Error handling with UR polyscope

[Zamora]

Good day everybody,

Recently I have been working on an application using a CB-series UR. I have an issue where the robot tries to pick up a piece using a vacuum gripper, and in the case that the robot either doesn't detect the piece, is unable to pick it up or loses grip on it, there needs to be a way to handle this error case and go, for example, to a safety position or turn on an alarm.

The problem is that I have been unable to find a correct way to implement this error handling. The best I could do was to just halt the program execution, but this is not satisfactory for this purpose. Does anybody have any tips on how to interrupt the program, switch to a different case or similar? Specifically, I have been working using the Polyscope pendant and have found difficulty programming anything remotely advanced.

Thanks in advance!