a method for controlling a robot that has a plurality of articulation axes , with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis . the method includes closing the holding brake and at least one of opening the holding brake after the closing step based on an axial load , or opening the holding brake for a specified duration . in addition , or alternatively , closing of the holding brake may be delayed for a period of time . the holding brake may be closed in response to the detection of a monitoring - related condition of the robot .