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:
  The joint cannot be rotated by hand because the electromagnetic brake is activated.
  Move the joint while pressing down the brake release switch.

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

KEY POINTS

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The brake release switch is used with both Joint #3 and Joint #4. Press the brake release switch while in the emergency stop state to simultaneously release the brakes on Joint #3 and Joint #4.

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