def brake_on(self):
        """ Set the Brakes of Herkulex

        In braked mode, position control and velocity control
        will not work, enable torque before that

        Args:
            none
        """
        data = []
        data.append(0x0A)
        data.append(self.servoid)
        data.append(RAM_WRITE_REQ)
        data.append(TORQUE_CONTROL_RAM)
        data.append(0x01)
        data.append(0x40)
        send_data(data)