Detecting Blocked/Resisted Robot Motion in RAPID Without Triggering a System Fault

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Hello,

I am looking for a method in ABB RAPID to detect when a robot’s motion becomes blocked by unexpected resistance, but without triggering a system fault.

Here is the application :
The robot, an IRB6700-235 with an IRC5, lifts a rod vertically. Before performing the lateral clearing motion, I need a reliable way to confirm that the rod is fully released from its hole. The idea is to apply a small upward force (a light “pressure test”) to verify that the rod moves freely.
If the robot encounters resistance and cannot continue upward, the motion should stop, the robot should pull the rod out slightly, and then attempt the upward movement again.

My question is :
Is there any built-in RAPID mechanism that allows detecting that a commanded movement is blocked (i.e., the robot cannot progress in the intended direction) without generating a system fault, or must this behavior be implemented manually through other means?

Thank you in advance for your help and insights.