Torch collision detection (KRC2 ArcTechDigital 2.3)

KRC2ed05 / kss 5.5.14 / ArcTechDigital 2.3

Is there collision detection implemented in ArcTechDigital 2.3???

I don't mean servo torque based detection which exists since KSS 5.5 I think. I mean collision detection sensor (crash box) connected in robot digital input.

I didn't find anything mentioned in ArcTechDigital manual neither collision detection signal input in configuration files.

I have faced existing system where isn't used any ready made collision detection functionality and it has been done with own interrupt.

cell.src

GLOBAL INTERRUPT DECL 4 TORCH_COLLISION==TRUE DO t_coll ( )
INTERRUPT ON 4

I think this should be better to locate in sps.sub so detection would work in every well program .src file?

t_coll.src

DEF t_coll( )


CHK:
BRAKE F
HALT
WAIT SEC 0.5


IF (TORCH_COLLISION==TRUE) THEN
  GOTO CHK
ENDIF


END

It really would be nice to have collision detection functionality in Arctech TP like in newer versions in KRC4.