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System Behavior with EtherCAT Communication Errors
If an EtherCAT communication error is present an no network communication is possible, all
robots on the network will stop will maximum deceleration and high power will be disabled.
If an EtherCAT communication error is present for a specific robot node(s), only that robot is
affected by stopping with maximum deceleration and high power being disabled.
6.4 Brakes
The robot has a braking system that decelerates the robot in an emergency or abnormal situ-
ation, such as when the emergency stop circuit is open or a robot joint passes its softstop.
NOTE: The braking system will not prevent you from moving the robot manu-
ally after the robot has stopped and high power has been removed.
Joint 3 has an electromechanical brake that releases when high power is ON. When high
power is turned OFF, the brake engages and holds Joint 3 in position.
Brake Release Button
If you want to manually position Joint 3 on the Z-Axis without turning ON high power, use
the Z Brake Release button located above the robot display panel, as shown in the following
figure When system power is ON, pressing this button releases the brake so you can move
Joint 3 manually.
!
NOTE: 24 VDC robot system power must be ON to release the brake. To prevent
possible damage to the equipment, remove any payload from the end-effector,
make sure that Joint 3 is supported while releasing the brake, and verify that the
end-effector or other installed tooling is clear of all obstructions.
IMPORTANT: Pressing the brake release button while high power is ON auto-
matically turns high power OFF.
24402-000 Rev B
CAUTION: PROPERTY DAMAGE RISK
Pressing the Brake Release button may cause the quill (and tool flange) to fall
to the bottom of its travel.
eCobra 600 and 800 Robots with EtherCAT
Chapter 6: System Operation
103
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