Abstract: A method, a robot, and a computer program product for detecting and evaluating a friction status in at least one joint of a robotic arm, wherein, within the scope of a brake test program, at least one motor of a plurality of electric motors is driven automatically in a first rotational direction, wherein a detection of a first motor torque in the driven motor takes place during its rotation in the first rotational direction. The at least one motor is then driven in a second rotational direction opposite the first rotational direction, wherein a detection of a second motor torque in the driven motor takes place during its rotation in the second rotational direction. An automatic evaluation of the first motor torque and the second motor torque takes place in order to obtain the friction torque of the joint associated with the driven motor.

Abstract: A method for determining a response time of a brake of at least one assigned axis of a multi-axis machine includes actuating the axis, switching the brake, and determining a response time between a switching point in time and a response point in time at which a motion state of the axis changes. The method may further include opposing actuation of the axis while the brake is closed, and detecting a mechanical play between opposing maximum deflections of the axis. A method of operating or monitoring a multi-axis machine includes determining a response time and/or detecting mechanical play, and operating the machine or triggering a fault response based on the response time or mechanical play.

Abstract: The invention relates to a method for operating a brake of a machine that has a machine control unit and at least one moveable link that can be actuated by the machine control unit and that can be adjusted by a drive motor actuated by the machine control unit, which motor drives a shaft and which motor, in an engaged (closed) position of a brake that can be automatically actuated by the machine control unit, can be locked by said brake. The invention also relates to a machine with a machine control unit, in particular a robot with a robot control unit, which is configured and/or equipped for carrying out such a method.

Abstract: A method for determining a response time of a brake of at least one assigned axis of a multi-axis machine includes actuating the axis, switching the brake, and determining a response time between a switching point in time and a response point in time at which a motion state of the axis changes. The method may further include opposing actuation of the axis while the brake is closed, and detecting a mechanical play between opposing maximum deflections of the axis. A method of operating or monitoring a multi-axis machine includes determining a response time and/or detecting mechanical play, and operating the machine or triggering a fault response based on the response time or mechanical play.

Abstract: A method for determining a response time of a brake of at least one assigned axis of a multi-axis machine includes actuating the axis, switching the brake, and determining a response time between a switching point in time and a response point in time at which a motion state of the axis changes. The method may further include opposing actuation of the axis while the brake is closed, and detecting a mechanical play between opposing maximum deflections of the axis. A method of operating or monitoring a multi-axis machine includes determining a response time and/or detecting mechanical play, and operating the machine or triggering a fault response based on the response time or mechanical play.

Abstract: The invention relates to a method for operating a brake of a machine that has a machine control unit and at least one moveable link that can be actuated by the machine control unit and that can be adjusted by a drive motor actuated by the machine control unit, which motor drives a shaft and which motor, in an engaged (closed) position of a brake that can be automatically actuated by the machine control unit, can be locked by said brake. The invention also relates to a machine with a machine control unit, in particular a robot with a robot control unit, which is configured and/or equipped for carrying out such a method.

Abstract: A method for determining a response time of a brake of at least one assigned axis of a multi-axis machine includes actuating the axis, switching the brake, and determining a response time between a switching point in time and a response point in time at which a motion state of the axis changes. The method may further include opposing actuation of the axis while the brake is closed, and detecting a mechanical play between opposing maximum deflections of the axis. A method of operating or monitoring a multi-axis machine includes determining a response time and/or detecting mechanical play, and operating the machine or triggering a fault response based on the response time or mechanical play.