/****************************************************************************/ /* errdef.h (c++) */ /*------------------------------------------------------------------------- */ /* Licencia GPL */ /* Enumeracion para los codigos de error de la clase Rhino */ /* Clase para la gestion del estado del controlador del Servo Robot XR4 */ /* RHINO */ /****************************************************************************/ /* Marco Alvarez Reyna */ /* CIII UTN-FRC Argentina */ /* Mayo 2007 / Abril 2008 */ /* mail: marcoalrey@gmail.com */ /****************************************************************************/ // RHINO CONTROLER Error Codes #define RB_ERR_NE 0 // COMMAND ERRORS // Meaning Code #define INV_CMD 10 // Invalid command. #define PAR_OUT 11 // Parameter out of bounds. #define MIS_PAR 12 // Missing parameter. #define NO_DLIM 13 // Expected delimiter not seen. #define TOO_MNY 14 // Command string too long. #define TP_ACTV 16 // The teach pendant is active or busy. // COMMUNICATION ERRORS // Meaning Code #define HST_OVF 20 // Host input buffer overflow. #define HST_TMO 21 // Host USART timed out. #define HST_ERR 22 // Host USART error (framing, parity, etc.). #define TP_OVF 23 // Teach pendant input buffer overflow. #define TP_TMO 24 // Teach pendant USART timed out. #define TP_ERRO 25 // Teach pendant USART error (framing, parity, etc.). #define TP_OVRN 26 // Teach pendant USART overrun. #define HST_OVR 27 // Host USART overrun. // DIAGNOSTIC ERRORS // Meaning Code #define BAD_RAM 30 // Bad RAM location. #define IP_ERR 32 // Teach pendant returned diagnostic error. #define NO_TP 34 // Teach pendant not present. // TEACH PENDANT PROGRAM ERRORS // Meaning Code #define LAB_ERR 40 // Missing label. #define NO_PGRM 41 // No program in memory. #define MEM_FUL 42 // Insufficient teach pendant memory. #define EPM_FUL 43 // Insufficient EEPROM memory. #define RPL_ERR 44 // Can not replace first record. #define PROGRAM 45 // A pendant program already exists. // EXECUTION ERRORS // Meaning Code #define HRD_ERR 50 // Hard home routine failed. #define NO_HARD 51 // Hard home not set. #define NO_SOFT 52 // Soft home not set. #define AR_OVFL 53 // Arithmetic overflow. #define TRG_ERR 54 // Trig function returned error. #define STK_ERR 55 // Error stack overflow. #define BUSY 56 // Still executing a trapezoidal move. #define NO_MOTR 57 // Inactive motor referenced. #define MOV_DAT 58 // Insufficient move data (velocity or acceleration = 0). #define BAD_MOD 59 // Improper motor mode for command. #define NO_A_SW 60 // Limit switch A not found. #define NO_B_SW 61 // Limit switch B not found. #define NO_C_SW 62 // Limit switch C not found. #define NO_D_SW 63 // Limit switch D not found. #define NO_E_SW 64 // Limit switch E not found. #define NO_F_SW 65 // Limit switch F not found. #define NO_G_SW 66 // Limit switch G not found. #define NO_H_SW 67 // Limit switch H not found. #define IMODE 69 // Interpolation move out of bounds. #define POS_OUT 70 // xvz position out of bounds. #define STK_A_S 80 // Limit switch A stuck. #define STK_B_S 81 // Limit switch B stuck. #define STK_C_S 82 // Limit switch C stuck. #define STK_D_S 83 // Limit switch D stuck. #define STK_E_S 84 // Lim it switch E stuck. #define STK_F_S 85 // Limit switch F stuck. #define STK_G_S 86 // Lim it switch G stuck. #define STK_H_S 87 // Lim it switch H stuck. #define INV_RBT 91 // Invalid robot type specifier. #define INV_MOT 92 // Invalid motor specifier. #define INV_TL 93 #define INV_PND 94 // Invalid pendant mode. #define STOP 95 #define INV_XYZ 96 // Invalid xyz specifier. #define XYZ_PAR 97 // Invalid xyz parameter. // MOTOR ERRORS // Meaning Code #define A_STALL 100 // Motor A stalled. #define B_STALL 101 // Motor B stalled. #define C_STALL 102 // Motor C stalled. #define D_STALL 103 // Motor D stalled. #define E_STALL 104 // Motor E stalled. #define F_STALL 105 // Motor F stalled. #define G_STALL 106 // Motor G stalled. #define H_STALL 107 // Motor H stalled. #define A_CURRENT_LIMIT 110 // Motor A's current limit circuit was activated. #define B_CURRENT_LIMIT 111 // Motor B's current limit circuit was activated. #define C_CURRENT_LIMIT 112 // Motor C's current limit circuit was activated. #define D_CURRENT_LIMIT 113 // Motor D's current limit circuit was activated. #define E_CURRENT_LIMIT 114 // Motor E's current limit circuit was activated. #define F_CURRENT_LIMIT 115 // Motor F's current limit circuit was activated. #define G_CURRENT_LIMIT 116 // Motor G's current limit circuit was activated. #define H_CURRENT_LIMIT 117 // Motor H's current limit circuit was activated. #define I_CURRENT_LIMIT 118 // Aux Port 1's current limit circuit was activated. #define J_CURRENT_LIMIT 119 // Aux Port 2's current limit circuit was activated. // RHINO CLASS Error Codes #define RC_ERR_NE 128 #define ERR_CODE 129 //'Error Code' fuera de rango #define LOG_LEV 130 //'Log Level' fuera de rango #define NO_FILE 131 //No se pudo crear el archivo de registro /****************************************************************************/ /* A medida que se codifica la clase se van agregando las distintas */ /* definiciones de error en este segmento. En el vector "RhinoClassErrors" */ /* perteneciente a "rhino.cpp" se escriben los mensajes de error */ /* corrspondiente */ /****************************************************************************/