Brake Method

Description
Reads or sets brake status for specified joint.

Syntax
Sub Brake (JointNumber As Integer, State As Boolean)
Function Brake (JointNumber As Integer) As Boolean

Parameters

• JointNumber
  An integer indicating the axis number (range: 1 to number of joints of the robot)
• State
  To apply the brake: On To release the brake: Off

Return Value
0 = Brake Off
1 = Brake On

Remarks
This method is used to turn brakes on or off for one joint of the 6-axis robot (including N series). This method is intended for use by maintenance personnel only.

When this method is executed, the robot control parameter is initialized.

WARNING

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Use extreme caution when turning off a brake. Ensure that the joint is properly supported, otherwise the joint can fall and cause damage to the robot and personnel.

Note

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Before releasing the brake, be ready to use the emergency stop switch

When the controller is in emergency stop status, the motor brakes are locked. Be aware that the robot arm may fall by its own weight when the brake is turned off with Brake command.

See Also
Reset Method, SFree Method, Slock Method

Brake Example
VB Example:

Dim state As Boolean  
state = m_spel.Brake(1)  

C# Example:

bool state;  
state = m_spel.Brake(1);