| # |
| # Copyright (c) 2012 The Chromium OS Authors. All rights reserved. |
| # Use of this source code is governed by a BSD-style license that can be |
| # found in the LICENSE file. |
| # |
| # |
| # Toshiba Machine Co, LTD. |
| # ROIBOT |
| # BA Series |
| # CA10-M00 |
| # |
| # Industrial robot interface mode control module |
| # |
| |
| errorTable = { |
| "12" : "Watchdog timer error", |
| "13" : "Emergency stop", |
| |
| "20" : "Axis 1 communication error", |
| "21" : "Axis 1 overspeed error", |
| "22" : "Axis 1 overcurrent error", |
| "23" : "Axis 1 overload error", |
| "24" : "Axis 1 overflow", |
| "25" : "Axis 1 BS servo amplifier alarm", |
| "26" : "Axis 1 encoder error", |
| "27" : "Axis 1 Home positioning error", |
| "28" : "Axis 1 + soft limit exceeded (during execution)", |
| "29" : "Axis 1 - soft limit exceeded (during execution)", |
| "2A" : "Axis 1 overvoltage error", |
| "2B" : "Axis 1 motor overheat error", |
| "2C" : "Axis 1 encoder backup error", |
| "2D" : "Axis 1 encoder switching error", |
| "2F" : "Axis 1 driver error", |
| "30" : "Axis 2 communication error", |
| "31" : "Axis 2 overspeed error", |
| "32" : "Axis 2 overcurrent error", |
| "33" : "Axis 2 overload error", |
| "34" : "Axis 2 overflow", |
| "35" : "Axis 2 BS servo amplifier alarm", |
| "36" : "Axis 2 encoder error", |
| "37" : "Axis 2 Home positioning error", |
| "38" : "Axis 2 + soft limit exceeded (during execution)", |
| "39" : "Axis 2 - soft limit exceeded (during execution)", |
| "3A" : "Axis 2 overvoltage error", |
| "3B" : "Axis 2 motor overheat error", |
| "3C" : "Axis 2 encoder backup error", |
| "3D" : "Axis 2 encoder switching error", |
| "3F" : "Axis 2 driver error", |
| "40" : "Axis 3 communication error", |
| "41" : "Axis 3 overspeed error", |
| "42" : "Axis 3 overcurrent error", |
| "43" : "Axis 3 overload error", |
| "44" : "Axis 3 overflow", |
| "45" : "Axis 3 BS servo amplifier alarm", |
| "46" : "Axis 3 encoder error", |
| "47" : "Axis 3 Home positioning error", |
| "48" : "Axis 3 + soft limit exceeded (during execution)", |
| "49" : "Axis 3 - soft limit exceeded (during execution)", |
| "4A" : "Axis 3 overvoltage error", |
| "4B" : "Axis 3 motor overheat error", |
| "4C" : "Axis 3 encoder backup error", |
| "4D" : "Axis 3 encoder switching error", |
| "4F" : "Axis 3 driver error", |
| "50" : "Axis 4 communication error", |
| "51" : "Axis 4 overspeed error", |
| "52" : "Axis 4 overcurrent error", |
| "53" : "Axis 4 overload error", |
| "54" : "Axis 4 overflow", |
| "55" : "Axis 4 BS servo amplifier alarm", |
| "56" : "Axis 4 encoder error", |
| "57" : "Axis 4 Home positioning error", |
| "58" : "Axis 4 + soft limit exceeded (during execution)", |
| "59" : "Axis 4 - soft limit exceeded (during execution)", |
| "5A" : "Axis 4 overvoltage error", |
| "5B" : "Axis 4 motor overheat error", |
| "5C" : "Axis 4 encoder backup error", |
| "5D" : "Axis 4 encoder switching error", |
| "5F" : "Axis 4 driver error", |
| |
| "60" : "Continuous execution failure", |
| "61" : "Return to origin incoplete", |
| "62" : "Unexecutable", |
| "63" : "Task starting disabled", |
| "64" : "Synchronized axes origin search incomplete", |
| "65" : "Excessive synchronization error", |
| "66" : "Synchronized axes parameter error", |
| "67" : "Synchronized axes origin search error", |
| |
| "90" : "ID error", |
| "91" : "Sequential program memory error", |
| "92" : "Palletizing program memory error", |
| "93" : "Parameter memory error", |
| "94" : "Coordinate table memory error", |
| "95" : "Speed table memory error", |
| "96" : "Acceleration/deceleration table memory error", |
| "97" : "MVMtable memory error", |
| "98" : "Easy program memory error", |
| "99" : "Slave ID error", |
| |
| "A0" : "Command error (impossible command)", |
| "A1" : "Tag undefined", |
| "A2" : "Tag duplicate definition", |
| "A3" : "Stack overflow", |
| "A4" : "Stack underflow", |
| "A8" : "Parameter error", |
| "B0" : "Step number error", |
| "B1" : "Tag number error", |
| "B2" : "Palletizibng program number error", |
| "B3" : "Counter number error", |
| "B4" : "Timer number error", |
| "B5" : "Port number error", |
| "B6" : "Table number error", |
| "B7" : "Group number error", |
| "B9" : "Easy program number error", |
| "BA" : "Task number error", |
| "C0" : "Axis 1 + soft limit exceeded", |
| "C1" : "Axis 1 - soft limit exceeded", |
| "C2" : "Axis 2 + soft limit exceeded", |
| "C3" : "Axis 2 - soft limit exceeded", |
| "C4" : "Axis 3 + soft limit exceeded", |
| "C5" : "Axis 3 - soft limit exceeded", |
| "C6" : "Axis 4 + soft limit exceeded", |
| "C7" : "Axis 4 - soft limit exceeded", |
| "E0" : "Other errors" |
| } |
| |
| alarmTable = { |
| "01" : "Overcurrent (OC)", |
| "02" : "Overvoltage (OV)", |
| "03" : "PN voltage drop (PNLV)", |
| "04" : "Main power supply input error (ACINF)", |
| "05" : "Charging resistor overheat (CROH)", |
| "06" : "Disconnected resolver wire (RELV)", |
| "07" : "Power status error (POWFAIL)", |
| "08" : "Servo amplifier overheat (SOH)", |
| "09" : "Revers-current absorbtion resister overheat (RGOH)", |
| "0A" : "Revers-current absorbtion error (RGST)", |
| "0B" : "Unspecified error 0B", |
| "0C" : "DSP error (DSPERR)", |
| "0D" : "ABS battery voltage drop (BLV)", |
| "0E" : "Brake error (BERR)", |
| "0F" : "Overcurrent detection (OCS)", |
| "10" : "Speed Amplifier Saturation (VAS)", |
| "11" : "Motor overload (MOL)", |
| "12" : "Instant thermal (POL)", |
| "13" : "Resolver phase error (RESERR)", |
| "14" : "Overspeed (OSPD)", |
| "15" : "Deviation counter exceeded (FULL)", |
| "16" : "Resolver ABS phase error (ABSE)", |
| "17" : "Resolver ABS disconnected wire (ACN)", |
| "18" : "ABS battery alarm (ABSE)", |
| "19" : "Option alarm (OPALM)", |
| "1A" : "Parameter setting error (CERR)", |
| "1B" : "Resolver ABS error (AEERR)", |
| "1C" : "Link error (LINKERR)", |
| "1D" : "Command value exceeded (CON.OV)", |
| "1E" : "Current value exceeded (ACT.OV)", |
| "1F" : "Unspecified error 1F", |
| "20" : "Origin not stored error (MZE)", |
| "21" : "ABS origin invalid (CLD)", |
| "22" : "+ soft limit exceeded (SOTP)", |
| "23" : "- soft limit exceeded (SOTM)", |
| "24" : "ABS battery cable disconnected wire (ABT)", |
| "25" : "Unbspecified error 25", |
| "26" : "Overrun (OVTR)", |
| "27" : "Unbspecified error 27", |
| "28" : "Encoder disconnected wire (EREE)", |
| "29" : "Encoder communication error (ETER)", |
| "2A" : "Encoder backup error (ETER)", |
| "2B" : "Encoder checksum error (ECKER)", |
| "2C" : "Encoder battery alarm (EBAL)", |
| "2D" : "Encoder AMS phase error (EABSE)", |
| "2E" : "Encoder overspeed (EOSPD)", |
| "2F" : "Encoder communication error (EWER)", |
| "30" : "Encoder initialization error (EINIT)", |
| "31" : "Encoder sensor phase error (PHSERR)", |
| |
| "36" : "Magnetic pole detection error (MPERR)", |
| |
| "FB" : "PON error (PONERR)", |
| "FC" : "Control power supply input error (CACINF)" |
| } |
| |
| |
| def translate(errorCode, alarmCode="00"): |
| """Translate an error code and optional alarm code to an error string. |
| The alarm code is only meaningful for servo amplifier alarms.""" |
| if errorCode in errorTable: |
| if errorCode in ['25', '35', '45', '55']: |
| if alarmCode in alarmTable: |
| error = errorTable[errorCode] + \ |
| " (" + alarmTable[alarmCode] + ")" |
| else: |
| error = errorTable[errorCode] + \ |
| " (unrecognized alarm code)" |
| else: |
| error = errorTable[errorCode] |
| else: |
| error = "Unrecognized error code " + errorCode |
| return error |
| |
| |
| def statusReport(roibot): |
| """Create a status report. This function takes a robot handle as an |
| argument and queries the robot for status reports 0, 2, 3, and 4, |
| and returns a tuple of human readable values for each status report. |
| In the special case that report 0 indicates an error, status report |
| 1 is queried as well, and the error is decoded and appended to the |
| error element in the report 0 tuple.""" |
| report = [] |
| |
| # SNO=0 status |
| element = [] |
| report0 = roibot.modeRequestStatus(0) |
| report0status1 = roibot.parseStatusCode(report0[1][1]) |
| if report0status1 & 0x01: |
| # SNO=1 error code and optional amplifier alarm code |
| report1 = roibot.modeRequestStatus(1) |
| report1status1 = roibot.parseStatusCode(report1[1][1]) |
| report1status2 = roibot.parseStatusCode(report1[1][2]) |
| element.append("error=" + translate(report1status1, report1status2)) |
| for bit, message in ((0x02, "in execution"), |
| (0x04, "paused"), |
| (0x08, "in return to origin"), |
| (0x10, "Return to origin complete"), |
| (0x20, "Positioning complete"), |
| (0x40, "Undefined status bit 6"), |
| (0x80, "Parameter 2 changed"), |
| ): |
| if report0status1 & bit: |
| element.append(message) |
| report.append(element) |
| |
| # SNO=2 Robot mode |
| element = [] |
| report2 = roibot.modeRequestStatus(2) |
| report2status1 = roibot.parseStatusCode(report2[1][1]) |
| # bits 0 1 |
| for value, message in ((0x00, "Sequential mode"), |
| (0x01, "Palletizing mode"), |
| (0x02, "Point mode"), |
| (0x03, "Easy mode"), |
| ): |
| if (report2status1 & 0x03) == value: |
| element.append(message) |
| # bits 2 3 |
| for value, message in ((0x00, "Automatic mode"), |
| (0x04, "Step mode"), |
| (0x08, "Program mode"), |
| (0x0c, "Reserved mode value 11b"), |
| ): |
| if (report2status1 & 0x0c) == value: |
| element.append(message) |
| # bits 4 5 6 7 |
| for bit, message in ((0x10, "Single movement mode"), |
| (0x20, "Reserved SNO=2 bit 0x20"), |
| (0x40, "Teach pendant ON"), |
| (0x80, "Host computer ON"), |
| ): |
| if report2status1 & bit: |
| element.append(message) |
| report.append(element) |
| |
| # SNO=3 Servo, slave, and card status (if memory card option is installed) |
| element = [] |
| report3 = roibot.modeRequestStatus(3) |
| report3status1 = roibot.parseStatusCode(report3[1][1]) |
| # bits 0 1 2 3 |
| for bit, message in ((0x01, "Servo ON"), |
| (0x02, "Reserved SNO=3 bit 0x02"), |
| (0x04, "Reserved SNO=3 bit 0x04"), |
| (0x08, "Reserved SNO=3 bit 0x08"), |
| ): |
| if report3status1 & bit: |
| element.append(message) |
| # bit 5 |
| if (report3status1 & 0x10) == 0x00: |
| element.append("Slave not ready"), |
| # bits 6 7 8 |
| for bit, message in ((0x20, "Card inserted"), |
| (0x40, "Reading card"), |
| (0x80, "Writing to card"), |
| ): |
| if report3status1 & bit: |
| element.append(message) |
| report.append(element) |
| |
| # SNO=4 Input and output status |
| element = [] |
| report4 = roibot.modeRequestStatus(4) |
| report4status1 = roibot.parseStatusCode(report4[1][1]) |
| for bit, message in ((0x01, "Escape input ON"), |
| (0x02, "Continuous input ON"), |
| (0x04, "INPUT wait"), |
| (0x08, "Pause input ON"), |
| (0x10, "Ready output"), |
| (0x20, "Reserved SNO=4 bit 0x20"), |
| (0x40, "Reserved SNO=4 bit 0x40"), |
| (0x80, "Reserved SNO=4 bit 0x80"), |
| ): |
| if report4status1 & bit: |
| element.append(message) |
| report.append(element) |
| |
| return report |
| |
| |
| # End |
