Function description
System Description Service Robotics Modules
1004870-EN-05
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4.8.2 Brake test function with cyclical brake test
As a cyclical brake test is always prescribed for the robot arm, monitoring of the cyclical
brake test is always active. With a cyclical brake test, the safety control system is tasked
with prompting the motion controller to perform a brake test as part of each cycle. The
safety control system monitors whether the period between two successful brake tests ex-
ceeds the monitoring time of 9 hours. One hour before the monitoring time is exceeded
there will be an advance warning. Within the next hour it is necessary to approach the spe-
cified brake position, depending on the application, and perform a brake test (see Planning
the position for the brake test [ 72]).
Expiry of the advance warning time initiates the following procedure:
The advance warning time for the
cyclical brake test has expired
Brake test required
Display on teach pendant:
"Perform brake test
within 1 hour"
Fig.: Advance warning time expires during the cyclical brake test
If the monitoring time of 9 hours 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.
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