Method for controlling at least one servomotor in a braking manner, robot, and computer program product

A computer program product for controlling at least one servomotor in a braking manner using a frequency converter which comprises a rectifier circuit connectable to an electric alternating-voltage network, a direct-voltage intermediate circuit, which is fed from the electric alternating-voltage network in the state connected to the electric alternating-voltage network and has an intermediate-circuit capacitor and has a brake resistor, which can be connected and disconnected via a brake chopper of the direct-voltage intermediate circuit, and at least one inverter circuit, which is fed from the direct-voltage intermediate circuit and has controllable semiconductor switches, the computer program product comprising a non-transient, machine-readable storage medium on which a program code is stored, the program code, when executed by a computer, causing the computer to:

• disconnect the direct-voltage intermediate circuit from the electric alternating-voltage network;
• brake the at least one servomotor by controlling the semiconductor switches of the inverter circuit in a regenerative braking mode in order to reduce the speed of the servomotor;
• control the brake chopper in such a way that the brake resistor is switched on at a maximum intermediate-circuit voltage, which forms a switch-on threshold for the brake chopper, and the brake resistor is disconnected at a minimum intermediate-circuit voltage, which forms a switch-off threshold for the brake chopper;
• and
• dynamically change at least one of the switch-on threshold or the switch-off threshold during regenerative braking of the servomotor as a function of the current speed of the servomotor.