A possible or actual collision has been detected between the robot and a statically defined obstacle. Obstacles may include fixed objects in the workcell as well as structural elements of the robot such as its base. This error is similar to Location out of range in that it is often detected by the kinematic solution programs as the robot is moving. Move the robot away from the obstacle and continue the motion or modify the executing application program to avoid the obstacle. For application programs this error may indicate that either the planned end point of the motion collides with an object or that a collision has been detected in the middle of a straight-line motion.