Predicted collision error handler

egor

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

Johannes Weiman

I think ERR_COLL_STOP is only for actual collisions. I will check around if there is an equivalent for predicted collisions.

Johannes Weiman

Error handling for predicted collisions is not supported. It is in the backlog but not planned for a specific release at the moment.

SWoollett

Hi, Is there an update for this?