Function description
System Description Service Robotics Modules
1004870-EN-05
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4.8.1
Brake test function after a cold start
When the industrial robot is cold started (switch on supply voltage), the state of the holding
brakes is unknown. For this reason, an immediate brake test is absolutely essential.
After a cold start, the safety control system starts a timer and for this period of time issues a
temporary motion enable for the robot arm (see
Robot movement with time-limited motion
). Within this time the robot operator must approach the application-de-
pendent brake test position and perform a brake test. A message will appear on the teach
pendant, prompting the robot operator to perform a brake test immediately.
The safety control system waits for the result of the brake test (see
test [
).
A cold start initiates the following procedure:
Brake test required
Start timer for temporary
motion enable
Wait for result of the brake
test
Display on teach pendant:
"Perform brake test
immediately"
Fig.: Perform brake test after cold start
If the time for the temporary motion enable is exceeded and a brake test has still not been
performed successfully, the safety control system triggers the stop function SS1. The robot
arm drives will come to a controlled stop.
