| 摘要 |
The invention relates to a machine or a robot and to a method for operating a brake of a machine or a robot. Depending on the angular position of the drive motor of the robot joint or of the drive shaft thereof, the brake has a higher or a lower brake torque (21). Target brake torques (22, 23) or brake torque minimum values are defined that are maintained by setting the drive motor or the drive shaft to an angular range (24) in which the brake torque (21) is above the target brake torques (22, 23) so that the drive motor or the drive shaft reliably comes to a standstill or is locked or stopped and the electric current or the voltage of the drive motor can be switched off. The invention further relates to a method for determining a brake torque minimum value of a brake of a machine or of a robot, a plurality of (angular) positions of the machine or of the robot being moved to, the drive torque of the drive motor of the joint being measured depending on the position and the highest drive torque being selected as the brake torque minimum value. |
