Emergency Stop; Movement Without Drive Power - Universal Robots E Series Original Instructions Manual

2. Safety
• Test that System Emergency Stop outputs are actually capable of bringing the
whole system to a safe state.
• Test that the system connected to Robot Moving output, Robot Not Stopping
output, Reduced Mode output, or Not Reduced Mode output can actually detect the
output changes

2.9. Emergency Stop

Activate the emergency stop push-button to immediately stop all robot motion.
According to IEC 60204-1 and ISO 13850, emergency devices are not safeguards. They
are complimentary protective measures and are not intended to prevent injury.
The risk assessment of the robot application shall conclude if additional emergency stop
buttons are need. Emergency stop push-buttons must comply with IEC 60947-5-5 (see
section ).

2.10. Movement Without Drive Power

In the unlikely event of an emergency, you can use forced back-driving where you must
move the robot joint/s, but robot power is either impossible or unwanted.
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 the high forced
torque.
Forced back-driving is only intended for emergency purposes.
User Manual 15 UR5e