Function description
System Description Service Robotics Modules
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4.8.6
Default robot program for brake test
Before a brake test can be performed, the robot arm must first be moved to an appropriate
brake test position. The teach pendant contains a service program as the default robot pro-
gram for this purpose. When executing the default robot program, the robot arm is first of all
moved to the brake test position. The robot arm's zero position is specified as the default
brake test position. The default brake test position should be adapted to a suitable position,
depending on the application (see
Planning the position for the brake test [
Use default robot program for cyclical brake test
The programmer can use the service program to run the cyclical brake test. To do this the
programmer must call up the service program at a suitable point in his robot program. The
system or plant integrator is tasked with determining a time to perform the cyclical brake
test; one that will neither disturb productive mode nor exceed the monitoring time.
The teach pendant has an input, to which the status of the brake test is transmitted. Using
the robot program it is possible to query the status of the brake test at this input at certain
intervals. If there is a "1" signal at the input (brake test required), the robot program must
perform the brake test within the time specified.
Use default robot program for other situations
The programmer can also use the service program in other situations. These include, for
example
}
Prompt to perform the brake test after a cold start
}
Manual prompt to perform the brake test
For the prompt to perform a brake test, the programmer must call up the service program at
a suitable point in his robot program.
