[IIWA, Sunrise] Brake time control

  • AD

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

    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.

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