To ensure safety, the motors located at J2 and J3 joints of the MG400 have brakes to lock the robotic arms in place in case of power failure and emergency stop. J1 and J4 joints do not have brakes as they only rotate horizontally and are not affected by power outage.
The 4 axes are equipped with absolute position encoders, and the MG400 can still record the axis positions when the power is off.
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