Pilz PRBT 6, Руководство пользователя

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Function description
System Description Service Robotics Modules
1004870-EN-05
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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 monitoring time is exceeded or there was a failed brake test, the robot
arm may no longer be operated in productive mode.
Make sure that one of the following measures is taken:
– Monitoring time was exceeded
A brake test must be performed immediately with a time-limited mo-
tion enable.
– Failed brake test
With a time-limited motion enable the robot arm is either moved to a
safe repair or transport position. Have the brakes repaired. Ensure
that the brake test is then repeated.
Safety control system prompts brake test
There are various situations in which the motion controller receives a prompt for a brake
test from the safety control system. The prompt alone does not trigger a brake test. To trig-
ger a brake test, appropriate brake test routines must be implemented in the robot program
for the following situations:
}
Cyclical prompt to perform brake test
The cyclical brake test is the brake test that is generally prescribed for the robot arm (see
Brake test function with cyclical brake test [ 40] ).
}
Prompt to perform brake test after a cold start (switch on supply voltage)
A brake test is mandatory after a cold start (see Brake test function after a cold
start [ 38] ).
} Prompt to perform brake test via an external device
The prompt to perform the brake test may come via an external device, depending on the
application (see Brake test function with an external prompt [ 43] ).
Triggering a brake test
There are various situations in which the motion controller triggers a brake test:
} Brake test triggered manually via the teach pendant as the robot is set up
In one of the manual operating modes, a brake test can be triggered by calling up the
prepared brake test program (see
Brake test function when prompted via the teach
pendant [ 42] ). When the program is executed the motion controller immediately trig-
gers a brake test.
} Brake test triggered via the robot program in automatic mode
Depending on the application, the brake test can be triggered directly via the automatic
program by calling up the command "BRAKETEST" at an appropriate point. When the
command is called up, the motion controller immediately triggers a brake test.