Due to the rapidly growing speed and the decreasing size of gates in modern chips, the probability of faults caused by the production process grows. Already small variations lead to functional failures. Therefore, dynamic fault models like the Path Delay Fault Model (PDFM) have become more important in the last years. At the same time, classical algorithms for test pattern generation reach their limits due to the steadily increasing complexity of modern circuits. In this work, a SAT-based approach to calculate robust and non-robust test patterns for Path Delay Faults (PDF) is presented. In contrast to previous approaches, the sequential behavior of a circuit is modeled adequately. Moreover, tri-state elements and environment constraints that occur in industrial practice can be handled. The encoding to apply a Boolean SAT solver for this problem is motivated and explained in detail. Experimental results for large industrial circuits show the efficiency of this approach.