ApossC SDK  V01.15
Macros | Functions
SDK_Error_Description.mh File Reference

Declaration of Error Codes. More...

Go to the source code of this file.

Macros

#define SDO_ERR_TOGGLE_BIT   0x5030000
 
#define SDO_ERR_TIMEOUT   0x5040000
 
#define SDO_ERR_COMMAND   0x5040001
 
#define SDO_ERR_BLOCK_SIZE   0x5040002
 
#define SDO_ERR_BLOCK_SEQUENCE   0x5040003
 
#define SDO_ERR_BLOCK_CRC   0x5040004
 
#define SDO_ERR_MEMORY   0x5040005
 
#define SDO_ERR_ACCESS_UNSUPPORTED   0x6010000
 
#define SDO_ERR_ACCESS_WO   0x6010001
 
#define SDO_ERR_ACCESS_RO   0x6010002
 
#define SDO_ERR_NO_OBJECT   0x6020000
 
#define SDO_ERR_MAPPING_OBJECT   0x6040041
 
#define SDO_ERR_MAPPING_LENGTH   0x6040042
 
#define SDO_ERR_GENERAL_PARAMETER   0x6040043
 
#define SDO_ERR_GENERAL_DEVICE   0x6040047
 
#define SDO_ERR_HARDWARE   0x6060000
 
#define SDO_ERR_DATATYPE   0x6070010
 
#define SDO_ERR_DATATYPE_HIGH   0x6070012
 
#define SDO_ERR_DATATYPE_LOW   0x6070013
 
#define SDO_ERR_NO_SUB_INDEX   0x6090011
 
#define SDO_ERR_VALUE_RANGE   0x6090030
 
#define SDO_ERR_VALUE_HIGH   0x6090031
 
#define SDO_ERR_VALUE_LOW   0x6090032
 
#define SDO_ERR_VALUE_MIN_MAX   0x6090036
 
#define SDO_ERR_SDO_CONNECTION   0x60A0023
 
#define SDO_ERR_GENERAL   0x8000000
 
#define SDO_ERR_DATA_STORE   0x8000020
 
#define SDO_ERR_DATA_STORE_LOCAL   0x8000021
 
#define SDO_ERR_DATA_STORE_STATE   0x8000022
 
#define SDO_ERR_OBJECT_DICTIONARY   0x8000023
 

Functions

void sdkErrorPrint_ApossIdeErrorDescription (long errorCode)
 Prints a error description for ApossIDE errors. More...
 
void sdkErrorPrint_SdoErrorDescription (long errorCode)
 Prints a error description for SDO abort codes. More...
 

Detailed Description

Declaration of Error Codes.

Revision
261

Definition in file SDK_Error_Description.mh.

Macro Definition Documentation

◆ SDO_ERR_ACCESS_RO

#define SDO_ERR_ACCESS_RO   0x6010002

Definition at line 23 of file SDK_Error_Description.mh.

◆ SDO_ERR_ACCESS_UNSUPPORTED

#define SDO_ERR_ACCESS_UNSUPPORTED   0x6010000

Definition at line 21 of file SDK_Error_Description.mh.

◆ SDO_ERR_ACCESS_WO

#define SDO_ERR_ACCESS_WO   0x6010001

Definition at line 22 of file SDK_Error_Description.mh.

◆ SDO_ERR_BLOCK_CRC

#define SDO_ERR_BLOCK_CRC   0x5040004

Definition at line 19 of file SDK_Error_Description.mh.

◆ SDO_ERR_BLOCK_SEQUENCE

#define SDO_ERR_BLOCK_SEQUENCE   0x5040003

Definition at line 18 of file SDK_Error_Description.mh.

◆ SDO_ERR_BLOCK_SIZE

#define SDO_ERR_BLOCK_SIZE   0x5040002

Definition at line 17 of file SDK_Error_Description.mh.

◆ SDO_ERR_COMMAND

#define SDO_ERR_COMMAND   0x5040001

Definition at line 16 of file SDK_Error_Description.mh.

◆ SDO_ERR_DATA_STORE

#define SDO_ERR_DATA_STORE   0x8000020

Definition at line 40 of file SDK_Error_Description.mh.

◆ SDO_ERR_DATA_STORE_LOCAL

#define SDO_ERR_DATA_STORE_LOCAL   0x8000021

Definition at line 41 of file SDK_Error_Description.mh.

◆ SDO_ERR_DATA_STORE_STATE

#define SDO_ERR_DATA_STORE_STATE   0x8000022

Definition at line 42 of file SDK_Error_Description.mh.

◆ SDO_ERR_DATATYPE

#define SDO_ERR_DATATYPE   0x6070010

Definition at line 30 of file SDK_Error_Description.mh.

◆ SDO_ERR_DATATYPE_HIGH

#define SDO_ERR_DATATYPE_HIGH   0x6070012

Definition at line 31 of file SDK_Error_Description.mh.

◆ SDO_ERR_DATATYPE_LOW

#define SDO_ERR_DATATYPE_LOW   0x6070013

Definition at line 32 of file SDK_Error_Description.mh.

◆ SDO_ERR_GENERAL

#define SDO_ERR_GENERAL   0x8000000

Definition at line 39 of file SDK_Error_Description.mh.

◆ SDO_ERR_GENERAL_DEVICE

#define SDO_ERR_GENERAL_DEVICE   0x6040047

Definition at line 28 of file SDK_Error_Description.mh.

◆ SDO_ERR_GENERAL_PARAMETER

#define SDO_ERR_GENERAL_PARAMETER   0x6040043

Definition at line 27 of file SDK_Error_Description.mh.

◆ SDO_ERR_HARDWARE

#define SDO_ERR_HARDWARE   0x6060000

Definition at line 29 of file SDK_Error_Description.mh.

◆ SDO_ERR_MAPPING_LENGTH

#define SDO_ERR_MAPPING_LENGTH   0x6040042

Definition at line 26 of file SDK_Error_Description.mh.

◆ SDO_ERR_MAPPING_OBJECT

#define SDO_ERR_MAPPING_OBJECT   0x6040041

Definition at line 25 of file SDK_Error_Description.mh.

◆ SDO_ERR_MEMORY

#define SDO_ERR_MEMORY   0x5040005

Definition at line 20 of file SDK_Error_Description.mh.

◆ SDO_ERR_NO_OBJECT

#define SDO_ERR_NO_OBJECT   0x6020000

Definition at line 24 of file SDK_Error_Description.mh.

◆ SDO_ERR_NO_SUB_INDEX

#define SDO_ERR_NO_SUB_INDEX   0x6090011

Definition at line 33 of file SDK_Error_Description.mh.

◆ SDO_ERR_OBJECT_DICTIONARY

#define SDO_ERR_OBJECT_DICTIONARY   0x8000023

Definition at line 43 of file SDK_Error_Description.mh.

◆ SDO_ERR_SDO_CONNECTION

#define SDO_ERR_SDO_CONNECTION   0x60A0023

Definition at line 38 of file SDK_Error_Description.mh.

◆ SDO_ERR_TIMEOUT

#define SDO_ERR_TIMEOUT   0x5040000

Definition at line 15 of file SDK_Error_Description.mh.

◆ SDO_ERR_TOGGLE_BIT

#define SDO_ERR_TOGGLE_BIT   0x5030000

Definition at line 14 of file SDK_Error_Description.mh.

◆ SDO_ERR_VALUE_HIGH

#define SDO_ERR_VALUE_HIGH   0x6090031

Definition at line 35 of file SDK_Error_Description.mh.

◆ SDO_ERR_VALUE_LOW

#define SDO_ERR_VALUE_LOW   0x6090032

Definition at line 36 of file SDK_Error_Description.mh.

◆ SDO_ERR_VALUE_MIN_MAX

#define SDO_ERR_VALUE_MIN_MAX   0x6090036

Definition at line 37 of file SDK_Error_Description.mh.

◆ SDO_ERR_VALUE_RANGE

#define SDO_ERR_VALUE_RANGE   0x6090030

Definition at line 34 of file SDK_Error_Description.mh.

Function Documentation

◆ sdkErrorPrint_ApossIdeErrorDescription()

void sdkErrorPrint_ApossIdeErrorDescription ( long  errorCode)

Prints a error description for ApossIDE errors.

This function prints a description for an error of ApossIDE

Parameters
errorCodeerrorCode of ApossIDE

Definition at line 25 of file SDK_Error_Description.mc.

26 {
27  switch(errorCode)
28  {
29  case F_CANMEM:
30  printf("There are no more CAN objects available (CANINI).");
31  break;
32  case F_NOAXES:
33  printf("Axis not in system.");
34  break;
35  case F_ERR:
36  printf("Error not cleared.");
37  break;
38  case F_NOMNU:
39  printf("Failed to move to HOME position.");
40  break;
41  case F_MNU:
42  printf("Home velocity 0.");
43  break;
44  case F_POSERR:
45  printf("Position error.");
46  break;
47  case F_NIO:
48  printf("Index pulse (encoder) not found.");
49  break;
50  case F_UNBEK:
51  printf("Unknown command.");
52  break;
53  case F_GRENZE:
54  printf("Software end limit activated.");
55  break;
56  case F_PARNUM:
57  printf("Illegal parameter number.");
58  break;
59  case F_NOCHZ:
60  printf("Too many nested loops.");
61  break;
62  case F_NUMFORMAT:
63  printf("INLONG command got an illegal string.");
64  break;
65  case F_CRCPAR:
66  printf("Parameters in memory are corrupted.");
67  break;
68  case F_CRCPRG:
69  printf("Programs in memory are corrupted.");
70  break;
71  case F_WDT:
72  printf("Reset by CPU.");
73  break;
74  case F_ABBRUCH:
75  printf("User abort.");
76  break;
77  case F_VLTCOM:
78  printf("FC communication error.");
79  break;
80  case F_SDOCHN:
81  printf("Number of SDO channels exceeded.");
82  break;
83  case F_FEATUREPROT:
84  printf("Feature protection error.");
85  break;
86  case F_ARMCOM:
87  printf("Communication with ARM lost.");
88  break;
89  case F_ENDSCHALT:
90  printf("Limit switch activated.");
91  break;
92  case F_ILLGLSDO:
93  printf("SDO access error in SYSVAR or LINK command.");
94  break;
95  case F_NOPROG:
96  printf("Trial to execute a cleared or empty program.");
97  break;
98  case F_FPGA:
99  printf("Wrong or no FPGA firmware loaded.");
100  break;
101  case F_AMP:
102  printf("Amplifier error.");
103  break;
104  case F_ECAT_MASTER:
105  printf("EtherCAT Master Error.");
106  break;
107  case F_NOINTLEFT:
108  printf("Too many interrupt functions.");
109  break;
110  case F_UMIN:
111  printf("Minimum voltage of the amplifier has been undershot.");
112  break;
113  case F_STACK:
114  printf("Too many nested function/interruption calls.");
115  break;
116  case F_RETURN:
117  printf("Too many return() commands.");
118  break;
119  case F_MATHERR:
120  printf("A floating point function was called with an invalid argument.");
121  break;
122  case F_STATEMACHINE:
123  printf("State machine error.");
124  break;
125  case F_INTPTR:
126  printf("Interrupt happened, but interrupt address is no longer valid.");
127  break;
128  case F_MEEP:
129  printf("Error in verifying.");
130  break;
131  case F_PATHERR:
132  printf("Path control only: Path error.");
133  break;
134  case F_TIMEOUT:
135  printf("Path control only: Time out in V24 path control.");
136  break;
137  case F_PATHINT:
138  printf("Path control only.");
139  break;
140  case F_DIM:
141  printf("Too many DIM arrays defined.");
142  break;
143  case F_ARRBDS:
144  printf("Invalid array index.");
145  break;
146  case F_LTARRAY:
147  printf("Array number does not exist.");
148  break;
149  case F_NOARRAY:
150  printf("Array is empty.");
151  break;
152  case F_NOSPACE:
153  printf("No more memory space for the new array defined by DIM.");
154  break;
155  case F_ARRSIZERR:
156  printf("Array size does not correspond to the size of the existing array.");
157  break;
158  case F_TEMP:
159  printf("Maximum temperature of the amplifier has been exceeded.");
160  break;
161  case F_UMAX:
162  printf("Maximum voltage of the amplifier has been exceeded.");
163  break;
164  case F_TNDX:
165  printf("Timeout while waiting for index.");
166  break;
167  case F_CMDERR:
168  printf("Internal command error (illegal parameter or format or range).");
169  break;
170  case F_TIM:
171  printf("Too many TIME or PERIOD interrupts.");
172  break;
173  case F_NOVARMEM:
174  printf("Not enough memory for variables.");
175  break;
176  case F_CANGUARD:
177  printf("CAN guarding error.");
178  break;
179  case F_CANIO:
180  printf("CAN send or receive error.");
181  break;
182  case F_MEMLOCK:
183  printf("Memory locked.");
184  break;
185  case F_CURARR:
186  printf("Illegal curve array in SETCURVE.");
187  break;
188  case F_ENCERR:
189  printf("Encoder error.");
190  break;
191  case F_DYNSTACK:
192  printf("Stack overflow: Too many local variables or nested function calls.");
193  break;
194  case F_DYNMEM:
195  printf("Out of dynamic memory.");
196  break;
197  case F_OPALINDX:
198  printf("Too many test indices in data logging command.");
199  break;
200  case F_ILLGLCODE:
201  printf("Code is too old for the current firmware.");
202  break;
203  case F_IMAX:
204  printf("Internal overcurrent detection of power stage.");
205  break;
206  case F_LIMIT_VIOLATION:
207  printf("Wrong direction after limit switch tripped and error reset.");
208  break;
209  case F_I2TLIMIT:
210  printf("I²T Limit exceeded.");
211  break;
212  case F_AMPCOM:
213  printf("Communication with amplifier interrupted.");
214  break;
215  case F_AMPPARAM:
216  printf("Illegal access to amplifier parameter.");
217  break;
218  case F_NOTSUPPORTED:
219  printf("Command is not supported.");
220  break;
221  case F_MEMDUMP:
222  printf("MemoryDump error.");
223  break;
224  case F_DIVIDEBY0:
225  printf("Divide by 0.");
226  break;
227  case F_ECAT_SLAVE:
228  printf("EtherCAT Slave Error.");
229  break;
230  case F_PROFGEN:
231  printf("Profile Generator Error.");
232  break;
233  case F_DIMTOOSHORT:
234  printf("DIM array is too short.");
235  break;
236  case F_INTERNALERROR:
237  printf("Internal firmware error.");
238  break;
239  case F_OPTIONBOOT:
240  printf("Option boot failure.");
241  break;
242  case F_COMMAND_USAGE:
243  printf("Wrong command usage.");
244  break;
245  case F_PROCESSDATAUSAGE:
246  printf("Illegal write access to process data.");
247  break;
248  case F_ARGTOOLONG:
249  printf("The size of string argument too long.");
250  break;
251  case F_AUTHFAILED:
252  printf("Authentication failed.");
253  break;
254  case F_AMP_NOTREADY:
255  printf("Amplifier not ready.");
256  break;
257  case F_LOGIC_UMIN:
258  printf("Logic Supply Voltage too low.");
259  break;
260  case F_ZFCUPDATE:
261  printf("ZFC file update failed.");
262  break;
263  case F_HWFAIL:
264  printf("Hardware Failure.");
265  break;
266  case F_AMP_INIT_ORDER:
267  printf("Amplifier's initialization order violated.");
268  break;
269  case F_HALL:
270  printf("Hall sensor problem.");
271  break;
272  case F_HALL_ANGLE:
273  printf("Hall angle detection error.");
274  break;
275  case F_STO:
276  printf("STO error.");
277  break;
278  default:
279  printf("Unknown error code (%d).", errorCode);
280  break;
281  }
282 }

◆ sdkErrorPrint_SdoErrorDescription()

void sdkErrorPrint_SdoErrorDescription ( long  errorCode)

Prints a error description for SDO abort codes.

This function prints a description for CiA 301 SDO abort codes

Parameters
errorCodeSDO abort code

Definition at line 290 of file SDK_Error_Description.mc.

291 {
292  switch (errorCode)
293  {
294  case SDO_ERR_ACCESS_RO:
295  printf("Attempt to write a read only object.");
296  break;
297  case SDO_ERR_ACCESS_UNSUPPORTED:
298  printf("Unsupported access to an object.");
299  break;
300  case SDO_ERR_ACCESS_WO:
301  printf("Attempt to read a write only object.");
302  break;
303  case SDO_ERR_BLOCK_CRC:
304  printf("Invalid block CRC value (block mode only).");
305  break;
306  case SDO_ERR_BLOCK_SEQUENCE:
307  printf("Invalid block sequence number (block mode only).");
308  break;
309  case SDO_ERR_BLOCK_SIZE:
310  printf("Invalid block size (block mode only).");
311  break;
312  case SDO_ERR_COMMAND:
313  printf("Client/server command specifier not valid or unknown.");
314  break;
315  case SDO_ERR_DATA_STORE:
316  printf("Data cannot be transferred or stored to the application.");
317  break;
318  case SDO_ERR_DATA_STORE_LOCAL:
319  printf("Data cannot be transferred or stored to the application because of local control.");
320  break;
321  case SDO_ERR_DATA_STORE_STATE:
322  printf("Data cannot be transferred or stored to the application because of the present device state.");
323  break;
324  case SDO_ERR_DATATYPE:
325  printf("Data type does not match, length of service parameter does not match.");
326  break;
327  case SDO_ERR_DATATYPE_HIGH:
328  printf("Data type does not match, length of service parameter too high.");
329  break;
330  case SDO_ERR_DATATYPE_LOW:
331  printf("Data type does not match, length of service parameter too low.");
332  break;
333  case SDO_ERR_GENERAL:
334  printf("General error.");
335  break;
336  case SDO_ERR_GENERAL_DEVICE:
337  printf("General internal incompatibility in the device.");
338  break;
339  case SDO_ERR_GENERAL_PARAMETER:
340  printf("General parameter incompatibility reason.");
341  break;
342  case SDO_ERR_HARDWARE:
343  printf("Access failed due to a hardware error.");
344  break;
345  case SDO_ERR_MAPPING_LENGTH:
346  printf("The number and length of the objects to be mapped would exceed PDO length.");
347  break;
348  case SDO_ERR_MAPPING_OBJECT:
349  printf("Object cannot be mapped to the PDO.");
350  break;
351  case SDO_ERR_MEMORY:
352  printf("Out of memory.");
353  break;
354  case SDO_ERR_NO_DATA:
355  printf("No data available.");
356  break;
357  case SDO_ERR_NO_OBJECT:
358  printf("Object does not exist in the object dictionary.");
359  break;
360  case SDO_ERR_NO_SUB_INDEX:
361  printf("Sub-index does not exist.");
362  break;
363  case SDO_ERR_OBJECT_DICTIONARY:
364  printf("Object dictionary dynamic generation fails or no object dictionary is present.");
365  break;
366  case SDO_ERR_SDO_CONNECTION:
367  printf("Resource not available: SDO connection.");
368  break;
369  case SDO_ERR_TIMEOUT:
370  printf("SDO protocol timed out.");
371  break;
372  case SDO_ERR_TOGGLE_BIT:
373  printf("Toggle bit not altered.");
374  break;
375  case SDO_ERR_VALUE_RANGE:
376  printf("Invalid value for parameter (download only).");
377  break;
378  case SDO_ERR_VALUE_HIGH:
379  printf("Value of parameter written too high (download only).");
380  break;
381  case SDO_ERR_VALUE_LOW:
382  printf("Value of parameter written too low (download only).");
383  break;
384  case SDO_ERR_VALUE_MIN_MAX:
385  printf("Maximum value is less than minimum value.");
386  break;
387  default:
388  printf("Unknown error code (0x%lX).", errorCode);
389  break;
390  }
391 }
SDO_ERR_ACCESS_RO
#define SDO_ERR_ACCESS_RO
Definition: SDK_Error_Description.mh:23
SDO_ERR_GENERAL
#define SDO_ERR_GENERAL
Definition: SDK_Error_Description.mh:39
SDO_ERR_DATA_STORE
#define SDO_ERR_DATA_STORE
Definition: SDK_Error_Description.mh:40
SDO_ERR_DATA_STORE_LOCAL
#define SDO_ERR_DATA_STORE_LOCAL
Definition: SDK_Error_Description.mh:41
SDO_ERR_MAPPING_OBJECT
#define SDO_ERR_MAPPING_OBJECT
Definition: SDK_Error_Description.mh:25
SDO_ERR_GENERAL_PARAMETER
#define SDO_ERR_GENERAL_PARAMETER
Definition: SDK_Error_Description.mh:27
SDO_ERR_NO_SUB_INDEX
#define SDO_ERR_NO_SUB_INDEX
Definition: SDK_Error_Description.mh:33
SDO_ERR_TOGGLE_BIT
#define SDO_ERR_TOGGLE_BIT
Definition: SDK_Error_Description.mh:14
SDO_ERR_GENERAL_DEVICE
#define SDO_ERR_GENERAL_DEVICE
Definition: SDK_Error_Description.mh:28
SDO_ERR_NO_DATA
#define SDO_ERR_NO_DATA
Definition: SDK_Error_Description.mh:44
SDO_ERR_VALUE_LOW
#define SDO_ERR_VALUE_LOW
Definition: SDK_Error_Description.mh:36
SDO_ERR_DATA_STORE_STATE
#define SDO_ERR_DATA_STORE_STATE
Definition: SDK_Error_Description.mh:42
SDO_ERR_TIMEOUT
#define SDO_ERR_TIMEOUT
Definition: SDK_Error_Description.mh:15
SDO_ERR_DATATYPE_HIGH
#define SDO_ERR_DATATYPE_HIGH
Definition: SDK_Error_Description.mh:31
SDO_ERR_BLOCK_CRC
#define SDO_ERR_BLOCK_CRC
Definition: SDK_Error_Description.mh:19
SDO_ERR_SDO_CONNECTION
#define SDO_ERR_SDO_CONNECTION
Definition: SDK_Error_Description.mh:38
SDO_ERR_MEMORY
#define SDO_ERR_MEMORY
Definition: SDK_Error_Description.mh:20
SDO_ERR_VALUE_HIGH
#define SDO_ERR_VALUE_HIGH
Definition: SDK_Error_Description.mh:35
SDO_ERR_VALUE_RANGE
#define SDO_ERR_VALUE_RANGE
Definition: SDK_Error_Description.mh:34
SDO_ERR_COMMAND
#define SDO_ERR_COMMAND
Definition: SDK_Error_Description.mh:16
SDO_ERR_HARDWARE
#define SDO_ERR_HARDWARE
Definition: SDK_Error_Description.mh:29
SDO_ERR_ACCESS_WO
#define SDO_ERR_ACCESS_WO
Definition: SDK_Error_Description.mh:22
SDO_ERR_ACCESS_UNSUPPORTED
#define SDO_ERR_ACCESS_UNSUPPORTED
Definition: SDK_Error_Description.mh:21
SDO_ERR_DATATYPE
#define SDO_ERR_DATATYPE
Definition: SDK_Error_Description.mh:30
SDO_ERR_NO_OBJECT
#define SDO_ERR_NO_OBJECT
Definition: SDK_Error_Description.mh:24
SDO_ERR_BLOCK_SIZE
#define SDO_ERR_BLOCK_SIZE
Definition: SDK_Error_Description.mh:17
SDO_ERR_BLOCK_SEQUENCE
#define SDO_ERR_BLOCK_SEQUENCE
Definition: SDK_Error_Description.mh:18
SDO_ERR_DATATYPE_LOW
#define SDO_ERR_DATATYPE_LOW
Definition: SDK_Error_Description.mh:32
SDO_ERR_OBJECT_DICTIONARY
#define SDO_ERR_OBJECT_DICTIONARY
Definition: SDK_Error_Description.mh:43
SDO_ERR_VALUE_MIN_MAX
#define SDO_ERR_VALUE_MIN_MAX
Definition: SDK_Error_Description.mh:37
SDO_ERR_MAPPING_LENGTH
#define SDO_ERR_MAPPING_LENGTH
Definition: SDK_Error_Description.mh:26
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