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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Alarm 8004 TASK #0 MOTOROS FAILED TO CREATE TASK [4] #525

Closed leitoxve closed 1 year ago

leitoxve commented 1 year ago

Hello everyone, My setup is a yaskawa HC20 with yrc1000 Controller
I follow the instruction for (.out - .JBI -.DAT ) [Installing INFORM Code] installation like as: http://wiki.ros.org/motoman_driver/Tutorials/indigo/InstallServer and i launch the streaming interface https://github.com/ros-industrial/motoman/blob/kinetic-devel/motoman_hc20_support/launch/robot_interface_streaming_hc20.launch and immediately the teach pendant show Alarm 8004 TASK #0 MOTOROS FAILED TO CREATE TASK [4] Like picture: image my CLI spit out this image

I suspect it is a double thread or connection and when i search the robot backend thread i find this: image

but I dont know..... Can you help me please??? with love from listembourg!! XD

ted-miller commented 1 year ago

Hi @leitoxve. The alarm 8004 [4] means that the system was unable to create the task which submits motion increments to the MotoPlus API.

That task runs at priority level MP_PRI_IP_CLK_TAKE. There can only be one task in the whole system which runs at this priority level. In your case, that priority is already being used by the CommTest.out application. image

I recommend that you delete the CommTest.out application in MAINTENANCE mode. But if you want to keep that application installed, then please edit the code so that the task runs at priority level MP_PRI_TIME_NORMAL.

Let me know if you have any additional questions.