IRB 120 axis drop during tool change

    I am using the IRB120 to do epoxy dispensing, I have no idea of the load but I suppose it should be at least 2kg.

    After dispensing we need to change the cartridges and there are times axis 3 may slip, and drop about 2” in height.

    The arm is extended.

    After the drop, there is no error displaying on the controller.

    Is there a fault in the brakes or something might have fault?

    Too much force could be overcoming a good brake when changing cartridges. It is easier to overcome a brake if the EOAT is heavy and the axis is in a position to be most effected by gravity. Try adjusting the change cartridge position so the forces used while changing cartridges have less effect.

    Does this happen only when changing cartridges and the brakes are applied?

    Does axis 3 drop any if it is jogged to an extended out position and deadman released?

    - The tooling may be too heavy with respect to where the EOAT center of gravity is located. Check the load diagram.

    - Too much force is being used when changing cartridges. Brakes are designed to hold the axis in place + some reserve, not maintain against added external force.

    - The axis 3 brake in the motor may be weak. Overcoming engaged brakes and/or numerous safety stops wear down brake surfaces.

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