the test criteria.
Default robot program for brake test
The teach pendant contains a service program as the default robot program (see
robot program for brake test [
). When executing the service program, the robot arm
is first of all moved to the brake test position. The zero position of all axes of the robot arm
is specified as the default brake test position.
Axis 1 (A1)
Base
[1]
Axis 4 (A4)
Axis 6 (A6)
Axis 3 (A3)
Axis 2 (A2)
[2]
[3]
Joint 1
Joint 2
Joint 3
Axis 5 (A5)
Fig.: Zero position of the axes
