KUKA Motor brake release

    Hello Guys,

    I have been working with MG_40_80_45_S0 motor along with KSS 8.6 , and I was looking for a variable for external axes so that we can control the brake of motor. Like if we want to release the brake there must be a variable that will control it.

    Moreover is it possible for kuka motor to have some feature that will let the motor rotate freely, then we apply brake on the motor with certain variable. Then motor would stop and wont let you rotate motor by any external mean except for the variable itself.

    Just turning off the brakes won't help. Whenever the brakes are released, the servo goes into position-hold mode, until a motion command is issued.

    You also need to have the External Axis brakes on a separate command circuit from the robot arm brakes. On KRC2s, this required additional hardware (SMB modules) and wiring. I'm not sure what a KRC4 requires.

    Also, you said nothing about the kinematic integration of your External Axis: coordinated motion, time-syncronous, Asnychronous, other. That setting limits the possible answers.

    What you want to look into is "Soft Servo" mode, and the System Variables $TORQUE_AXIS and $CURR_RED.

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