[IIWA, Sunrise] Brake time control

Quote from kr16_2

Is there a parameter to set how soon brakes will close on Sunrise controller?
Something like $BRK_... in KRL.
thx

I don't know what does $BRK_ do in KRL. Can you elaborate?

Is it for a delay before closing the brakes at the end of a motion? If so, here's what comes to my mind:
- Create an ESM easily violated and put STOP 0 as its reaction
- Add a Thread.Sleep (delayInMilliSec) just before activating that ESM by setESMState( );

I never tried it or had the need to. Try it and tell us if it works.

BRK_DEL_xxxx in KRC2s and KRC4s control how long the robot maintains position (at a WAIT point, for example) before closing the brakes and shutting down power to the servo motors.

Quote from SkyeFire

BRK_DEL_xxxx in KRC2s and KRC4s control how long the robot maintains position (at a WAIT point, for example) before closing the brakes and shutting down power to the servo motors.

Thanks. That's how I understood it, and answered accordingly.