8 Trouble Shooting
8.3 Fault Symptoms and Malfunctions
190 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
8.3.16 Manipulator Collapses on Power-Down
Description The manipulator is able to work correctly while Motors ON is active, but when
Motors are off, 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 may 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 may be caused by:
• Faulty brake.
• Grease or oil on brakes.
• Brakes worn causing dust to be accumulated on the brake discs.
Note: It is not normal for the brakes to become worn, as they shall become engaged
only when the motor is not turning. Exception: Emergency stop. Therefore, do not
use Emergency stop for normal stops.
Recommended Actions
Step Action Comment
1 Determine which motor(s) causes the robot to
collapse.
2 Check the brake power supply to the collapsing
motor during the Motors OFF state.
For information, see relevant
manipulator board in ‘Unit Description,
IRC5P’.
3 Check brakes e.g. by moving robot arm
manually.
If found faulty, the motor must be
replaced as a complete unit. See
‘Product Manual, Manipulator’.
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