Hard Collision Recovery Process - Fanuc CRX Cobots

General
1

This post will help serve as a guide for when your Fanuc CRX Cobot encounters a hard collision and how to recover from such an event:

  1. If an emergency stop has occurred due to a collision / the robot has violated the DCS
    during operation, the robot needs to be manually jogged out of the error state.

  2. First step would be to transfer the control to the teach pendant as mentioned below and
    try jogging the robot.

  3. In order to jog the robot, the user needs to put the pendant into TP mode by pressing the
    button shown below such that the strike across the pendant disappears (ref images
    below) :

image

  1. Reset the system for any errors present.

  2. The robot can then be jogged by navigating to ‘Robot Operation’ and jog using the joint
    sliders given:

    image
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  3. After the jogging is complete, place the Fanuc Teach pendant back in remote
    mode.

  4. If the robot is communicating a safety error while it is in collision or it has violated the
    DCS limits, the ‘Temporarily Reset’ button can be toggled on as shown below:

    image
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  5. When the switch is toggled on, the robot ignores the alarms for 30 secs and then the
    operator can jog the robot out of collision.

If you require additional support please be sure to contact our support team by sending an email to integrationsupport@vention.cc!