A method for measuring motor brake health of a motor assembly having a brake assembly for braking an output shaft of the motor and a position feedback device for measuring an angular position of the output shaft, the method comprising: engaging the brake assembly to restrict rotation of a brake rotor of the brake assembly, wherein the brake rotor is splined to a brake hub , which is fixed for rotation with the output shaft of the motor assembly ; centering the brake rotor, wherein centering the brake rotor includes energizing the motor assembly to apply a centering torque level to the output shaft in a first rotational direction and energizing the motor assembly to apply a centering torque level to the output shaft in a second rotation direction; energizing the motor assembly to apply a backlash measuring torque level to the output shaft of the motor assembly in a first direction while the brake assembly is engaged, wherein the output shaft and the brake hub rotate relative to the brake rotor until a clearance between a first side of the splines of the brake hub and a first side of the splines of the brake rotor engage, and wherein as the brake assembly is engaged, further rotation of the output shaft and a brake hub is prevented; measuring a first angular position of the output shaft with the position feedback device while the backlash measuring torque level is being applied; energizing the motor assembly to apply a backlash measuring torque level to the output shaft in a second direction while the brake assembly is engaged; and measuring a second angular position of the output shaft with the position feedback device while the backlash measuring torque level is being applied; wherein the difference between the first angular position and the second angular position corresponds to an amount of backlash between the brake rotor and a brake hub of the brake assembly. engaging the brake assembly to restrict rotation of a brake rotor of the brake assembly, wherein the brake rotor is splined to a brake hub , which is fixed for rotation with the output shaft of the motor assembly ; centering the brake rotor, wherein centering the brake rotor includes energizing the motor assembly to apply a centering torque level to the output shaft in a first rotational direction and energizing the motor assembly to apply a centering torque level to the output shaft in a second rotation direction; energizing the motor assembly to apply a backlash measuring torque level to the output shaft of the motor assembly in a first direction while the brake assembly is engaged, wherein the output shaft and the brake hub rotate relative to the brake rotor until a clearance between a first side of the splines of the brake hub and a first side of the splines of the brake rotor engage, and wherein as the brake assembly is engaged, further rotation of the output shaft and a brake hub is prevented; measuring a first angular position of the output shaft with the position feedback device while the backlash measuring torque level is being applied; energizing the motor assembly to apply a backlash measuring torque level to the output shaft in a second direction while the brake assembly is engaged; and measuring a second angular position of the output shaft with the position feedback device while the backlash measuring torque level is being applied; wherein the difference between the first angular position and the second angular position corresponds to an amount of backlash between the brake rotor and a brake hub of the brake assembly. <EOS>