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ModuleErrors.h
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/*
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* Copyright (c) 2012 SCHUNK GmbH & Co. KG
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* Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef MODULEERRORS_H
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#define MODULEERRORS_H
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// Module States
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#define STATEID_MOD_ERROR 0x00000001L
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#define STATEID_MOD_HOME 0x00000002L
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#define STATEID_MOD_HALT 0x00000004L
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#define STATEID_MOD_POWERFAULT 0x00000008L
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#define STATEID_MOD_TOW_ERROR 0x00000010L
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#define STATEID_MOD_COMM_ERROR 0x00000020L
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#define STATEID_MOD_SWR 0x00000040L
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#define STATEID_MOD_SW1 0x00000080L
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#define STATEID_MOD_SW2 0x00000100L
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#define STATEID_MOD_BRAKEACTIVE 0x00000200L
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#define STATEID_MOD_CURLIMIT 0x00000400L
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#define STATEID_MOD_MOTION 0x00000800L
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#define STATEID_MOD_RAMP_ACC 0x00001000L
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#define STATEID_MOD_RAMP_STEADY 0x00002000L
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#define STATEID_MOD_RAMP_DEC 0x00004000L
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#define STATEID_MOD_RAMP_END 0x00008000L
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#define STATEID_MOD_INPROGRESS 0x00010000L
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#define STATEID_MOD_FULLBUFFER 0x00020000L
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#define STATEID_MOD_POW_VOLT_ERR 0x00040000L
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#define STATEID_MOD_POW_FET_TEMP 0x00080000L
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#define STATEID_MOD_POW_WDG_TEMP 0x00100000L
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#define STATEID_MOD_POW_SHORTCUR 0x00200000L
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#define STATEID_MOD_POW_HALLERR 0x00400000L
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#define STATEID_MOD_POW_INTEGRALERR 0x00800000L
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#define STATEID_MOD_CPU_OVERLOAD 0x01000000L
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#define STATEID_MOD_BEYOND_HARD 0x02000000L
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#define STATEID_MOD_BEYOND_SOFT 0x04000000L
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// Module Config
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#define CONFIGID_MOD_ENCODER_FEEDBACK 0x00000001L //OS: 25xx from 35xx in SETUP
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#define CONFIGID_MOD_RESOLVER_FEEDBACK 0x00000002L //OS: 25xx from 35xx in SETUP
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#define CONFIGID_MOD_ABSOLUTE_FEEDBACK 0x00000004L //OS: 25xx from 35xx in SETUP
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#define CONFIGID_MOD_BRAKE_PRESENT 0x00000008L
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#define CONFIGID_MOD_BRAKE_AT_POWERON 0x00000010L
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#define CONFIGID_MOD_SWR_WITH_ENCODERZERO 0x00000020L
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#define CONFIGID_MOD_SWR_AT_FALLING_EDGE 0x00000040L
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#define CONFIGID_MOD_CHANGE_SWR_TO_LIMIT 0x00000080L
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#define CONFIGID_MOD_SWR_ENABLED 0x00000100L
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#define CONFIGID_MOD_SWR_LOW_ACTIVE 0x00000200L
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#define CONFIGID_MOD_SWR_EQ_POSLIMIT 0x00000400L //OS: 25xx
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#define CONFIGID_MOD_SWR_USE_EXTERNAL 0x00000400L //OS: 35xx
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#define CONFIGID_MOD_SW1_ENABLED 0x00000800L
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#define CONFIGID_MOD_SW1_LOW_ACTIVE 0x00001000L
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#define CONFIGID_MOD_SW1_EQ_POSLIMIT 0x00002000L //OS: 25xx
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#define CONFIGID_MOD_SW1_USE_EXTERNAL 0x00002000L //OS: 35xx
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#define CONFIGID_MOD_SW2_ENABLED 0x00004000L
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#define CONFIGID_MOD_SW2_LOW_ACTIVE 0x00008000L
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#define CONFIGID_MOD_SW2_EQ_POSLIMIT 0x00010000L //OS: 25xx
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#define CONFIGID_MOD_SW2_USE_EXTERNAL 0x00010000L //OS: 35xx
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#define CONFIGID_MOD_LINEAR 0x00020000L
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#define CONFIGID_MOD_OPENBRAKE_ON_SW2 0x00040000L //OS: 25xx but not in 2512 from 35xx in SETUP
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#define CONFIGID_MOD_ALLOW_FULL_CUR 0x00080000L
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#define CONFIGID_MOD_M3_COMPATIBLE 0x00100000L
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#define CONFIGID_MOD_LINEAR_SCREW 0x00200000L
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#define CONFIGID_MOD_DISABLE_ON_HALT 0x00800000L
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#define CONFIGID_MOD_WATCHDOG_ENABLE 0x01000000L
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#define CONFIGID_MOD_ZERO_MOVE_AFTER_HOK 0x02000000L //OS: 35xx
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#define CONFIGID_MOD_DISABLE_ACK 0x04000000L
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#define CONFIGID_MOD_SYNC_MOTION 0x08000000L
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#define CONFIGID_MOD_SYNC_TRANSMIT 0x10000000L
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#define CONFIGID_MOD_CAN_RS232_COMM 0x40000000L //OS: 25xx
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#define CONFIGID_MOD_PROFI_RS485_COMM 0x80000000L //OS: 25xx
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// Module Setup
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// ---- FEEDBACK SETUP -----------
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#define SETUPID_MOD_ENCODER_FEEDBACK 0x00000001L
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#define SETUPID_MOD_RESOLVER_FEEDBACK 0x00000002L
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#define SETUPID_MOD_ABSOLUTE_FEEDBACK 0x00000004L
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// ---- DIGITAL IO SETUP ---------
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#define SETUPID_MOD_4IN_4OUT 0x00000008L
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#define SETUPID_MOD_3IN_ENCODER_IN 0x00000010L
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#define SETUPID_MOD_3IN_ENCODER_OUT 0x00000020L
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// ---- COMM INTERFACE -----------
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#define SETUPID_MOD_RS232 0x00000040L
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#define SETUPID_MOD_CAN 0x00000200L
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#define SETUPID_MOD_PROFIBUS 0x00000400L
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// ---- CAN ID SETUP -------------
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#define SETUPID_MOD_USE_M3ID 0x00000800L
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#define SETUPID_MOD_USE_M4ID 0x00001000L
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#define SETUPID_MOD_USE_CANOPEN 0x00002000L
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// ---- MOTOR SETUP --------------
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#define SETUPID_MOD_INVERT_MOTORDIR 0x00004000L
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// ---- INPUT USAGE --------------
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#define SETUPID_MOD_USE_SW2_AS_ENABLE 0x00008000L
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#define SETUPID_MOD_USE_SW2_AS_BRAKE 0x00010000L
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// ---- OUTPUT USAGE -------------
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#define SETUPID_MOD_ERROR_TO_OUT0 0x00020000L
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// ---- IN/OUTPUT USAGE -------------
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#define SETUPID_MOD_IO_GRIPPER_CONTROL 0x00080000L
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// Module Types
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#define TYPEID_MOD_ROTARY 0x0f
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#define TYPEID_MOD_LINEAR 0xf0
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// Module DIO's
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#define DIOID_MOD_INBIT0 0x00000001L
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#define DIOID_MOD_INBIT1 0x00000002L
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#define DIOID_MOD_INBIT2 0x00000004L
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#define DIOID_MOD_INBIT3 0x00000008L
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#define DIOID_MOD_OUTBIT0 0x00000010L
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#define DIOID_MOD_OUTBIT1 0x00000020L
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#define DIOID_MOD_OUTBIT2 0x00000040L
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#define DIOID_MOD_OUTBIT3 0x00000080L
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#define DIOID_MOD_INSWR 0x00000100L
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#define DIOID_MOD_INSW1 0x00000200L
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#define DIOID_MOD_INSW2 0x00000400L
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// Module Baudrates
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#define BAUDRATEID_MOD_CAN_125K 0
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#define BAUDRATEID_MOD_CAN_250K 1
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#define BAUDRATEID_MOD_CAN_500K 2
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#define BAUDRATEID_MOD_CAN_1000K 3
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#define BAUDRATEID_MOD_RS232_1200 0
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#define BAUDRATEID_MOD_RS232_2400 1
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#define BAUDRATEID_MOD_RS232_4800 2
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#define BAUDRATEID_MOD_RS232_9600 3
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#define BAUDRATEID_MOD_RS232_19200 4
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#define BAUDRATEID_MOD_RS232_38400 5
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#define BAUDRATEID_MOD_RS232_56700 6
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// Module Errors
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#define ERRID_MOD (-300L) // module error
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#define ERRID_MOD_INITERROR (ERRID_MOD - 1)
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#define ERRID_MOD_ISINITIALIZED (ERRID_MOD - 2)
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#define ERRID_MOD_NOTINITIALIZED (ERRID_MOD - 3)
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#define ERRID_MOD_WRONGMODULEID (ERRID_MOD - 4)
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#define ERRID_MOD_DEVICENOTFOUND (ERRID_MOD - 5)
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#define ERRID_MOD_DEVICENOTINIT (ERRID_MOD - 6)
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#define ERRID_MOD_MODULEERROR (ERRID_MOD - 7)
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#define ERRID_MOD_WAITTIMEOUT (ERRID_MOD - 8)
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#define ERRID_MOD_CONNECTIONNOTINIT (ERRID_MOD - 9)
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#define ERRID_MOD_PARSERERROR (ERRID_MOD - 10)
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#endif
schunk_libm5api
Author(s): Florian Weisshardt
autogenerated on Mon Nov 25 2019 03:48:19