Arm Movement Method in the Emergency Stop State

In the emergency stop state, move the Manipulator joints directly by hand as shown below.

• Joint #1:
  Push Arm #1 by hand.

• Joint #2:
  Push Arm #2 by hand.

• Joint #3:
  The joint cannot be moved up or down by hand because the electromagnetic brake is activated.
  Move the joint while pressing down the brake release switch.

• Joint #4:
  Rotate the shaft by hand.

Symbol	Description
a	Joint #3 brake release switch
b	Arm2
c	Joint #3 (up/down movement)
d	Joint #4 (rotation)
e	Shaft
f	Base
g	Arm1
h	Joint #1 (rotation)
i	Joint #2 (rotation)

Note

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When the brake release switch is pressed in emergency mode, the brake for Joint #3 is released. Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

When pressing the brake release switch, watch for the shaft descending or rotating under the weight of the hand.