how can i Acknowledge error messages in trap routine?

RAPID Programming
1

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

2

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.