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Troubleshooting and Support
Smart Series HC10DT
Collaborative Robot
Escape from Clamping Function
When enabled, the PFL function described above starts the stop position
monitoring in which the Robot is not operable if an object is clamped
(stuck) between the manipulator and surrounding environment or between
the joints of the manipulator. The escape from clamping function allows
the manipulator to escape from such a state. If the PFL function performs
a protective stop during collaborative operation and the manipulator
detects a clamped state, the escape from clamping function performs the
escape operation.
The escape operation moves in the direction of its previously taught path.
During this process, the angular speed of each axis is limited to 5 [deg/s].
The escape operation finishes and the manipulator changes to the stop
position monitoring state when the Robot achieves one of the following
two conditions:
• The clamped state has successfully been removed OR
• Any axis moves by more than 3.0 [deg] during the escape operation
The user can neither disable the escape from clamping function nor
change the escape operation. During the escape operation, the external
force limit of the PFL function is temporarily set to the value larger than the
current external force. After escaping from the clamping, the external force
limit is reset to the original setting and the job goes into the suspended
state. The user can resume the job from the suspended position by
pressing the resume switch to cancel the stop position monitoring state
and then pressing the [START] button on the pendant.
• For additional information on the Escape from Clamping function, refer
