This is the first time I am using the above software options on a robot and I would like to post a quick question:
How does collision guard relate to touch skip ? How do these two functions collaborate ? From all the documentation I could read and a lot of searching on this forum and internet in general I get the feeling that people seem to connect the two, although there isn't a direct connection between them in the manuals. From what I can understand so far Collision guard (?)only(?) posts and alarm and stops the robot or can I use the DO to make a skip condition when a collision occurs ? is there an automatic error recovery from a collision alarm ? Do I also have to use Collision Guard in order to use touch skip efficiently or is the torque disturbance values enough?