Electromagnet brake mode
To use the electromagnetic brake, brake mode must first be activated. To do this, send the command
/enableElectromagnetBrake or from the config tool under
Electromagnetic brake enable.
If the mode is enabled, the brake will be controlled according to the motors' excitation state.
With the command
/activate, you can switch the excitation state of the motor. The brake will be released when the motor is excited and engage when the motor is not excited.
The overlapping time
Brake Transition Duration can be set from
/setBrakeTransitionDuration or from the config tool under
Brake transition duration.
Releasing the Hold
Any load will be releasing when the holding torque on it is lost. However, there are cases where this behavior is desired. To do this, the command
/free can be sent.
WARNING: Be very careful when sending this command. It is dangerous while any load is still attached to the motor! Ensure the load is safed before sending this command!
Commands that put the motor into a non-excited state (torque hold released) will behave as follows:
/softHiZ: Decelerate the motor to a stop, engage the brake, then release the motor (HiZ state).
/hardHiz: Stop the motor immediately, engage the brake, then release the motor (HiZ state).