motorHwErrors.hpp

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#ifndef FCF_DEVMGR_DEVICE_MOTOR_HW_ERRORS_HPP
#define FCF_DEVMGR_DEVICE_MOTOR_HW_ERRORS_HPP

// System headers
#include <unordered_map>

namespace fcf::devmgr::motor {

  enum {
    HW_SUCCESS                       = 0,
    HW_ERR_HW_NOT_OP                 = 1,
    HW_ERR_LOCAL                     = 2,
    HW_ERR_INIT_ABORTED              = 3,
    HW_ERR_TIMEOUT_INIT              = 4,
    HW_ERR_TIMEOUT_MOVE              = 5,
    HW_ERR_TIMEOUT_RESET             = 6,
    HW_ERR_TIMEOUT_SETPOS            = 7,
    HW_ERR_TIMEOUT_USER_PREINIT      = 8,
    HW_ERR_TIMEOUT_USER_POSTINIT     = 9,
    HW_ERR_TIMEOUT_USER_PREMOVE      = 10,
    HW_ERR_TIMEOUT_USER_POSTMOVE     = 11,
    HW_ERR_SETPOS                    = 12,
    HW_ERR_STOP                      = 13,
    HW_ERR_ABORT                     = 14,
    HW_ERR_SW_LIMIT_LOWER            = 15,
    HW_ERR_SW_LIMIT_UPPER            = 16,
    HW_ERR_BRAKE_ACTIVE              = 17,
    HW_ERR_BRAKE_ENGAGE              = 18,
    HW_ERR_BRAKE_DISENGAGE           = 19,
    HW_ERR_SWITCH_NOT_USED           = 20,
    HW_ERR_ENABLE                    = 21,
    HW_ERR_NOVRAM_READ               = 22,
    HW_ERR_NOVRAM_WRITE              = 23,
    HW_ERR_SWITCH_EXIT               = 24,
    HW_ERR_STOP_LIMITS_BOTH          = 25,
    HW_ERR_HW_LIMITS_BOTH            = 26,
    HW_ERR_HW_IN_POS                 = 27,
    HW_ERR_HW_LOCKED                 = 28,
    HW_ERR_SOE_ADS                   = 29,
    HW_ERR_SOE_SERCOS                = 30,


    HW_ERR_TC_VEL           = 16929,
    HW_ERR_TC_NOT_READY_FOR_STAR        = 16933,
    HW_ERR_TC_DISABLED_MOVE     = 16992,
    HW_ERR_TC_BISECTION             = 17022,
    HW_ERR_TC_MODULO_POS        = 17026,
    HW_ERR_TC_STOP_ACTIVE       = 17135,
    HW_ERR_TC_VEL_NEG           = 17241,
    HW_ERR_TC_TARGET_LSW        = 17504,
    HW_ERR_TC_TARGET_USW        = 17505,
    HW_ERR_TC_FOLLOWING_ERROR       = 17744,
    HW_ERR_TC_NOT_READY             = 18000,
    HW_ERR_TC_IN_POS_6_SEC      = 19207
  };



  const std::unordered_map<short, std::string> hw_errors = {
    {HW_ERR_HW_NOT_OP,              "TwinCAT not OP or CouplerState not mapped."},
    {HW_ERR_LOCAL,                  "control not allowed. Motor in Local mode."},
    {HW_ERR_INIT_ABORTED,           "INIT command aborted."},
    {HW_ERR_TIMEOUT_INIT,           "INIT timed out."},
    {HW_ERR_TIMEOUT_MOVE,           "move timed out."},
    {HW_ERR_TIMEOUT_RESET,          "reset timed out."},
    {HW_ERR_TIMEOUT_SETPOS,         "set Position timed out."},
    {HW_ERR_TIMEOUT_USER_PREINIT,   "user PRE-INIT timed out."},
    {HW_ERR_TIMEOUT_USER_POSTINIT,  "user POST-INIT timed out."},
    {HW_ERR_TIMEOUT_USER_PREMOVE,   "user PRE-MOVE timed out."},
    {HW_ERR_TIMEOUT_USER_POSTMOVE,  "user POST-MOVE timed out."},
    {HW_ERR_SETPOS,                 "set Position failed."},
    {HW_ERR_STOP,                   "STOP failed."},
    {HW_ERR_ABORT,                  "motion aborted."},
    {HW_ERR_SW_LIMIT_LOWER,         "lower SW Limit Exceeded."},
    {HW_ERR_SW_LIMIT_UPPER,         "upper SW Limit Exceeded."},
    {HW_ERR_BRAKE_ACTIVE,           "cannot move. Brake active."},
    {HW_ERR_BRAKE_ENGAGE,           "failed to engage brake."},
    {HW_ERR_BRAKE_DISENGAGE,        "failed to disengage brake."},
    {HW_ERR_SWITCH_NOT_USED,        "switch was not detected in previous INIT action."},
    {HW_ERR_ENABLE,                 "failed to enable Axis."},
    {HW_ERR_NOVRAM_READ,            "failed to read from NOVRAM"},
    {HW_ERR_NOVRAM_WRITE,           "failed to write from NOVRAM"},
    {HW_ERR_SWITCH_EXIT,            "timeout on switch exit. Check nTimeoutSwitch."},
    {HW_ERR_STOP_LIMITS_BOTH,       "both LSTOP and USTOP limits active."},
    {HW_ERR_HW_LIMITS_BOTH,         "both limit switches LHW and UHW active."},
    {HW_ERR_HW_IN_POS,              "in-Pos switch not active and the end of movement."},
    {HW_ERR_HW_LOCKED,              "motor Locked! Cannot move."},
    {HW_ERR_SOE_ADS,                "SoE ADS Error."},
    {HW_ERR_SOE_SERCOS,             "SoE Sercos Error."},


    {HW_ERR_TC_VEL,         "requested set velocity is not allowed."},
    {HW_ERR_TC_NOT_READY_FOR_STAR,  "drive not ready during axis start. Maybe SW limits."},
    {HW_ERR_TC_DISABLED_MOVE,       "motor disabled while moving. Reset required!"},
    {HW_ERR_TC_BISECTION,       "motion command could not be realized (BISECTION)"},
    {HW_ERR_TC_MODULO_POS,          "target position >= full turn (modulo-period)"},
    {HW_ERR_TC_STOP_ACTIVE,         "stop command still active. Axis locked. Reset required!"},
    {HW_ERR_TC_VEL_NEG,             "set velocity not allowed (<=0)"},
    {HW_ERR_TC_TARGET_LSW,          "target position beyond Lower Software Limit."},
    {HW_ERR_TC_TARGET_USW,          "target position beyond Upper Software Limit."},
    {HW_ERR_TC_FOLLOWING_ERROR,     "following error. Reset required!"},
    {HW_ERR_TC_NOT_READY,           "drive not ready for operation."},
    {HW_ERR_TC_IN_POS_6_SEC,        "in-position 6 sec timeout. Reset required!"}
  };

}

#endif // FCF_DEVMGR_DEVICE_MOTOR_HW_ERRORS_HPP