Error 50021 Joint Position Error

henriqcm

Hello,

After a movement with speed 1000 a ABB IRB 120 that i use in work is giving this error.
Actual position of Joint rob1_3 is too far away from the ordered position.

I think the arm is stucked, because even if i press the break release the arm does not move.

What is it? What should i do?

henriqcm

up

graemepaulin

Check that there is 24 volt getting to the brake on the axis 3 motor (can you hear the brake coming on and off?).

If so follow the instructions in the manual to remove the drive belt from the axis 3 motor, if you can then move axis three the issue is probably in the motor.

Or get an ABB technician to find and correct the fault.

Iowan

Is axis 3 the only one involved? (Can you jog the other axes?) 
If it can be safely done, can you have someone else try to move the robot with the brake released?