Joint Rotation Without Drive Power - Techman Robot TM5 Series Manual Book

When an emergency button is pressed, the robot system issues a command to stop
the robot, and stops supplying sufficient power to its joint actuators for an effect
Warning
equivalent to disconnecting the power for the actuation of the robot. In this case, the
braking device at each joint automatically locks the joint. However, before the brake
completely stops the robot, the robotic link will, under the force of gravity, make the
unpowered joint slightly droop in the direction of gravity. In this case, be aware of the
possibility that the robot end module may pinch the body or collide with the
surroundings.

1.9 Joint Rotation without Drive Power

1. When the Emergency Stop Button is triggered during the operation of the robot, the control system
will stop its movement and cease supplying sufficient power to its joint actuators to achieve an effect
equivalent to disconnecting the power for actuation to the robot. In this case, the brake at each joint
automatically locks the joint to prevent each joint of the robot from drooping continuously under gravity.
If the robot needs to be moved to clear the fault condition, press and hold the FREE button on the end
module of the robot. Two seconds later, the braking device at the joint will disengage the brakes.
Before releasing the FREE button, the user can move the machine by pushing the joint to clear the
fault condition.
2. If the robot needs to be moved when the power is disconnected (e.g. disengaging packaging posture),
the user can first press the Emergency Stop button while there is no power, then press the Power
Button on the controller to supply power to the system. When the control system is turned on, the light
blue indicator light on the end module will blink. At this time, press the FREE button on the end
module to release the braking device at the joint. The user can move the joint by pushing it.
When overriding the brake during the movement without drive power, note that the
robot limb will droop back down due to the gravity when the FREE button is pressed
Danger
for 2 seconds. Be sure to grab the end module securely and prepare for the added
weight when you press the FREE button to unlock the brake. Lift the end module
upwards to avoid increasing the severity of injury if someone is caught under the
machine. If the end module can't be held securely or you lack sufficient strength to
prevent the robot arm from lowering, release the FREE button immediately. Each joint
of the robot will be locked again to avoid personal injury or machine damage.
I Hardware Installation Manual 1. Safety Information
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