Motor blocked ({Drive})

What does 26009 mean?

The motor for the specified drive is blocked, meaning it is unable to move or has encountered significant resistance preventing its commanded motion. This is a regular monitoring function that protects the motor from damage due to excessive force. In torque mode, this monitoring can be automatically deactivated by `SET_TORQUE_LIMITS()` with `monitor #off`.

1. 1

   Identify the specific drive mentioned in the error message to locate the affected motor/axis.

2. 2

   Physically inspect the robot's axis corresponding to the drive for any obstructions, mechanical binding, or foreign objects preventing movement.

3. 3

   Check for excessive external loads applied to the robot that might be overloading the motor.

4. 4

   Verify the motor's power supply connections and cabling for proper integrity and voltage.

5. 5

   If operating in torque mode and this monitoring is not intended, ensure `SET_TORQUE_LIMITS(..., monitor #off)` is correctly configured for the drive.