Engaging Robot's Brakes

[OmidRezayof]

Hi @mhubii !
Hope you're doing well.
I have experienced the robot (med 7) giving error about current overloading due to long period of use.
I contacted KUKA and they said I should engage the physical breaks of the robot whenever the robot is not moving for a while and disengage them before moving. I have been doing this manually by pressing the e-stop button. I know that Sunrise have built-in functions in Java which we can do this through codes, but I was wondering if lbr-stack has a solution for this.

[mhubii]

hi @OmidRezayof , that's interesting. How long did you run the robot for? The only way to engage the brakes via the FRI (at least with version 1.x) is to shut the connection.

[OmidRezayof]

I'm having a payload of 3Kg on the robot, and if I don't engage the brakes for more than 2-3 hours, it complains about current overloading.
Not that I necessarily want to use the robot for that long, but after talking to the KUKA support people, I realized it is a healthy habit to engage the brakes more often when the robot is not supposed to move. And I wanted to see if lbr-stack has a way to do so : )