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Collision error handling

thewater
thewater ✭
in Collaborative Robots
Hello,

I have this collision error handling:


    PROC main()
     ...   
     ...
     ...      
    ERROR
        IF errno =ERR_COLL_STOP THEN
            ERR_COLL_HANDL;
            RETRY;
        ELSE
            TPWrite "errore generico";
            GENERIC_ERROR:=TRUE;
            stop;
        ENDIF   
    ENDPROC

    PROC ERR_COLL_HANDL()
        IF DOutput(vo_L_inzone)=1 THEN
            ....
            ....
            ....
            RETURN;
        ENDIF
        stop;
    ERROR
        GENERIC_ERROR:=TRUE;
        stop;
    ENDPROC

The case is this:
1)there is a collision
2)during the retractive movement of the collision there is an other collision

In this case Yumi is not able to restart with the play button.
The play has no effect and there's no other error message.
I have set the program pointer to main and start from main. 

Is there any way to fix this and restart without PP in Main ?
Robotware version is 6.04.


Thank you
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