I am unsure how to enable the escape function on the FANUC CR-4iA. Any information on it would be greatly appreciated.
Software Edition V8.30P/33
Escape function
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snakes92 -
July 3, 2018 at 9:27 PM -
Thread is marked as Resolved.
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Hey,
Check if the variable “$DCSS_CLLB[1].$PTE_ENABLE” is set TRUE.
If it is enabled, check the conditions for the escape function:
• AUTO mode
• Any alarm is not posted.
• The robot stops.
• The contact stop function is enabled.
• The external force is less than the force limit for Push To Escape (System-->DCS-->Collaborative -->External Force-->Escape)Also take into account that only the axis J1 and J2 can be moved.
I hope it´s working now
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I'm still not having much luck, although, I its the most stable. It's not permanently mounted yet.