Error Handling/Collision handling within RAPID Code

nquattro1996

Hello all,
     I am pretty new to RAPID coding, and i have been trying to run a simulation where i am intentionally trying to cause a collision between a tool on the end of a robot and an imported geometry object. The object is a break beam sensor with a simulated laser beam. I am trying to "collide" with the laser beam. I have tried to come up with different methods to get access to when the collision, but cant seem to find the key words in a google/PDF manual search. If there is a way to read messages, determine whether if a collision occurs, or if there is better way to determine within the rapid code to output that the "collision" has occurred, i am all ears. 

Let me know if anyone needs any more info on what exactly i am doing, i can give more specifics if necessary.

Thank you,
     Nick

Dmitry

Hello,
What exatly you want to do? In Virtual system or in real?
I would create digital output, for example do_CollisionTrigg and set it when collision occured
For real system create System Output "Motion Supervision Triggered" and select do_CollisionTrigg as a sygnal name.
For virtual system (option 1) Place a smart component "Collision Sensor" in Station Logic, select parts that it is monitoring and connect output to do_CollisionTrigg.
For virtual system (option 2) Define event Collision in Event Manager, select there Collision Set, and as Action set "Change I\O", and set do_CollisionTrigg to 1.

Monitor signal's change to 1 in semistatic task. When changed to 1, show user a message.

nquattro1996

It was for Virtual system, and that worked, setting up a collision system mapping the sensor out to a signal then using a searchL worked perfectly. the only thing is now how to modify a toolframe within code, if you happen to have the answer