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jkerr.h
1#ifndef _JHERR_H_
2#define _JHERR_H_
3
4#define ERR_SUCC 0 //success
5#define ERR_FUCTION_CALL_ERROR 2 //interface error or controller not support
6#define ERR_INVALID_HANDLER -1 //invalid handler
7#define ERR_INVALID_PARAMETER -2 //invalid parameter
8#define ERR_COMMUNICATION_ERR -3 //fail to connect
9#define ERR_KINE_INVERSE_ERR -4 //kine_inverse error
10#define ERR_EMERGENCY_PRESSED -5 //e-stop
11#define ERR_NOT_POWERED -6 //not power on
12#define ERR_NOT_ENABLED -7 //not enable
13#define ERR_DISABLE_SERVOMODE -8 //not in servo mode
14#define ERR_NOT_OFF_ENABLE -9 //must turn off enable before power off
15#define ERR_PROGRAM_IS_RUNNING -10 //cannot operate, program is running
16#define ERR_CANNOT_OPEN_FILE -11 //cannot open file, or file doesn't exist
17#define ERR_MOTION_ABNORMAL -12 //motion abnormal
18#define ERR_FTP_PERFORM -14 //ftp error
19#define ERR_VALUE_OVERSIZE -15 // socket msg or value oversize
20#define ERR_KINE_FORWARD -16 //kine_forward error
21#define ERR_EMPTY_FOLDER -17 //not support empty folder
22
23
24#define ERR_PROTECTIVE_STOP -20 // protective stop
25#define ERR_EMERGENCY_STOP -21 // protective stop
26#define ERR_SOFT_LIMIT -22 // on soft limit
27
28#define ERR_CMD_ENCODE -30 // fail to encode cmd string
29#define ERR_CMD_DECODE -31 // fail to decode cmd string
30#define ERR_UNCOMPRESS -32 // fail to uncompress port 10004 string
31
32#define ERR_MOVEL -40 // move linear error
33#define ERR_MOVEJ -41 // move joint error
34#define ERR_MOVEC -42 // move circular error
35
36#define ERR_MOTION_TIMEOUT -50 // block_wait timeout
37
38#endif