# Motor Settings

This chapter explains motor type, pole pairs, electrical angle, rated torque, dynamic braking, and brake information in the Motor Settings window. Verify the device model and project delivery documentation before checking any parameter.

## Before Viewing

- The main window is connected to the target drive, and the current connection ID matches the field device.
- Motor parameters are set at the factory for the eRob joint. This window is read-only and does not support user editing, applying, or saving.
- Before releasing or engaging the brake, make sure the motor is stopped and disabled and the load is securely supported.

Do not use another tool to modify the factory parameters shown in this window. Incorrect parameters may prevent the joint from operating normally.

## Motor Settings

Use the Motor Settings window to view motor type, pole pairs, electrical-angle zero compensation, dynamic braking, and brake parameters.

All parameters in the Motor Settings window are read-only factory settings. The Apply and Refresh buttons are unavailable; no additional parameter operation is required.

### Parameter Descriptions

Area/Parameter | Meaning
--- | ---
Motor Type: | Identifies the basic motor type.
Number of Pole Pairs: | Identifies the number of motor pole pairs, normally half the number of motor poles.
Jump To Zero Method: | Affects the electrical-angle reference at power-on or startup.
Communtation Offset: | Electrical-angle compensation value determined automatically by the device.
Jump To Zero Time: | Shows the duration used when forcibly determining the electrical-angle zero.
Jump To Zero Voltage: | Shows the voltage amplitude applied when forcibly determining the electrical-angle zero.
Rated Torque: | In mNm.
Dynamic Brake Engaged: | Affects braking behavior during a stop or abnormal operating condition.
Brake Type: | Identifies the brake type.
Break Pull Voltage: | Shows the brake's initial release voltage as a percentage.
Break Pull Time: | Duration for which the brake release voltage is held.
Break Hold Voltage: | Shows the brake holding voltage as a percentage.

### Button Descriptions

Button | Meaning
--- | ---
Release Brake | Releases the brake. The device enters an unbraked state, allowing the joint to be turned by external force when conditions permit.
Enable Brake | Closes the brake again and restores the braked state.

Brake-operation safety: Release the brake only while the motor is stopped and disabled. Once released, the device has no braking torque. If the joint output carries a load, a gravity load, or a mechanism that may fall, support or remove the load before confirming release. After manually turning or servicing the joint, make sure the mechanism is in a safe position and the load cannot move dangerously, then click Enable Brake.

Displayed items may differ by model and firmware. If the display does not match the device documentation, first verify the target device, model, and delivery parameters.

## Troubleshooting

Symptom | Recommended Action
--- | ---
Displayed information does not match device documentation | Verify the current connection ID, joint model, firmware version, and delivery documentation. Do not try to modify displayed values in this window.
Brake button is unavailable or does not respond | Confirm that the device is connected and the motor is stopped and disabled, then check whether the current model supports the operation.
Load may fall after brake release | Stop the operation and verify load support and field safety measures. Never use a software button as a substitute for mechanical support or a safety device.