Hi,
I have a lot of experience with Fanuc in the past (3+ years ago) and more recent experience with collaborative robots from other manufacturers. I now have my first Fanuc collaborative robot and seem to be having issues with it. For one I cannot seem to get manually guided teach to function in either T1 or T2 mode, the led on robot is meant to flash green but it remains solid green and gives warnings or errors if I push on the robot. None of the axes are near their limits, payload confirmation is done, no alarms and robot is stopped.
I have tried switching to Auto mode but this requires a confirmation input which means soldering in the JRM18 connector - I can't find anyway to disable this feature. 
