IAI America ZR-M - Manual (Page 43)

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24-VDC power input
Brake release switch
Controller (brake-type specification)
12. Notes on Operation
12.1 About Brake
 The brake is provided to retain the load in position should the servo turn off for some reason.
It cannot be used as an emergency stop brake.
 Loads equivalent to or heavier than the maximum loading capacity cannot be retained. (For the
maximum loading capacity, refer to 7, "Specifications.")
 Use the brake release switch on the controller to release the brake manually.
No brake release switch is provided on the robot side.
12.2 About Home Return (Incremental Type)
The operating steps of home return are as follows:
[1] Z-axis mechanical end search 1
[2] Z-axis offset movement 1
[3] R-axis LS search (CCW)
[4] R-axis phase Z search (CW)
[5] R-axis offset movement (CCW)
[6] Z-axis mechanical end search 2
[7] Z-axis offset movement 2
[8] End
Caution: During R-axis LS search in operating step [3], the axis always turns counterclockwise and
does not take a short cut.
Depending on the position before the home return, the axis may turn nearly one rotation,
in which case the cables, etc., may be damaged if guided through the opening aperture.
Pay attention to twisting and other forces that may exert upon the cables.