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ID : 4644

Moving Each Axis with Motor Power OFF in an Emergency Stop or When a Worker Trapped by the Robot

The table below shows which axes have a brake in the HM series of robot units and how to release the brake.

  1. Performing the brake release operation unexpectedly drops or raises the Z-axis. Make sure beforehand that the release operation will not cause bodily injuries or equipment damages.
  2. When moving the 3rd axis (Z-axis), be careful not to let your fingers get caught in the geared part of the rack.
  1. Le desserrement inopiné du frein provoque la chute ou le levage de l'axe Z. Vérifier au préalable que le desserrement du frein ne risque pas de provoquer des blessures ou d'endommager l'équipement.
  2. Lors du déplacement du 3e axe (axe Z), veiller à ce que les doigts ne soient pas happés par l'engrenage du rack.
Robot unit type Axes with brake How to release brake
Except UL-Listed ones 3rd axis (Z)

With the teach pendant or mini-pendant

Note: For details, refer to "Displaying and Setting the Arm Maintenance Functions" of TEACH PENDANT GUIDE.
UL-Listed

1st axis (J1)
2nd axis (J2)
3rd axis (Z)

When the controller power is ON, holding down the brake release switch releases the brakes of all axes.

Note: On UL-Listed robot units, the teach pendant or mini-pendant cannot release the brakes.

How to Move Each Axis While Emergency Stop

The table below shows how to move each axis with the motor power being OFF at the time of an emergency stop or when a worker is trapped by the robot.

Axis Robot units except UL-Listed ones UL-Listed robot unit
1st axis (J1)

Move the robot arm by hand.

Move the target axis by hand while holding down the brake　release　switch.
2nd axis (J2)
3rd axis (Z)
  1. Reset the emergency stop state as follows.
    If the emergency stop has been　triggered by the teach pendant or mini-pendant, turn the Emergency stop　button on the pendant clockwise; if it has been triggered by the equipment, restore the emergency stop switch to the short-circuited state.
  2. Release the brakes with the teach pendant or mini-pendant and then move the target axis by hand.
4th axis (T) Turn the axis by hand. Turn the axis by hand.

When moving the robot by hand, hold by a part other than the plastic cover.

ID : 4644

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