skip forward when using motion supervision

matti

I have configured a motion supervision error handler wich is activated by ERRNO=ERR_COLL_STOP, moves the welding torch out for cleaning and back in again.

After RestoPath/StartMove the tool goes all the time back to the point where the original collision happened. If the collision is caused by a big tack-weld for instance, collision will happen again. All attempts to have a bigger tool distance to the work-piece after this point failed.

Is there something like skip-forward in weld-error handler available with collision detection?