Electrical
Troubleshooting Guide
IRB6400 M94A
Page 8 - 3
Brake Circuitry
8.8. Brake CircuitryBrake Circuitry
8.1 Overview
The IRB 6400 robot has an axis brake for each axis
motor (1-6). The brake is part of the motor and can not
be replaced separately from the motor. The brake is
only a holding brake used to hold the robot in position
when the motors are off. When the brake is de-energized,
heavy duty springs inside the brake hold metal plates
against brake material holding the motor in position.
The brakes are released by applying 24 VDC to the coil
of the brake. The robot motors can override the brakes
for a while until the motor overheats due to the extra
load caused by the brake.
If an axis brake is slipping it will only cause a problem
when the motors are off because the axis will drift to its
hard stop. The normal cause of a brake slipping is oil
getting into the brake pads due to a seal that has failed.
To test a brake for proper operation turn on the main
disconnect and press the manual release button on the
robot to see if the brake releases. If further testing is
required, check the wiring to the brake and the brake
coil resistance. The normal brake resistance should be
approximately 15-30 ohms.
USE EXTREME CAUTION WHEN MANUALLY
RELEASING BRAKES. ROBOT MAY FALL OR RISE
UNEXPECTEDLY CAUSING PERSONAL INJURY
OR TOOLING DAMAGE!!
In this chapter we will trace the circuits used for the
brake release circuits. There will be two sections, one
for Manual Brake Release circuits and one for Motors
ON Brake Release circuits.
Sheet 104-110..............
Fig. 8-3 ............
Fig. 8-5 ............
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