INTP-105 Run request failed, trying to start program with RUN_TASK built-in

Check the motion group mask for the TP program. It cannot have the same groups enabled as any other TP program that is running (or not aborted).

For example if you have a main TP program that uses motion group 1 that is started you cannot run any other task with the same motion group. In fact you should abort that other TP program before running another task of the same motion group. If you call that program in TP it would run on the same task thread so would not cause an issue. It only becomes an issue when you are multi-threading with the same motion group.

From your program list, select your program and hit "detail" (F2). If F2 is "create," hit the next button and it will be detail. Set the group mask to be all asterisks.

Default for a TP program is to use motion group 1. You need to go to the select menu on the TP, highlight your programs and check the detail menu to see.

Are you using motion command in this tp program?

Also there should be more detail on the alarm, go to alarm history and find out.

Also, make sure your karel program isn't locking the group. Place %NOLOCKGROUP at the top of it so the compile doesn't assign a group mask to it.

Are you sure there are no other motion programs running?

Did you check the alarm detail?

Press function>abort all first before running your program.

If there is motion then the group mask cannot be all asterisk, it has to allow motion. So that is normal.

I'm not a karel expert so maybe some else can chime in on why it isn't working.

Playing devils advocate, Is there a reason why you need to use Karel for this? You can run tasks, call programs, and abort all in regular TP programming. Personally, I'm not a Karel fan.

Is there any reason why your karel program couldn't abort the running (motion) task before starting your new one?

I don't know how your program is set up or exactly what you're trying to do, but my guess/understanding is that you're running a motion program; you want to monitor for a particular condition, if that condition occurs you want to abort the running program motion program and start a new one (possibly a homing routine or something like that). If that's the case, you can set up a condition handler to detect your abort condition, use the ABORT_TASK procedure to abort the running motion program and release control of the motion group, and then call your recovery program.

Could you post your full karel code and your test job you are attempting to start?

Quote from FLrobotics

Thanks a lot for your help!

I solved my problem:

I haven't give the control of the motion group. Therefore I had to use the UNLOCK_GROUP procedure (and the %TPMOTION directive, but not sure if this is necessary) to do this.

That's a bit weird, because I have the %NOLOCKGROUP directive at the beginning and I actually tried this before. But now it works

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Hi FLrobotics,

I am facing the same problem, can please explain a little bit more how you resolved this problem, please!

Here is my KAREL code, I am stuck with motion groups.
please note that I am sending positional data to the robot through an HTTP request and transforming it to xyzwpr and then calling a TP program from the KAREL program but my robot does not move and I am not getting an error on the TP screen.

PROGRAM Mov_HTTP

----------------------------------------
%NOLOCKGROUP
%ENVIRONMENT  REGOPE
%TPMOTION 
%ENVIRONMENT MOTN
%ENVIRONMENT MULTI
%ENVIRONMENT  STRNG
%COMMENT = 'GET POS_HTPP'
%NOABORT=ERROR+COMMAND
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ALPHABETIZE
%INCLUDE KLEVKEYS
%INCLUDE KLEVKMSK
%INCLUDE KLEVCCDF
%INCLUDE KLIOUOP
%INCLUDE KLIOTYPS


VAR
    id,XX,YY,ZZ,WW,PP,RR: STRING[10]
    
    con: CONFIG
    reg_ID,x,y,z,w,p,r:  REAL
    temp_pos: XYZWPR
    fFileHandle : FILE
    chOutFile: STRING[20]
    ret_code,status,prog_index: INTEGER
----------------------------------------------------
-- BEGIN MyProgram                             
----------------------------------------------------
BEGIN
    -- clear the TPERROR screen
    --FORCE_SPMENU(TP_PANEL,SPI_TPUSER,1)
    WRITE(CHR(137),CHR(128))
    WRITE TPERROR(CHR(128))
    WRITE('Waiting for HTTP Req...',CR)
    IF UNINIT(chOutFile) THEN
        chOutFile='TD:RESPONSE.HTM'
        WRITE('[X] INSIDE',CR)
    ENDIF
    WRITE(id,XX,YY,ZZ,WW,PP,RR,CR)
   
    CNV_STR_REAL(id,reg_ID)
    CNV_STR_REAL(XX,x)
    CNV_STR_REAL(YY,y)
    CNV_STR_REAL(ZZ,z)
    CNV_STR_REAL(WW,w)
    CNV_STR_REAL(PP,p)
    CNV_STR_REAL(RR,r)
--     WRITE(reg_ID,x,y,z,w,p,r,CR)

     CNV_STR_CONF('nut',con,status)
     temp_pos = POS(x,y,z,w,p,r,con) --POS(XX,YY,ZZ,WW,PP,RR,con)
   WRITE('--->',CR)
   WRITE(temp_pos,CR)
    IF status =0 THEN
        --WRITE('Openign Foile...',CR)
        
        OPEN FILE fFileHandle ('RW', chOutFile) 
        WRITE fFileHandle ('OK',CR)
        WRITE('L----',CR)
        LOCK_GROUP(1,status)
        SET_POS_REG(TRUNC(reg_ID),temp_pos,status,1)
        WRITE('L----',status,CR)
        CALL_PROG('HTTP_TEST', prog_index)
        --wait for DOUT[101]
        WRITE('Closing File...',CR)
        UNLOCK_GROUP(1,status)
        CLOSE FILE fFileHandle 
    ENDIF

END Mov_HTTP

Here is the motion group of the programs

Quote from mahboobelahi93

Here is my KAREL code, I am stuck with motion groups.
please note that I am sending positional data to the robot through an HTTP request and transforming it to xyzwpr and then calling a TP program from the KAREL program but my robot does not move and I am not getting an error on the TP screen.

I'm not sure, but I think the issue is that, if the KAREL program is calling the TP program, then the KAREL program is trying to take control of the motion group. Even though the KAREL program has no motion commands, the TP program is being executed in the "thread" of the KAREL program, and as such, any motion control the TP program is trying to execute, is being executed under the "authority" of the KAREL program.

Thanks SkyFire.