Simulating collision error and recovery in RobotStudio

pacijent

Hello to all, I would like to simulate collision error and recovery possibility in RS. We have robot system with multitasking option. I tried to do recovery inside semistatic task, without success. So my question is where should be trap routine (main, robot motion, or semistatic task), and where should be recovery routine (motion up after collision). And how to raise collision error in rapid (I guess inside robot motion routine?). Thanks in advance.

Anders S

Hi,
I did this once with a S4 system where I used a semistatic task.In this task I used the instruction "IError" to trig a trap routine when a collision had occured. 

In the trap routine I used system signals to reset the error, turn on the motors and restart the program. This worked fine in the real robot.

pacijent

Thanks a lot for the answer Anders.