Brother TC-211

mblaszkiewicz wrote: Is there anyway to right the z brake into the hal

Yes. I think that is what has been suggested.

somewhere you probably have a HAL signal linked to axis.2.amp-enable. Lets assume it is called z-enable

Then you just need a line something like

And then the digital output pin will follow the amp-enable signal in HAL. (note that I have guessed at he GPIO pin naming, it might not be correct)

It is possible that you might want a few mS delay between powering the amp and releasing the brake. Long enough that the motor is powered up and trying to control the axis before it starts to drop, short enough that the motor isn't trying to move a braked axis.

Something like that.

Thats exactly what i was saying , but if you dont have 24v availlable then the brake will not work in any case
the only difference was i did it in hardware and not as code , one relay with 2 pairs of contacts one for the servo' and the other for the brake

cncbasher wrote: using a 2 pole changeover relay , so they cant both be on at the same time , so on an energised relay the brake is powered ( across the normaly closed contacts ) on i pole , and the amplifier enable on the other pole but using the normaly open , then you only need to worry over 1 enable line and the brake will look after it's self

I don't think that axis brakes ever work like that. But I could be wrong.

Normally the brakes seem to be sprung "on" so that with no power the axis is locked, and it is actively unlocked when the motor is powered up and ready to use it.

Andy , by the picture it did not appear to be the sprung type , however it would appear by reading the OP does not have 24v Available , we need clarification
perhaps see if the op can turn the shaft at the coupler in the picture , would give us a start point i think

I have 24 volts at my 7i77. On my servo the most I have on the control side is 10 volts. When the brake is energized it turns freely. When not energized it locks up.

ok thats good to know , so you need to supply power to the Brake to disable it , i would suggest that you check as i would think that the actual brake is operated by a relay and not directly
so wire the brake relay between 24v and a gpio pin on the 7i77. and use the delay code that Andy posted to delay release for a second or 2 to allow the servo amp to stabilise and hold
you may need to adjust the delays once you have it working