Epson VT Series, Manipulator Manual

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20. Restrictions
VT Rev.1 251
20.4 Restrictions of Functions
Some of the following functions are not available.
20.4.1 TP3
You cannot use build of the program. An error occurs to finish the program if executing
it. Other functions are available.
20.4.2 Loop Processing
If the created robot control program is consisted of the multi-tasking and also there are
some task with infinite loop, the system may become unstable and the connection with
EPSON RC+ is disconnected.
The controller detects infinite loop tasks. If the possibilities to affect the system are
detected, the following error occurs and stops the program.
If the error occurs, modify the program and make sure not to set infinite loop.
Error code : 2556
Error message : An excessive loop was detected.
Please reduce the number of looped tasks or set Wait
Do not perform any processing such as infinite loop or any other similar processing as
much as possible.
Execute wait command or similar command in the loop processing and avoid occupying
the CPU if performing calculation which required loop or waiting for I/O signals.
There is no problem if executing commands with Wait in the loop such as Wait command,
robot operating command, Print command, and NetWait command.
NOTE: About infinite loop
Infinite loop is when commands are created only with command without Wait in
the loop such as operation instruction, assignment command, and I/O check
command.
Example 1: Turns ON output port “2” when Input port “0” turned ON
Example of program that may cause errors
Do
If Sw(0) = On Then
On(2)
Exit Do
EndIf
Loop
Correction example
Wait Sw(0) = On
On(2)