Errors¶

MotionError¶

A command the controller refuses or fails raises MotionError, carrying a RobotError with a code, a title, a cause, an effect and a remedy from the controller's catalog:

from parol6 import RobotClient, MotionError

with RobotClient() as rbt:
    try:
        rbt.move_l([900, 0, 0, 0, 0, 0], speed=0.5)
    except MotionError as e:
        print(e)            # IK: target unreachable — ... — Verify target is within workspace...

The codes are on Errors. The ones you meet first:

Code	When
`MOTN_NOT_HOMED`	Planned motion before the robot is referenced: `home()` first
`IK_TARGET_UNREACHABLE`, `IK_PARTIAL_PATH`	The pose, or part of a Cartesian path, has no solution
`SYS_ESTOP_ACTIVE`	The E-stop is pressed or a protective stop is latched: release, then `reset()`
`SYS_CONTROLLER_DISABLED`	The controller is disabled
`SYS_SELF_COLLISION`	The path collides with the robot itself or with a declared shape
`MOTN_CANCELLED`	The command was discarded by `stop()`, an E-stop, a stream taking the arm, a teleport, or a failure ahead of it in the queue
`COMM_VALIDATION_ERROR`, `COMM_DECODE_ERROR`	A malformed command; usually a version mismatch between client and controller

error() returns the current error, activity() the state with the error description, and the status stream carries error.

ValueError and TimeoutError¶

The client checks parameters before sending: a wrong number of angles, a speed outside (0, 1], a non-finite value, an unknown tool action raise ValueError locally. A blocking call whose completion is not confirmed in its timeout raises TimeoutError; the command stays queued, and stop() cancels it. A query that gets no reply returns None, except the TCP queries and bounded I/O writes, which raise rather than report a misleading value.

ConnectionError¶

A controller restart during a wait changes the session, and the wait raises ConnectionError: the index you were waiting for belongs to a controller that no longer exists.

Recovering¶

After	Do
`stop()`	Nothing: the controller is enabled and holding; queue again
`estop()` or the E-stop button	Release the button; `reset()`
`reset_state()`	The shapes, tool, errors, pause, profile and speed are back to defaults; select the tool again; a protective stop stays until `reset()`
A collision or stall on the hardware	Stop; move the arm clear; `home(calibrate=True)`
A failed command in the queue	Everything behind it was cancelled: re-queue from the failed one

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