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Robot drops as soon as brake is disenaged?

Robot drops as soon as brake is disenaged?

Robot drops as soon as brake is disenaged?

(OP)
We are an equipment manufacturer. We are using 2 axis Linear transfer for pick and place of the product. The vertical axis has brake motor and we are controlling using a PLC. Whenever we are disengaging the brake, to start the vertical motion, the robot is free falling for 1/4" before the controller kicks in.

We were thinking that gravity compensation should be able to solve this jerk in the motion. But we are unable to solve the problem. These are following components we are using:

Motor: Mitsubishi - HFKP43BK
Amplifier: Mistubishi - MR-J3-40B1
PLC: Mitsubishi - Q02CPU

Any help to resolve the problem would be greatly appreciated.

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