Stuck after collision CR5


#1

I put wrong values in the coordinates (z-) for a point that resulted in a collision with my table. Although the collision detection jumped in and saved my end tool from breaking the tool is pressing against the table so hard that I can’t reset the collision message. And I can’t release the robot and move it to a safe position because it’s in collision detected mode. If I press the emergency stop and restart it, it still wont accept manual movement of the arm and when enable it the small initialising movements puts it in to collision detection again. I can’t find anything to get me out of this situation except from removing the robot from the table so all joints will be eased from any torque that might trigger the collision detection.


#2

Can you turn off collision detection and jog it back up?


#3

I can’t enter any menu while some joint have a fault.
I have to:

  1. Press the emergency button.
  2. Release the button.
  3. Rebot the controller.
  4. Connect to the robot
  5. Turn off the brake for Joint2 in “Safe Settings”
  6. Manually lift the robot arm.
  7. Turn the brake on again while holding the robot arm.
  8. Enable the arm again.

What happens if an operators hand get stuck…
My wish would be that when the emergency button is pressed the arm would go in to something like drag mode. To be able to manually lift the arm from it’s locked position.