Manipulator Collapses On Power Down - ABB IRB 910INV Product Manual

7 Troubleshooting

7.4 Manipulator collapses on power down

7.4 Manipulator collapses on power down
Description
The manipulator is able to work correctly while Motors ON is active, but when
Motors OFF is active, one or more axes drops or collapses under its own weight.
The holding brakes (normally one in each motor), is not able to hold the weight of
the manipulator arm.
Consequences
For a heavy robot, the collapse can cause severe injury to personnel working in
the area or severe damage to the robot and/or surrounding equipment.
For a small robot, the collapse can cause injury to personnel working close to the
robot or damage to the robot and/or surrounding equipment.
Possible causes
The symptom can be caused by:
Recommended actions
The following actions are recommended:
1
2
3
4
826
• Faulty brake.
• Faulty power supply to the brake.
Action
Determine which motor(s) causes the robot
to collapse.
Check the brake power supply to the col-
lapsing motor during the Motors OFF state.
Remove the resolver or resolver cover of
the motor to see if there are any signs of
oil leaks.
Remove the motor from the gearbox to in-
spect it from the drive side.
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Information
See the circuit diagram.
If found faulty, the motor must be replaced
as a complete unit.
If found faulty, the motor must be replaced
as a complete unit.
Product manual - IRB 910INV
3HAC068055-001 Revision: K