Collision error handling

Collaborative Robots
, ,
1

Hello,

I have this collision error handling:

PROC main()
…
…
…
ERROR
IF errno =ERR_COLL_STOP THEN
ERR_COLL_HANDL;
RETRY;
ELSE
TPWrite “errore generico”;
GENERIC_ERROR:=TRUE;
stop;
ENDIF
ENDPROC

PROC ERR_COLL_HANDL()
IF DOutput(vo_L_inzone)=1 THEN
…
…
…
RETURN;
ENDIF
stop;
ERROR
GENERIC_ERROR:=TRUE;
stop;
ENDPROC

The case is this:
1)there is a collision
2)during the retractive movement of the collision there is an other collision

In this case Yumi is not able to restart with the play button.
The play has no effect and there’s no other error message.
I have set the program pointer to main and start from main.

Is there any way to fix this and restart without PP in Main ?
Robotware version is 6.04.

Thank you