Manipulator Crashes On Power Down - ABB IRC5 Operating Manual

3 Troubleshooting by fault symptoms

3.13 Manipulator crashes on power down

3.13 Manipulator crashes on power down
Description
The manipulator is able to work correctly while Motors ON is active, but when
Motors OFF is active, it collapses under its own weight.
The holding brake, integral to each motor, is not able to hold the weight of the
manipulator arm.
Consequences
The fault can cause severe injuries or death to personnel working in the area or
severe damage to the manipulator and/or surrounding equipment.
Possible causes
The symptom can be caused by:
Recommended actions
The following actions are recommended:
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4
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• 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 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.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA