Scara Mechanical Unit Manual
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vi
Emergency Stop
There may be several Emergency Stop buttons in a robot system to stop the
robot in case of emergencies. The red button, as shown in the left figure, shall
be mounted on the teach pendant. Certainly, the emergency buttons can be
mounted by your requirement.
Emergency stop button shall be located on the place where is easy to reach, so
that the buttons can be pressed down immediately in case of emergencies.
WARNING
Operators must be fully aware of the danger of electric shock from cables of
servo motor, gripper, chuck, and other devices.
CAUTION
The Emergency Stop switch should be used to stop the Robot only in case of
emergencies. Avoid pressing the Emergency Stop switch unnecessarily while
the Robot is running normally.
Emergency Movement without Drive Power
When the system is placed in emergency mode, push the arm or joint of the Robot by hand as shown
below:
Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the solenoid brake applied to the
joint has been released. Move the joint up/down while pressing the brake release switch.
Joint #4 RX3: move the shaft by hand.
RX6: The shaft cannot be rotated by hand until the solenoid brake applied to the shaft has been
released. Move the shaft while pressing the brake release switch.
CAUTION
The brake release switch affects both Joints #3 and #4. When the brake
release switch is pressed in emergency mode, the brake for both Joints #3 and
#4 are released simultaneously. Be careful of the shaft falling and rotating
while the brake release switch is pressed because the shaft may be lowered by
the weight of an end effector.