Motor Blocked (Drive)

What does 26009 mean?

This message from the KUKA KRC4 KSS 8.3 system indicates that the motor for the specified drive ('{Drive}') is blocked or unable to execute the commanded motion, preventing any further movement. This fault typically arises from a significant mechanical obstruction, excessive load, or a severe issue within the motor or gearbox itself. In torque mode, this message is suppressed if regular monitoring functions are deactivated.

• A physical collision or mechanical obstruction is preventing the robot arm or the specific axis from moving as commanded.
• The robot is carrying an excessive payload or experiencing external forces that exceed the motor's or drive's capacity.
• Failure or jamming within the motor's internal components or the associated gearbox (e.g., broken gears, seized bearings).
• The motor brake on the affected drive has failed to release, holding the axis in a locked position.
• Insufficient drive current or power supply to the motor, preventing it from generating enough torque to overcome static friction or load.

Click steps to track your progress.

1. 1

   Immediately inspect the robot's work envelope and the specific drive ('{Drive}') for any mechanical collisions, obstructions, or binding points.

2. 2

   Verify that the robot's configured payload data and center of gravity are accurate and match the actual load being carried.

3. 3

   Carefully inspect the motor and gearbox of the affected drive for any visible damage, signs of overheating, or unusual noises.

4. 4

   If applicable, test the functionality of the motor brake on the specified drive to ensure it is releasing correctly when motion is commanded.

5. 5

   If operating in torque mode, confirm that SET_TORQUE_LIMITS(..., monitor #OFF) is active if regular motor blocked monitoring is intended to be suppressed.