We are backing up and documenting our robots for the holiday shutdown, and I have a question I have wondered about for a while now.
When you jog the robot to a position and release the deadman switch, the servo and brake powers are cut almost simultaneously, and each axis can move a very small amount before the brakes are fully engaged.
Is there a way to engage the brake fully, then remove servo power? Ideally, I would like to have our instructions be to take the robot to a known position, and have it be at that exact position when power is removed, so that remastering or restoring image backups would be perfect.
I know that there is a timeout, because it has engaged on a robot that was in auto but sitting idle for a while, leaving the breaks on at the exact command position.
This can be a utility or menu option, a system variable, or an I/O manipulation. Anything to engage the motor, then disengage the servo, so the last command position is maintained exactly.
