Predicted collision error handler

RAPID Programming
1

I want the robot to go back if the “50431: Predicted Collision” error is triggered (not confuse with Motion Supervision error).
But I can’t catch this error by standart method via ERROR handler. I tried to use IError command and TRAP routine at the semistatic TASK,
but Rob_1 task cause an error before TRAP routine works.The system parameter Controller/General Rapid/CollisionErrorHandling is set to YES.
“ERRNO=ERR_COLL_STOP” not working too.

Station in attachment.

ROB_1 TASK:

PROC main()
MoveL Target_10,v100,fine,tool0;
!Collision here
MoveL Target_20,v100,fine,tool0;
MoveL Target_10,v100,fine,tool0;
ERROR
IF ERRNO=431 THEN
TPWrite “error detected”;
ENDIF
ENDPROC

SEMISTATIC TASK:

MODULE gapMain

VAR intnum CollisionInt;
VAR intnum err_interrupt;
VAR trapdata err_data;
VAR errdomain err_domain:=5;
VAR num err_number;
VAR errtype err_type;

PROC main()

WHILE TRUE DO
IDelete CollisionInt;
CONNECT CollisionInt WITH CollisionTrap;
IError MOTION_ERR\ErrorId:=431,TYPE_ERR,CollisionInt;
WaitTime 0.1;
ENDWHILE
ENDPROC

TRAP CollisionTrap
GetTrapData err_data;
ReadErrData err_data,err_domain,err_number,err_type;

TPWrite “Collision detected”;
ENDTRAP
ENDMODULE
CollisionAvoid.rar (68.5 KB)

2

I think ERR_COLL_STOP is only for actual collisions. I will check around if there is an equivalent for predicted collisions.

3

Error handling for predicted collisions is not supported. It is in the backlog but not planned for a specific release at the moment.

4

Hi, Is there an update for this?