Predicted collision error handler

I want the robot to go back if  the "50431: Predicted Collision" error is triggered (not confuse with Motion Supervision error).
But I can't catch this error by standart method via ERROR handler. I tried to use IError command and TRAP routine at the semistatic TASK,
but Rob_1 task cause an error before TRAP routine works.The system parameter Controller/General Rapid/CollisionErrorHandling is set to YES.
"ERRNO=ERR_COLL_STOP" not working too.

Station in attachment.

ROB_1 TASK:

    PROC main()
        MoveL Target_10,v100,fine,tool0;
        !Collision here
        MoveL Target_20,v100,fine,tool0;
        MoveL Target_10,v100,fine,tool0;
    ERROR
        IF ERRNO=431 THEN
            TPWrite "error detected";
        ENDIF
    ENDPROC

SEMISTATIC TASK:

MODULE gapMain

    VAR intnum CollisionInt;
    VAR intnum err_interrupt;
    VAR trapdata err_data;
    VAR errdomain err_domain:=5;
    VAR num err_number;
    VAR errtype err_type;

    PROC main()

        WHILE TRUE DO
            IDelete CollisionInt;
            CONNECT CollisionInt WITH CollisionTrap;
            IError MOTION_ERR\ErrorId:=431,TYPE_ERR,CollisionInt;
            WaitTime 0.1;
        ENDWHILE
    ENDPROC

    TRAP CollisionTrap
        GetTrapData err_data;
        ReadErrData err_data,err_domain,err_number,err_type;

        TPWrite "Collision detected";
    ENDTRAP
ENDMODULE

Comments

  • Johannes Weiman
    Johannes Weiman ABB Sweden admin
    I think ERR_COLL_STOP is only for actual collisions. I will check around if there is an equivalent for predicted collisions.
    Johannes Weiman
    Software Engineer
    RobotStudio Team, ABB Robotics
  • Johannes Weiman
    Johannes Weiman ABB Sweden admin
    edited October 2019
    Error handling for predicted collisions is not supported. It is in the backlog but not planned for a specific release at the moment.
    Johannes Weiman
    Software Engineer
    RobotStudio Team, ABB Robotics