Adjunto 'errdef.h'
Descargar 1 /****************************************************************************/
2 /* errdef.h (c++) */
3 /*------------------------------------------------------------------------- */
4 /* Licencia GPL */
5 /* Enumeracion para los codigos de error de la clase Rhino */
6 /* Clase para la gestion del estado del controlador del Servo Robot XR4 */
7 /* RHINO */
8 /****************************************************************************/
9 /* Marco Alvarez Reyna */
10 /* CIII UTN-FRC Argentina */
11 /* Mayo 2007 / Abril 2008 */
12 /* mail: marcoalrey@gmail.com */
13 /****************************************************************************/
14
15 // RHINO CONTROLER Error Codes
16 #define RB_ERR_NE 0
17
18 // COMMAND ERRORS
19 // Meaning Code
20 #define INV_CMD 10 // Invalid command.
21 #define PAR_OUT 11 // Parameter out of bounds.
22 #define MIS_PAR 12 // Missing parameter.
23 #define NO_DLIM 13 // Expected delimiter not seen.
24 #define TOO_MNY 14 // Command string too long.
25 #define TP_ACTV 16 // The teach pendant is active or busy.
26
27 // COMMUNICATION ERRORS
28 // Meaning Code
29 #define HST_OVF 20 // Host input buffer overflow.
30 #define HST_TMO 21 // Host USART timed out.
31 #define HST_ERR 22 // Host USART error (framing, parity, etc.).
32 #define TP_OVF 23 // Teach pendant input buffer overflow.
33 #define TP_TMO 24 // Teach pendant USART timed out.
34 #define TP_ERRO 25 // Teach pendant USART error (framing, parity, etc.).
35 #define TP_OVRN 26 // Teach pendant USART overrun.
36 #define HST_OVR 27 // Host USART overrun.
37
38 // DIAGNOSTIC ERRORS
39 // Meaning Code
40 #define BAD_RAM 30 // Bad RAM location.
41 #define IP_ERR 32 // Teach pendant returned diagnostic error.
42 #define NO_TP 34 // Teach pendant not present.
43
44 // TEACH PENDANT PROGRAM ERRORS
45 // Meaning Code
46 #define LAB_ERR 40 // Missing label.
47 #define NO_PGRM 41 // No program in memory.
48 #define MEM_FUL 42 // Insufficient teach pendant memory.
49 #define EPM_FUL 43 // Insufficient EEPROM memory.
50 #define RPL_ERR 44 // Can not replace first record.
51 #define PROGRAM 45 // A pendant program already exists.
52
53 // EXECUTION ERRORS
54 // Meaning Code
55 #define HRD_ERR 50 // Hard home routine failed.
56 #define NO_HARD 51 // Hard home not set.
57 #define NO_SOFT 52 // Soft home not set.
58 #define AR_OVFL 53 // Arithmetic overflow.
59 #define TRG_ERR 54 // Trig function returned error.
60 #define STK_ERR 55 // Error stack overflow.
61 #define BUSY 56 // Still executing a trapezoidal move.
62 #define NO_MOTR 57 // Inactive motor referenced.
63 #define MOV_DAT 58 // Insufficient move data (velocity or acceleration = 0).
64 #define BAD_MOD 59 // Improper motor mode for command.
65
66 #define NO_A_SW 60 // Limit switch A not found.
67 #define NO_B_SW 61 // Limit switch B not found.
68 #define NO_C_SW 62 // Limit switch C not found.
69 #define NO_D_SW 63 // Limit switch D not found.
70 #define NO_E_SW 64 // Limit switch E not found.
71 #define NO_F_SW 65 // Limit switch F not found.
72 #define NO_G_SW 66 // Limit switch G not found.
73 #define NO_H_SW 67 // Limit switch H not found.
74
75 #define IMODE 69 // Interpolation move out of bounds.
76
77 #define POS_OUT 70 // xvz position out of bounds.
78
79 #define STK_A_S 80 // Limit switch A stuck.
80 #define STK_B_S 81 // Limit switch B stuck.
81 #define STK_C_S 82 // Limit switch C stuck.
82 #define STK_D_S 83 // Limit switch D stuck.
83 #define STK_E_S 84 // Lim it switch E stuck.
84 #define STK_F_S 85 // Limit switch F stuck.
85 #define STK_G_S 86 // Lim it switch G stuck.
86 #define STK_H_S 87 // Lim it switch H stuck.
87 #define INV_RBT 91 // Invalid robot type specifier.
88 #define INV_MOT 92 // Invalid motor specifier.
89 #define INV_TL 93
90 #define INV_PND 94 // Invalid pendant mode.
91 #define STOP 95
92 #define INV_XYZ 96 // Invalid xyz specifier.
93 #define XYZ_PAR 97 // Invalid xyz parameter.
94
95 // MOTOR ERRORS
96 // Meaning Code
97 #define A_STALL 100 // Motor A stalled.
98 #define B_STALL 101 // Motor B stalled.
99 #define C_STALL 102 // Motor C stalled.
100 #define D_STALL 103 // Motor D stalled.
101 #define E_STALL 104 // Motor E stalled.
102 #define F_STALL 105 // Motor F stalled.
103 #define G_STALL 106 // Motor G stalled.
104 #define H_STALL 107 // Motor H stalled.
105 #define A_CURRENT_LIMIT 110 // Motor A's current limit circuit was activated.
106 #define B_CURRENT_LIMIT 111 // Motor B's current limit circuit was activated.
107 #define C_CURRENT_LIMIT 112 // Motor C's current limit circuit was activated.
108 #define D_CURRENT_LIMIT 113 // Motor D's current limit circuit was activated.
109 #define E_CURRENT_LIMIT 114 // Motor E's current limit circuit was activated.
110 #define F_CURRENT_LIMIT 115 // Motor F's current limit circuit was activated.
111 #define G_CURRENT_LIMIT 116 // Motor G's current limit circuit was activated.
112 #define H_CURRENT_LIMIT 117 // Motor H's current limit circuit was activated.
113 #define I_CURRENT_LIMIT 118 // Aux Port 1's current limit circuit was activated.
114 #define J_CURRENT_LIMIT 119 // Aux Port 2's current limit circuit was activated.
115
116 // RHINO CLASS Error Codes
117 #define RC_ERR_NE 128
118
119 #define ERR_CODE 129 //'Error Code' fuera de rango
120 #define LOG_LEV 130 //'Log Level' fuera de rango
121 #define NO_FILE 131 //No se pudo crear el archivo de registro
122
123 /****************************************************************************/
124 /* A medida que se codifica la clase se van agregando las distintas */
125 /* definiciones de error en este segmento. En el vector "RhinoClassErrors" */
126 /* perteneciente a "rhino.cpp" se escriben los mensajes de error */
127 /* corrspondiente */
128 /****************************************************************************/
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