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1 Safety, service
1.3.4 Brake testing
1.3.4 Brake testing
When to test
During operation the holding brakes of each axis motor wear normally. A test may be per-
formed to determine whether the brake can still perform its function.
How to test
The function of each axis' motor holding brakes may be checked as detailed below:
1. Run each manipulator axis to a position where the combined weight of the manip-
2. Switch the motor to the MOTORS OFF position with the Operating mode selector
3. Check that the axis maintains its position.
26
ulator arm and any load is maximized (max. static load).
on the controller.
If the manipulator does not change position as the motors are switched off, then the brake
function is adequate.
3HAC021111-001 Revision: B
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