1.8 Emergency Stop
3. Penetration of skin by sharp edges and sharp points on tool or tool connector.
4. Penetration of skin by sharp edges and sharp points on obstacles near the
robot track.
5. Bruising due to stroke from the robot.
6. Sprain or bone fracture due to strokes between a heavy payload and a hard
surface.
7. Consequences due to loose bolts that hold the robot arm or tool.
8. Items falling out of tool, e.g. due to a poor grip or power interruption.
9. Mistakes due to different emergency stop buttons for different machines.
10. 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 button to immediately stop all robot motion.
Emergency stop shall not be used as a risk reduction measure, but as a secondary
protective device.
The risk assessment of the robot application shall conclude if more emergency
stop buttons must be connected. Emergency stop buttons should comply with IEC
60947-5-5, see more in section 5.3.2.
1.9 Movement 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 unwanted, there are
two different ways to force movements of the robot joints:
1. Forced back-driving: Force a joint to move by pushing or pulling the robot arm
hard (500 N). Each joint brake has a friction clutch which enables movement
during high forced torque.
2. Manual brake release: Remove the joint cover by removing the few M3 screws
that fix it. Release the brake by pushing the plunger on the small electromag-
net as shown in the picture below.
WARNING:
1. Moving the robot arm manually is intended for urgent emer-
gencies 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 and
work item when releasing the brake.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
I-9 UR5/CB3
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