Program with subprograms does not run on a JAKA robot

ht133magnolia · (This post was last modified: 10-14-2025, 06:38 AM by Albert.)

Hello,

I have made a "Main" program which consists of other sub-programs. For some reason, the program won't run on the robot (JAKA Zu20) at all. After I try to run it, an exclamation symbol appears in some of the sub-programs. Although it runs the simulation, there is no movement on the robot. Occasionally, a message appears that this move has caused singularity at joint 5 (not the exact wording).

Now, I have made some random targets because in order to get to a curve follow path, the robot initially makes some drastic movements to get in place. Most of which causes collision. I am not really sure how to solve this issue.

I have attached my .rdk file in case you want to have a look.

I would highly appreciate any help.

**Albert** · 10-14-2025, 05:59 AM

If you want to run a program to the robot that has subprograms (other programs that depend on it), you should also make sure to transfer these subprograms.

Alternatively, you can also generate the main program as one program that includes all subprograms by selecting this option:

Select Tools-Options
Select the Program tab
Check the option Inline subprograms

ht133magnolia · (This post was last modified: 10-19-2025, 10:27 PM by Albert.)

By transfer, do you mean for every subprogram I should select "Send the program to robot"? As for the alternate solution, I have checked the option "Inline subprograms" but still, it won't run.

**Albert** · (This post was last modified: 10-19-2025, 10:28 PM by Albert.)

What do you mean by it won't run? Do you see any issues when running the program on the robot?

ht133magnolia · (This post was last modified: 10-23-2025, 01:05 PM by Albert.)

When I click Run on Robot-Run, the robot moves as expected (both in real life and simulation). But this is only for programs with no subprograms.

When I try to do the same with a program containing multiple subprograms, the same thing does not happen after I perform Run on Robot-Run. I hope I could explain the problem.

**Albert** · 10-23-2025, 01:09 PM

You can the behavior when you use the Run on robot option to run the subprograms in RoboDK instead of the robot by changing this setting:

Select Tools-Options
Select the Drivers tab
Uncheck the option Trigger program calls on the robot

ht133magnolia · (This post was last modified: 10-28-2025, 04:07 PM by Albert.)

Albert, I think that is the opposite of what I want. Let's say I have program1 (it is a simple curve follow path). When I click on "Run on Robot" then on "Run", the actual robot moves successfully.

Now, let's say I have program2 (it consists of multiple programs). When I click on "Run on Robot" then on "Run", the actual robot doesn't move.

I have tried including the subprograms and also the inline subprograms, but somehow failed.

**Albert** · 10-30-2025, 09:30 AM

In this case, you should flag the subprograms to run on the robot as well: right click every subprogram you want to run on the robot and check the option to Run on robot.