Need to setup brake when managing cylinder

Hello all,
I'm looking for a solution to manage the brake of the robot.
When i try to push with a cylinder we saw the robot moving.. the robot is to soft for pressing and we are looking for a temporary solution.
When brake a not released the cylinder goes out and works properly.
How can we go to a "movel instruction" stop the robot WITH brakes and after pressing release the brake and restart ?

Thank you :)

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