Have an IRB 1200 - its End Of Arm Tooling has couple servo units that MUST be used with the robot at a stationary pose. Its not extended but still a certain pressure the EOAT has to exert causes the robot to move - this is undesirable - is there a way, at the pose only, I could stiffen the Joint servos to fight this deflection?
Turn the motors off. Let the brakes hold it. Otherwise you may need a larger, stronger robot.