ErrorAndStatus Class Reference

Error and Status flags of the joint. More...

#include <YouBotJointParameterReadOnly.hpp>

Inheritance diagram for ErrorAndStatus:

Public Member Functions
	ErrorAndStatus ()
virtual	~ErrorAndStatus ()
void	getParameter (unsigned int &parameter) const
void	toString (std::string &value)
Friends
class	YouBotJoint

Detailed Description

Error and Status flags of the joint.

Bit 0: Overcurrent flag. This flag is set if overcurrent limit is exceeded.
Bit 1: Undervoltage flag. This flag is set if supply voltage to low for motor operation.
Bit 2: Overvoltage flag. This flag is set if the motor becomes switched off due to overvoltage.
Bit 3: Overtemperature flag. This flag is set if overtemperature limit is exceeded.
Bit 4: Motor halted flag. This flag is set if motor has been switched off.
Bit 5: Hall error flag. This flag is set upon a hall error.
Bit 6: Encoder error flag. This flag is set upon an encoder error.
Bit 7: Winding error flag. [currently not used]
Bit 8: Cycle time violation. [currently not used]
Bit 9: Initialization error of sine commutation. This flag is set if initialization is failed.
Bit 10: Position mode flag. This flag is set when the module is in positioning mode.
Bit 11: Position end flag. This flag becomes set if the motor has been stopped at the end position.

Definition at line 143 of file YouBotJointParameterReadOnly.hpp.