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Miscellenous

Select Controller

The commands and parameters that can be used in RoboPlus Task depend on the controller. Therefore, a controller must be selected before creating a program.

select controller

Rule Check

Rule check is the process to verify that the task code has been written appropriately according to the rules. RoboPlus Task has a function that checks for grammatical errors and prints the causes and locations of errors. An example of a grammatical error and its location is shown below.

=== Sentence Check(ollo_bug_product_en) ===
Line:13 Please select a device or number.
=== Tottal Error: 1 ===

Double-click on the error message to move to the location of the error.

Errors

The following is a list of grammatical errors

  1. Select the number or device
  2. Block beginning doesn’t exist
  3. A block must be designated
  4. Only 1 “Start Program” is permitted
  5. “Start Program” cannot be defined in a block
  6. A function cannot be defined in a block
  7. A command to execute the designated block does not exist
  8. This line should be included in a block
  9. The start and end of the block are not paired
  10. “Start Program” does not exist
  11. A function with the same name already exists
  12. “Restoration” can only be used in a function
  13. A label with same name already exists
  14. A function cannot call itself
  15. “If/If else” has been used improperly
  16. There is no loop to end
  17. A block must consist of at least one command
  18. A jump to another block is not permitted
  19. The called function does not exist
  20. Only 1 callback function may exist
  21. A callback function cannot be defined in a block
  22. This command cannot be used in a callback function
  23. This device cannot be used in a callback function
  24. This command cannot be used with the selected controller
  25. There is a device which cannot be used with the selected controller

Solutions

  1. Select the number or device

    Cause of Error Solution
    The parameter has not been set Properly set to a unset parameter
    img_01 img_02
  2. Block beginning doesn’t exist

    Cause of Error Solution
    A block does not exist in a command line Properly set the block
    img_03 img_04
  3. A block must be designated

    Cause of Error Solution
    A duplicate block without a command line Properly set the block
    img_05 img_06
  4. Only 1 “Start Program” is permitted

    Cause of Error Solution
    Two or more “Start Program” exists Create only one “Start Program”
    img_07 img_08
  5. “Start Program” cannot be defined in a block

    Cause of Error Solution
    “Start Program” exists in the block Remove the block from the “Start Program”
    img_09 img_10
  6. A function cannot be defined in a block

    Cause of Error Solution
    Function is located within a block Remove the function from the block
    img_11 img_12
  7. A command to execute the designated block does not exist

    Cause of Error Solution
    Block exists without a command or condition line Added the omitted command or delete
    img_13 img_14
  8. This line should be included in a block

    Cause of Error Solution
    A command without a block is located outermost Move the command to a proper location or delete
    img_15 img_16
  9. The start and end of the block are not paired

    Cause of Error Solution
    The start and end of the block are not paired Please set the area properly
    img_17 img_18
  10. “Start Program” does not exist

    Cause of Error Solution
    “Start Program” does not exist Create a “Start Program”
    img_19 img_20
  11. A function with the same name already exists

    Cause of Error Solution
    A label with the same name already exists Change duplicate function name or delete
    img_21 img_22
  12. “Restoration” can only be used in a function

    Cause of Error Solution
    The restoration command is used in a location other than a function Create a restoration command within a function or delete
    img_23 img_24
  13. A label with same name already exists

    Cause of Error Solution
    Duplicate label name exists Set to a different name or delete
    img_25 img_26
  14. A function cannot call itself

    Cause of Error Solution
    The function is called within the function Replace with a proper command or delete
    img_27 img_28
  15. “If/If else” has been used improperly

    Cause of Error Solution
    If else/ If has been used without Else Revised according to usage If, Else If, Either
    img_29 img_30
  16. There is no loop to end

    Cause of Error Solution
    The “End Repeat” command is used at a location other than a loop End Repeat command can only be used within the loop, delete if unnecessary
    img_31 img_32
  17. A block must consist of at least one command

    Cause of Error Solution
    A line does not exist behind a command that is required by a block Add a line required behind the command or delete
    img_33 img_34
  18. A jump to another block is not permitted

    Cause of Error Solution
    The label you wish to jump to is unavailable in the function Jump to a label within a function or delete
    img_35 img_36
  19. The called function does not exist

    Cause of Error Solution
    The called function does not exist Create a function or delete
    img_37 img_38
  20. Only 1 callback function may exist

    Cause of Error Solution
    Two or more callback functions exist Create only one callback function
    img_39 img_40
  21. A callback function cannot be defined in a block

    Cause of Error Solution
    Callback located in the block Remove callback from block
    img_41 img_42
  22. This command cannot be used in a callback function

    Cause of Error Solution
    Improper command located in callback The corresponding command has been deleted
    img_43 img_44
  23. This device cannot be used in a callback function

    Cause of Error Solution
    An unusable parameter located in callback Delete corresponding parameter
    img_45 img_46
  24. This command cannot be used with the selected controller

    Cause of Error Solution
    Unsupported command being used in the current controller Delete corresponding command or set to supported controller
    img_47 img_48
  25. There is a device which cannot be used with the selected controller

    Cause of Error Solution
    Unusable parameter being used in the controller Either deleted the corresponding parameter or set to a controller which is supported
    img_49 img_50

Error Messages

The following table provides a list of errors you may see while writing codes and printing the output on the screen with RoboPlus Task.

Error Code Description Output Example
8100 Trying to communicate with an unconnected Dynamixel ID.
If it is connected, please check the cable again.
{[ERROR:8100:0005:03]}
8100 : Error Code
0005 : The Dynamixel ID
03 : Confidential Information
0009 Too many consecutive function calls. (More than 6 times) {[ERROR:0009:0033:06]}
0009 : Error Code
0033 :Confidential Information
06 : Confidential Information
8001 Attempting to read an address of the controller designated as “write only”. {[ERROR:8001:000C:02]}
8001 : Error Code
000C : Confidential Information
02 : Confidential Information
8002 Attempting to write at an address of the controller designated as “read only”. {[ERROR:8002:0009:02]}
8002 : Error Code
0009 : Confidential Information
02 : Confidential Information
None Motion page to execute does not exist. [Invalid Page Read:00FE]
00FE : Motion page number (hexadecimal)