3.1.3.3.1 Pin-brake Mode
A pin-brake is a special type of brake commonly used in light-weight robot joints. The brake usually consists of
a solenoid linear actuator fixed to robot body and a notched wheel fixed to the rotating motor shaft.
To release a pin-type brake, the motor must move slightly so that the pin can slide out. This is mainly required
with hanging loads (e.g. robot arm) where gravity is producing a torque pressing the wheel notch against the
actuator pin. The following method is implemented to ensure reliable pin-type brake operation.
3.1.3.3.1.1 Timing diagram
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