Clearing the Brake System Error

Using this method to make the robot continue operating should only be done if the operator or service technician is sure that the brake system error was due to a false detection and the brake is actually working correctly.

If repeated brake system errors occurs, the robot should be serviced even if it seems like it is a false detection as it could be a sporadic issue if e.g. the brake solenoid is binding and slow to engage. If it is necessary to brake release the robot to get it in a position suitable for shipping to a service center, this procedure can be used.

Use the steps below to clear a brake system error:

1. Attach an USB keyboard.

2. Make sure that there is power to the robot arm. If the system is in the brake failure state and powered off, it is necessary to restart the control box to power on the robot arm again. When powering on the robot arm, it will go to the brake failure state.

3. Use the USB keyboard to change to a "Virtual Terminal" by pressing CTRL-ALT-F1

4. Login in the terminal using root as username and the configured root password. (easybot is the default password).

5. Enter the following command and press enter

   echo "clear failed brake <joint>" | nc 127.0.0.1 30001 -q0

   where <joint> should be replaced with a number 0-5 corresponding to which joint should clear the failed brake state. e.g. for clearing it on the shoulder joint, enter echo "clear failed brake 1" | nc 127.0.0.1 30001 -q0

6. Change back to polyscope by pressing CTRL-ALT-F7

7. Power off the robot arm and restart the control box.

8. It is now possible to brake release the robot.