Is there a parameter to set how soon brakes will close on Sunrise controller?
Something like $BRK_... in KRL.
thx
[IIWA, Sunrise] Brake time control
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kr16_2 -
November 30, 2016 at 5:20 PM -
Thread is marked as Resolved.
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Is there a parameter to set how soon brakes will close on Sunrise controller?
Something like $BRK_... in KRL.
thxI 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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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.
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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.