English to Spanish Law/Patents Law (general) Legal Colloquy

Hello,

I'm looking for something that sounds good in Spanish for the legal term "colloquy." Basically, it is a talk between the judge/defendant to make certain the defendant understands his rights (see dictionary definition below). I could translate it very literally as: "coloquio" since that word does exist in Spanish, but I'd prefer a legal equivalent in Spanish, if one exists. If one doesn't exist, I guess I'll just stick to the same word: coloquio. I had thought of: "apercibimiento," but I'm not sure. Does anyone know of an equivalent in Mexico, Spain, Argentina, etc. or some Spanish-speaking country?

Here at this link is a document where the term appears:
https://www.crawfordcountypa.net/Courts/Rules/Criminal/FORM ...

Dictionary Definition:
colloquy n
: a discussion during a hearing between the judge and the defendant usually to ascertain the defendant's understanding of his or her rights and of the court proceedings (From Findlaw Dictionary)