PreciseFlex_Robot
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For the PreciseFlex 400 robot, the shoulder, elbow, and wrist axes do not have mechanical brakes.
Therefore, leaving the motor power enabled for 0.5 sec allows the servos to decelerate the robot. The
servos will typically decelerate the robot at 0.12G, or 1250mm/sec
2
. If the robot is moving at a speed of
500mm/sec, the distance traveled will be 100mm to reach a full stop, and the time will be 0.4sec.
Releasing a Trapped Operator: Brake Release Switch
Should a hard E-Stop be triggered, the Z brake will engage, and motor power will be disconnected from
all motors. As the J2, J3, and J4 axes have no brakes, they may be freely pushed by the operator. To
release the Z brake, the operator may press the brake release switch, under the inner link, as long as
24VDC is present. It is not necessary for motor power to be on for the brake release to work.
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