Epson T3 Series Safety And Installation page 100

3. First Step
A: Manual operation
Manually move the Manipulator that is free from the servo control.
For SCARA robot:
You can move Joint #3 by hand while the break release switch on the
Manipulator is being pressed with the Controller ON.
Joints #1, #2, and #4 can be moved by hand.
Also, you can move the Manipulator manually by releasing the solenoid brake
from the command window of the EPSON RC+.
For 6-Axis robot :
Manipulators can be moved manually by releasing the electromagnetic brake
from the Command Window of EPSON RC+.
For more details, refer to the following manual.
6-axis Robots VT series MANIPULATOR MANUAL
■ Normally, release the brake of joints one by one. Take extra care
■ Be careful of the arm falling when releasing the brake. While the
CAUTION
■ Before releasing the brake, be sure to keep the Emergency Stop
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Setup & Operation 1.5.2 Release the Brake by the Software
if you need to release the brakes of two or more joints
simultaneously.
simultaneously may result in hands or fingers being caught and/or
equipment damage to or malfunction of the Manipulator as the arms
of the Manipulator may move in unexpected directions.
brake is being released, the Manipulator's arm falls by its own
weight. The arm falling may result in hands or fingers being caught
and/or equipment damage to or malfunction of the Manipulator.
switch handy so that you can immediately press the Emergency Stop
switch. Otherwise, you cannot immediately stop the arm falling due
to an erroneous operation. The arm falling may cause equipment
damage to and/or malfunction of the Manipulator.
Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15
Releasing the brakes of two or more joints