There is no simple way to solve this problem.The best solution is to inspect the parts before placing them in the tooling, and detect the defective parts before the collision occurs. Depending on the nature of the defect, you might be able to do this with a simple sensor, or it might require a full vision system.
The issue is, the robot is "blind." It has no real way to detect a defect until the collision occurs. It might be possible to program the robot to terminate the transfer early, on detection of A5 torque, and drop the defective part before the fatal torque error occurs, but this would require skilled and careful KRL programming. It is also hard to do this kind of sensing action when running the robot at maximum speed.
How i can detect a5 torque and take action for this torque value ? Cycle time is not problem for this application so robot is working in %10 speed. Its a tube bending process. Some tubes are circular form is defective. Can u give me an example for read torque value and take a action for this torque value ?