4.2.1. Movement Without Drive Power
In the unlikely event of an emergency, when the robot power is either impossible or unwanted, you
can use forced back-driving or contact your Universal Robots distributor if this is not possible.
To perform forced back-driving you must push, or pull, the Robot Arm hard to move the joint. Each
joint brake has a friction clutch that enables movement during high forced torque.
NOTICE
Moving the Robot Arm manually is intended for urgent emergency and service
purposes only.
The brake inside each joint is not designed for manual release. Attempting to do so
without proper training may cause damage to the brake and other joint
components. This will make the joint un-usable.
Do not move the joint more than necessary.
Not more than 160 degrees to ensure the robot can find its original physical
position.
CAUTION
Attempting to release a joint brake manually may result in injuries personnel or
damage to equipment.
4.2.2. General Guidance to Separate Joint from Counterpart
WARNING
Before replacing ANY components inside the Control Box, it is important to
completely shut it down first. Follow the first 3 steps in Complete Rebooting
Sequence
NOTICE
Exercise caution when handling ESD sensitive parts. See Section 2: Handling ESD-
Sensitive Parts
Disassemble:
1. Before repairing the robot, make sure the necessary tools are available.
1. Service tools with torque tools, ESD Wristband, etc.
2. If you must disassemble the Robot Arm you will need:
new flat rings, wear rings, M3 and M4 tap tool("roll tap" or "forming tap") for threads,
pre-coated screws, or Loctite.
Service Manual 21 e-Series
4.Service and Replacement of Parts
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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