how can i Acknowledge error messages in trap routine?

splata

Hello.

i have a trap routine triggered by motion supervision signal, but i need acknowledge the collision in the trap routine and not in the flex pendant, the robot have this robotware options

  644-3 Spanish

  645-1 French

  709-x DeviceNet

  709-1 DeviceNet m/s

  840-1 EtherNet/IP Fieldbus Adapter

  608-1 World Zones

  612-1 Path Offset

  613-1 Collision Detection

  616-1 PC Interface

this is my trap routine.

TRAP Trap_Colision

    var robtarget pActual_Colision;

    StopMove; 

    pActual_Colision := CRobT(\Tool:=tGripper);

    SetDO DOOpenGrip,1;

    WaitTime 1;

    StartMove;

    GripLoad load0;

    MoveL Offs(pActual_Colision,0,0,400),v300,z200,tGripper;

    Colision:= true;  

    IDisable;

ENDTRAP

ko414du4

I personally would not load trap routines with so much code. I would normally just have tge trap routine to set a flag up, say in your case, collisionDetected, and then handle it in the main flow of the program.