Hello guys, simple question I just wanted to know which is the variable that allows me to free the robot breaks and allows me to push it with my bare hands. Thank you! I found $BRAKE_SIG, but it's write protected
Brake Variable
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legityme -
May 28, 2020 at 1:54 PM -
Thread is Unresolved
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...what model KUKA? The only robot that supports doing that natively is the iiWA, which has it's own sub-forum under the "Collaborative Robots" section.
For any "normal" KUKAbot, releasing the brakes simply puts the robot in servo-driven position holding, and it will actively resist any attempts to push it around, until a torque error is tripped. There is, or was, an option package for adding a "joystick" to the end effector that would allow a certain degree of control by "pusing" the end effector around, but that required special options and configuration.
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I think the option mentioned by SkyeFire is ready2_pilot.
I don't know what is the variable, if there is one, to do this.
But You can maybe achieve this using a Torque Mode function to soften certain axis of the robot.
Have in mind that this can be very dangerous.