1.9 Movement With and Without Drive Power
7. Sprain or bone fracture due to strokes between a heavy payload and a hard surface.
8. Consequences due to loose bolts that hold the robot arm or tool/end effector.
9. Items falling out of tool/end effector, e.g. due to a poor grip or power interruption.
10. Mistakes due to different emergency stop buttons for different machines.
11. Mistakes due to unauthorized changes to the safety configuration parameters.
Information on stopping times and stopping distances are found in chapter 2 and appendix A.
1.8 Emergency Stop
Activate the emergency stop push-button to immediately stop all robot motion.
Note: According to IEC 60204-1 and ISO 13850, emergency devices are not safeguards. They are
complimentary protective measures and are not intended to prevent injury.
The risk assessment of the robot application shall conclude if additional emergency stop buttons are
need. Emergency stop push-buttons must comply with IEC 60947-5-5 (see section 5.3.2).
1.9 Movement With and Without Drive Power
In the unlikely event of an emergency situation, where one or more robot joints need to be moved
and robot power is either not possible or not wanted, there are two different ways to force move-
ments of the robot joints: Note: In a service situation, the brake on the joints can be released without
connected power.
1. Forced back-driving: Force a joint to move by pushing or pulling the robot arm hard. Each
joint brake has a friction clutch which enables movement during high forced torque.
2. Manual brake release (only for Base, Shoulder and Elbow joints): Remove the joint cover by
removing the few M3 screws that fix it. Release the brake by pushing the plunger on the small
electromagnet as shown in the picture below.
WARNING:
1. Moving the robot arm manually is intended for urgent emer-
gency purposes only and might damage the joints.
2. If the brake is released manually, gravitational pull can cause
the robot arm to fall. Always support the robot arm, tool/end
effector and work item when releasing the brake.
UR3/CB3 I-10 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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