Miscellaneous

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.

• If you change the controller while you are writing a program for another controller, errors may be raised during the "rule check" process.

• To use a program designed for another controller, the incompatible commands and parameters must be changed accordingly.

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

2. Block beginning doesn't exist

Cause of Error	Solution
A block does not exist in a command line	Properly set the block

3. A block must be designated

Cause of Error	Solution
A duplicate block without a command line	Properly set the block

4. Only 1 "Start Program" is permitted

Cause of Error	Solution
Two or more “Start Program” exists	Create only one “Start Program”

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”

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

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

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

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

10. "Start Program" does not exist

Cause of Error	Solution
“Start Program” does not exist	Create a “Start Program”

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

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

13. A label with same name already exists

Cause of Error	Solution
Duplicate label name exists	Set to a different name or delete

14. A function cannot call itself

Cause of Error	Solution
The function is called within the function	Replace with a proper command or delete

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

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

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

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

19. The called function does not exist

Cause of Error	Solution
The called function does not exist	Create a function or delete

20. Only 1 callback function may exist

Cause of Error	Solution
Two or more callback functions exist	Create only one callback function

21. A callback function cannot be defined in a block

Cause of Error	Solution
Callback located in the block	Remove callback from block

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

23. This device cannot be used in a callback function

Cause of Error	Solution
An unusable parameter located in callback	Delete corresponding parameter

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

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

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