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C4 Manipulator 1. Safety
1.6.1 Moving the Arm using the brake release unit
The C4 series has the Brake Release Unit as an option.
For details, refer to "6 Options".
1.6.2 Moving the Arm using the software
■ Normally, release the brake of joints one by one. Take extra care if you need to
release the brakes of two or more joints simultaneously. Releasing the brakes of
two or more joints simultaneously may cause hands and fingers to be caught
and/or equipment damage to or malfunction of the Manipulator as the arms of the
Manipulator may move in unexpected directions.
■ Be careful of the arm falling when releasing the brake.
While the brake is being released, the Manipulator's arm falls by its own weight.
The arm falling may cause hands and fingers to be caught and/or may cause
CAUTION
equipment damage to or malfunction of the Manipulator.
■ Before releasing the brake, be sure to keep the Emergency Stop 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.
After releasing the Emergency Stop switch, execute the following command in
EPSON
RC+
[Command Window].
>Reset
>Brake Off,[the number (from 1 to 6) corresponding to the arm whose brake will be
turned OFF]
Execute the following command to turn on the brake again.
>Brake On,[The number (from 1 to 6) corresponding to the arm whose brake will be
turned ON]
1.7 Precaution for Operation in Low Power Status
In the low power status, the Manipulator operates at low speed and low torque. However,
comparatively high torque as shown in the table below may be generated to support the
Manipulator's own weight.
Carefully operate the Manipulator since it may get your hands or fingers caught during
operation.
equipment damage to or malfunction of the Manipulator.
Maximum Joint Torque in Low Power Status
■ Carefully operate the Manipulator in the low power status. A comparatively high
joint torque may be generated. It may cause your hands and fingers caught
and/or cause equipment damage to or malfunction of the Manipulator as it may
CAUTION
collide with peripheral equipment.
10
The Manipulator may also collide with peripheral equipment and cause
Joint
#1
Joint Torque
116.24
#2
#3
193.74
59.31
[Unit: N·m]
#4
#5
12.45
11.41
C series Rev.2
#6
6.88
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