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* Update main readme and linked_md * Update C++ documentation * Update Python documentation * Updated the source code for the C++ examples * Update other files in C++ examples * Updated the source code for Python examples * Updated other files in the Python examples * Update download links in the documentation * Updated more links * Remove python script
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| # enum CommandMode | ||
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| ## Overview / Purpose | ||
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| Enumeration CommandMode | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |CYCLIC|0|Cyclic data only| | ||
| |ASYNC\_CYCLIC\_FLAGS|1|Not supported| | ||
| |ASYNC|2|Config messages only| | ||
| |CYCLIC\_JITTERCOMPENSATED\_POSITION|3|Smoothing using only position inputs| | ||
| |CYCLIC\_JITTERCOMPENSATED\_VELOCITY|4|Smoothing using position and velocity inputs| | ||
| |CYCLIC\_JITTERCOMPENSATED\_ACCELERATION|5|Smoothing using position, velocity and acceleration inputs \(not supported\)| | ||
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| **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) | ||
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api_cpp/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md
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| # enum ControlLoopSelection | ||
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| ## Overview / Purpose | ||
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| Enumeration ControlLoopSelection | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |RESERVED|0|0x0 - Reserved \(internal use only\)| | ||
| |JOINT\_POSITION|1|0x1 - Joint position control \(if available\)| | ||
| |MOTOR\_POSITION|2|0x2 - Motor position control| | ||
| |JOINT\_VELOCITY|4|0x4 - Joint velocity control \(if available\)| | ||
| |MOTOR\_VELOCITY|8|0x8 - Motor velocity control| | ||
| |JOINT\_TORQUE|16|0x10 - Joint torque control| | ||
| |MOTOR\_CURRENT|32|0x20 - Motor current control| | ||
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| **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) | ||
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| # enum ControlMode | ||
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| ## Overview / Purpose | ||
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| Enumeration ControlMode | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |NONE|0|None| | ||
| |POSITION|1|Position mode| | ||
| |VELOCITY|2|Velocity mode| | ||
| |TORQUE|3|Torque mode| | ||
| |CURRENT|4|Current mode| | ||
| |CUSTOM|5|Custom mode| | ||
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| **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) | ||
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api_cpp/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md
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| # enum CustomDataIndex | ||
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| ## Overview / Purpose | ||
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| Enumeration CustomDataIndex | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |NO\_CUSTOM\_DATA\_SELECTED|0|No custom data selected| | ||
| |UINT32\_TEST\_RAMP|1|Incremental value used for test and validation| | ||
| |UINT32\_MOTOR\_ENCODER\_RAW|2|Rotor optical encoder incremental value \(raw\)| | ||
| |UINT32\_JOINT\_ENCODER\_RAW|3|Joint optical encoder incremental value \(raw\)| | ||
| |FLOAT\_TEMPERATURE\_PHASE\_0|4|Motor phase 0 temperature \(degrees Celsius\)| | ||
| |FLOAT\_TEMPERATURE\_PHASE\_1|5|Motor phase 1 temperature \(degrees Celsius\)| | ||
| |FLOAT\_TEMPERATURE\_PHASE\_2|6|Motor phase 2 temperature \(degrees Celsius\)| | ||
| |INT32\_TORQUE\_SENSOR\_RAW\_0|7|Individual torque sensor strain gauge 0 ADC value \(raw\)| | ||
| |INT32\_TORQUE\_SENSOR\_RAW\_1|8|Individual torque sensor strain gauge 1 ADC value \(raw\)| | ||
| |INT32\_TORQUE\_SENSOR\_RAW\_2|9|Individual torque sensor strain gauge 2 ADC value \(raw\)| | ||
| |INT32\_TORQUE\_SENSOR\_RAW\_3|10|Individual torque sensor strain gauge 3 ADC value \(raw\)| | ||
| |FLOAT\_TORQUE\_SENSOR\_0|11|Individual torque sensor strain gauge 0 converted value \(Newton-meters\)| | ||
| |FLOAT\_TORQUE\_SENSOR\_1|12|Individual torque sensor strain gauge 1 converted value \(Newton-meters\)| | ||
| |FLOAT\_TORQUE\_SENSOR\_2|13|Individual torque sensor strain gauge 2 converted value \(Newton-meters\)| | ||
| |FLOAT\_TORQUE\_SENSOR\_3|14|Individual torque sensor strain gauge 3 converted value \(Newton-meters\)| | ||
| |UINT32\_MOTOR\_ENCODER\_RAW\_LATCH\_ON\_INDEX\_RISING|15|Rotor optical encoder incremental value at last index signal rising edge \(raw\)| | ||
| |UINT32\_JOINT\_ENCODER\_RAW\_LATCH\_ON\_INDEX\_RISING|16|Joint optical encoder incremental value at last index signal rising edge \(raw\)| | ||
| |UINT32\_ABSOLUTE\_POSITION\_SENSOR\_RAW|17|Absolute position sensor integer value \(raw\)| | ||
| |FLOAT\_ABSOLUTE\_POSITION\_SENSOR|18|Absolute position sensor converted value \(degrees\)| | ||
| |FLOAT\_CONTROL\_POSITION\_JOINT\_REQUESTED|19|Last axis position command received via Ethernet| | ||
| |UINT32\_JIG\_FLAGS|20|Jig status flags \(internal use\)| | ||
| |UINT32\_TICK\_MOTOR\_CONTROL|21|Rotor optical encoder incremental value corrected for counter overflow \(raw\)| | ||
| |UINT32\_TICK\_JOINT\_CONTROL|22|Joint optical encoder incremental value corrected for counter overflow \(raw\)| | ||
| |UINT32\_INDEX\_TICK\_MOTOR\_CONTROL|23|Rotor optical encoder incremental value corrected for counter overflow at last index signal rising edge \(raw\)| | ||
| |UINT32\_INDEX\_TICK\_JOINT\_CONTROL|24|Joint optical encoder incremental value corrected for counter overflow at last index signal rising edge \(raw\)| | ||
| |FLOAT\_ACCELERATION\_X|25|x-axis acceleration \(meters per second squared\)| | ||
| |FLOAT\_ACCELERATION\_Y|26|y-axis acceleration \(meters per second squared\)| | ||
| |FLOAT\_ACCELERATION\_Z|27|z-axis acceleration \(meters per second squared\)| | ||
| |FLOAT\_ANGULAR\_RATE\_X|28|x-axis angular velocity \(degrees per second\)| | ||
| |FLOAT\_ANGULAR\_RATE\_Y|29|y-axis angular velocity \(degrees per second\)| | ||
| |FLOAT\_ANGULAR\_RATE\_Z|30|z-axis angular velocity \(degrees per second\)| | ||
| |FLOAT\_POSITION\_MOTOR\_CMD|31|Axis position command sent to motor position control loop \(degrees\)| | ||
| |FLOAT\_VELOCITY\_MOTOR\_CMD|32|Axis velocity command sent to motor velocity control loop \(degrees per second\)| | ||
| |FLOAT\_POSITION\_MOTOR|33|Actuator position measured by rotor optical encoder \(degrees\)| | ||
| |FLOAT\_VELOCITY\_MOTOR|34|Actuator angular velocity measured by rotor optical encoder \(degrees per second\)| | ||
| |UINT32\_COMMUNICATIONS\_JITTER|35|Jitter from the communication \(microseconds\)| | ||
| |FLOAT\_TORQUE\_AVERAGE|36|Actuator torque \(Newton-meters\)| | ||
| |FLOAT\_CURRENT\_MOTOR|37|Motor current \(Amperes\)| | ||
| |FLOAT\_VOLTAGE\_DIGITAL|38|Main board voltage \(Volts\)| | ||
| |FLOAT\_TEMPERATURE\_MOTOR\_CELSIUS|39|Motor temperature \(maximum of the three \(3\) phase temperatures\) \(degrees Celsius\)| | ||
| |FLOAT\_TEMPERATURE\_CORE\_CELSIUS|40|Microcontroller temperature \(degrees Celsius\)| | ||
| |UINT32\_FAULT\_A|41|Bank A faults \(see ActuatorConfig.SafetyIdentifier\)| | ||
| |UINT32\_FAULT\_B|42|Bank B faults \(see ActuatorConfig.SafetyIdentifier\)| | ||
| |UINT32\_WARNING\_A|43|Bank A warnings \(see ActuatorConfig.SafetyIdentifier\)| | ||
| |UINT32\_WARNING\_B|44|Bank B warnings \(see ActuatorConfig.SafetyIdentifier\)| | ||
| |FLOAT\_POSITION\_FROM\_HALLS|45|Actuator position measured by motor hall sensors \(degrees\)| | ||
| |FLOAT\_PHASE\_CURRENT\_0|46|Motor phase 0 current \(Amperes\)| | ||
| |FLOAT\_PHASE\_CURRENT\_1|47|Motor phase 1 current \(Amperes\)| | ||
| |FLOAT\_PHASE\_CURRENT\_2|48|Motor phase 2 current \(Amperes\)| | ||
| |FLOAT\_PHASE\_PWM\_0|49|Pulse width modulation duty cycle applied to motor phase 0 \(percentage\)| | ||
| |FLOAT\_PHASE\_PWM\_1|50|Pulse width modulation duty cycle applied to motor phase 1 \(percentage\)| | ||
| |FLOAT\_PHASE\_PWM\_2|51|Pulse width modulation duty cycle applied to motor phase 2 \(percentage\)| | ||
| |FLOAT\_MOTOR\_ELECTRICAL\_ANGLE|52|Motor electrical angle \(degrees\)| | ||
| |FLOAT\_CURRENT\_MOTOR\_CMD|53|Motor current command sent to motor drive \(Amperes\)| | ||
| |FLOAT\_TORQUE\_JOINT\_CMD|54|Axis torque command sent to joint torque control loop \(Newton-meters\)| | ||
| |FLOAT\_POSITION\_UNWRAPPED|55|Actuator position unwrapped \(degrees\)| | ||
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| **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) | ||
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api_cpp/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md
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| # enum SafetyIdentifierBankA | ||
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| ## Overview / Purpose | ||
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| Enumeration SafetyIdentifierBankA | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER\_BANK\_A|0|0x0 - Unspecified actuator safety| | ||
| |FOLLOWING\_ERROR|1|0x1 - Following error| | ||
| |MAXIMUM\_VELOCITY|2|0x2 - Maximum velocity| | ||
| |JOINT\_LIMIT\_HIGH|4|0x4 - Joint position limit high| | ||
| |JOINT\_LIMIT\_LOW|8|0x8 - Joint position limit low| | ||
| |STRAIN\_GAUGE\_MISMATCH|16|0x10 - Strain gauge mismatch| | ||
| |MAXIMUM\_TORQUE|32|0x20 - Maximum torque| | ||
| |UNRELIABLE\_ABSOLUTE\_POSITION|64|0x40 - Unreliable absolute position| | ||
| |MAGNETIC\_POSITION|128|0x80 - Magnetic position| | ||
| |HALL\_POSITION|256|0x100 - Hall position| | ||
| |HALL\_SEQUENCE|512|0x200 - Hall sequence| | ||
| |INPUT\_ENCODER\_HALL\_MISMATCH|1024|0x400 - Input encoder Hall mismatch| | ||
| |INPUT\_ENCODER\_INDEX\_MISMATCH|2048|0x800 - Input encoder index mismatch| | ||
| |INPUT\_ENCODER\_MAGNETIC\_MISMATCH|4096|0x1000 - Input encoder magnetic mismatch| | ||
| |MAXIMUM\_MOTOR\_CURRENT|8192|0x2000 - Maximum motor current| | ||
| |MOTOR\_CURRENT\_MISMATCH|16384|0x4000 - Motor current mismatch| | ||
| |MAXIMUM\_VOLTAGE|32768|0x8000 - Maximum voltage| | ||
| |MINIMUM\_VOLTAGE|65536|0x10000 - Minimum voltage| | ||
| |MAXIMUM\_MOTOR\_TEMPERATURE|131072|0x20000 - Maximum motor temperature| | ||
| |MAXIMUM\_CORE\_TEMPERATURE|262144|0x40000 - Maximum core temperature| | ||
| |NON\_VOLATILE\_MEMORY\_CORRUPTED|524288|0x80000 - Non-volatile memory corrupted| | ||
| |MOTOR\_DRIVER\_FAULT|1048576|0x100000 - Motor driver fault| | ||
| |EMERGENCY\_LINE\_ASSERTED|2097152|0x200000 - Emergency line asserted| | ||
| |COMMUNICATION\_TICK\_LOST|4194304|0x400000 - Communication tick lost| | ||
| |WATCHDOG\_TRIGGERED|8388608|0x800000 - Watchdog triggered| | ||
| |UNRELIABLE\_CAPACITIVE\_SENSOR|16777216|0x1000000 - Capacitive sensor is unreliable| | ||
| |UNEXPECTED\_GEAR\_RATIO|33554432|0x2000000 - Incorrect gear ratio for detected configuration| | ||
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| **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) | ||
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api_cpp/doc/markdown/enums/ActuatorConfig/SafetyLimitType.md
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| # enum SafetyLimitType | ||
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| ## Overview / Purpose | ||
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| Enumeration SafetyLimitType | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |MAXIMAL\_LIMIT|0|Maximal limit| | ||
| |MINIMAL\_LIMIT|1|Minimal limit| | ||
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| **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) | ||
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api_cpp/doc/markdown/enums/ActuatorConfig/ServiceVersion.md
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| # enum ServiceVersion | ||
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| ## Overview / Purpose | ||
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| Enumeration ServiceVersion | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |RESERVED\_0|0|Reserved| | ||
| |CURRENT\_VERSION|1|Current version| | ||
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| **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) | ||
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| # enum CommandFlags | ||
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| ## Overview / Purpose | ||
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| Enumeration CommandFlags | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |NO\_COMMAND|0|0x0 Default value| | ||
| |SERVO\_ENABLE|1|0x1 Servoing mode is enabled| | ||
| |BRAKE\_DISABLE|2|0x2 Brake normally applied, 1 disables brake| | ||
| |CLEAR\_MAJOR\_FAULT|4|0x4 Clear the major fault flag \(See StatusFlags\)| | ||
| |CLEAR\_MINOR\_FAULT|8|0x8 Clear the minor fault flag \(See StatusFlags\)| | ||
| |PROTECTIVE\_STOP|16|0x10 Protective stop has been activated| | ||
| |FORCE\_BRAKE\_RELEASE|32|0x20 Force a brake release| | ||
| |IGNORE|64|0x40 ignore the other CommandFlag bits| | ||
| |LOW\_GAINS|128|0x80 Use a set of specific gain value used by the joint admittance mode| | ||
| |LED\_0|256|0x100 Activate LED 0 \(interface module buttons 0\)| | ||
| |LED\_1|512|0x200 Activate LED 1 \(interface module buttons 1\)| | ||
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| **Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) | ||
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api_cpp/doc/markdown/enums/ActuatorCyclic/ServiceVersion.md
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| # enum ServiceVersion | ||
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| ## Overview / Purpose | ||
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| Enumeration ServiceVersion | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |RESERVED\_0|0|Reserved| | ||
| |CURRENT\_VERSION|1|Current version| | ||
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| **Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) | ||
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| # enum StatusFlags | ||
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| ## Overview / Purpose | ||
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| Enumeration StatusFlags | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |UNKNOWN\_STATUS|0|0x0 Unknown status| | ||
| |STABILIZED|16|0x10 Actuator is in a stable state| | ||
| |MOTOR\_INDEXED|32|0x20 Position sensor is indexed| | ||
| |MOTOR\_INDEXING|64|0x40 Position sensor is indexing| | ||
| |JOINT\_INDEXED|128|0x80 Reserved| | ||
| |JOINT\_INDEXING|256|0x100 Reserved| | ||
| |HIGH\_PRECISION|512|0x200 Reserved| | ||
| |BRAKING|1024|0x400 The actuator is braking| | ||
| |SERVOING|2048|0x800 The actuator is in servoing mode| | ||
| |MAJOR\_FAULT|4096|0x1000 A major fault has occurred| | ||
| |MINOR\_FAULT|8192|0x2000 A minor fault has occurred| | ||
| |CALIBRATED\_TORQUE|16384|0x4000 The torque sensor is calibrated| | ||
| |CALIBRATED\_MAG\_SENSOR|32768|0x8000 The magnetic sensor is calibrated| | ||
| |CALIBRATED\_ZERO|65536|0x10000 The zero position calibration has been performed| | ||
| |GPIO\_0|131072|0x20000 Reserved| | ||
| |GPIO\_1|262144|0x40000 Reserved| | ||
| |CS\_QUASI\_STATIC\_CONTACT|524288|0x80000 Reserved| | ||
| |CS\_TRANSIENT\_CONTACT|1048576|0x100000 Reserved| | ||
| |VFD\_HALL\_SYNC|2097152|0x200000 Reserved| | ||
| |VFD\_INDEXED|4194304|0x400000 Reserved| | ||
| |DRIVE\_BOARD\_READY|8388608|0x800000 Reserved| | ||
| |CALIBRATED\_CURRENT|16777216|0x1000000 Current sensor is calibrated| | ||
| |CALIBRATED\_MOTOR|33554432|0x2000000 Motor is calibrated| | ||
| |SW0\_ACTIVE|67108864|0x4000000 Status of interface module buttons 0| | ||
| |SW1\_ACTIVE|134217728|0x8000000 Status of interface module buttons 1| | ||
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| **Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) | ||
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| # enum ErrorCodes | ||
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| ## Overview / Purpose | ||
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| Enumeration ErrorCodes | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |ERROR\_NONE|0|No error| | ||
| |ERROR\_PROTOCOL\_SERVER|1|Protocol server error| | ||
| |ERROR\_PROTOCOL\_CLIENT|2|Protocol client error| | ||
| |ERROR\_DEVICE|3|Device error| | ||
| |ERROR\_INTERNAL|4|Internal error| | ||
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| **Parent topic:** [Api \(C++\)](../../summary_pages/Api.md) | ||
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| # enum SubErrorCodes | ||
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| ## Overview / Purpose | ||
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| Enumeration SubErrorCodes | ||
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| |Enumerator|Value|Description| | ||
| |----------|-----|-----------| | ||
| |SUB\_ERROR\_NONE|0|No sub error| | ||
| |METHOD\_FAILED|1|Method returned a failure status \(generic error\)| | ||
| |UNIMPLEMENTED|2|Unimplemented method| | ||
| |INVALID\_PARAM|3|Invalid parameter| | ||
| |UNSUPPORTED\_SERVICE|4|Service not recognized| | ||
| |UNSUPPORTED\_METHOD|5|Method not recognized| | ||
| |TOO\_LARGE\_ENCODED\_FRAME\_BUFFER|6|Encoded frame bigger than what transport permits| | ||
| |FRAME\_ENCODING\_ERR|7|Unable to encode frame| | ||
| |FRAME\_DECODING\_ERR|8|Unable to decode frame| | ||
| |INCOMPATIBLE\_HEADER\_VERSION|9|Frame header version differs from what is expected and is considered incompatible| | ||
| |UNSUPPORTED\_FRAME\_TYPE|10|Unrecognized frame type| | ||
| |UNREGISTERED\_NOTIFICATION\_RECEIVED|11|Server receiving unregistered notification| | ||
| |INVALID\_SESSION|12|Session not recognized| | ||
| |PAYLOAD\_DECODING\_ERR|13|Unable to decode payload| | ||
| |UNREGISTERED\_FRAME\_RECEIVED|14|Client received a response for which it did not send an RPC call| | ||
| |INVALID\_PASSWORD|15|Password does not match specified user| | ||
| |USER\_NOT\_FOUND|16|Unrecognized user| | ||
| |ENTITY\_NOT\_FOUND|17|Cannot find entity| | ||
| |ROBOT\_MOVEMENT\_IN\_PROGRESS|18|Robot refuses new control command because robot movement in progress| | ||
| |ROBOT\_NOT\_MOVING|19|Robot refuses stop command because robot is not moving| | ||
| |NO\_MORE\_STORAGE\_SPACE|20|Unable to execute because no more storage| | ||
| |ROBOT\_NOT\_READY|21|Robot initialization is not complete| | ||
| |ROBOT\_IN\_FAULT|22|Robot in fault| | ||
| |ROBOT\_IN\_MAINTENANCE|23|Robot in maintenance| | ||
| |ROBOT\_IN\_UPDATE\_MODE|24|Robot in update| | ||
| |ROBOT\_IN\_EMERGENCY\_STOP|25|Robot in emergency stop state| | ||
| |SINGLE\_LEVEL\_SERVOING|26|Robot is in single-level servoing mode| | ||
| |LOW\_LEVEL\_SERVOING|27|Robot is in low-level servoing mode| | ||
| |MAPPING\_GROUP\_NON\_ROOT|28|Trying to add a non-root MapGroup to Mapping| | ||
| |MAPPING\_INVALID\_GROUP|29|Trying to add an invalid or non-existent MapGroup to Mapping| | ||
| |MAPPING\_INVALID\_MAP|30|Trying to add an invalid or non-existent Map to Mapping| | ||
| |MAP\_GROUP\_INVALID\_MAP|31|Trying to add an invalid or non-existent Map to MapGroup| | ||
| |MAP\_GROUP\_INVALID\_PARENT|32|Trying to add a MapGroup under an invalid parent| | ||
| |MAP\_GROUP\_INVALID\_CHILD|33|Trying to add an invalid or non-existent to MapGroup| | ||
| |MAP\_GROUP\_INVALID\_MOVE|34|Trying to change a MapGroup's parent: move not supported| | ||
| |MAP\_IN\_USE|35|Deleting a Map used in a Mapping or MapGroup| | ||
| |WIFI\_CONNECT\_ERROR|36|Unable to connect to specified Wifi network| | ||
| |UNSUPPORTED\_NETWORK\_TYPE|37|Unsupported network type| | ||
| |TOO\_LARGE\_ENCODED\_PAYLOAD\_BUFFER|38|Encoded payload bigger than what transport permits| | ||
| |UPDATE\_PERMISSION\_DENIED|39|Attempting update command on non-updatable entity| | ||
| |DELETE\_PERMISSION\_DENIED|40|Attempting delete command on non-deletable entity| | ||
| |DATABASE\_ERROR|41|Internal DB error| | ||
| |UNSUPPORTED\_OPTION|42|Option not supported| | ||
| |UNSUPPORTED\_RESOLUTION|43|Resolution not supported| | ||
| |UNSUPPORTED\_FRAME\_RATE|44|Frame rate not supported| | ||
| |UNSUPPORTED\_BIT\_RATE|45|Bit rate not supported| | ||
| |UNSUPPORTED\_ACTION|46|Action not supported \(generic, when an action is not supported for a particular item\)| | ||
| |UNSUPPORTED\_FOCUS\_ACTION|47|Focus action not supported| | ||
| |VALUE\_IS\_ABOVE\_MAXIMUM|48|Specified value is above the supported maximum| | ||
| |VALUE\_IS\_BELOW\_MINIMUM|49|Specified value is below the supported minimum| | ||
| |DEVICE\_DISCONNECTED|50|Device is not connected| | ||
| |DEVICE\_NOT\_READY|51|Device is not ready| | ||
| |INVALID\_DEVICE|52|Device id is invalid during bridging| | ||
| |SAFETY\_THRESHOLD\_REACHED|53|Safety threshold is reached therefore safety is on| | ||
| |INVALID\_USER\_SESSION\_ACCESS|54|Service or function access not allowed: out of session or level access| | ||
| |CONTROL\_MANUAL\_STOP|55|Manually stopped sequence or action| | ||
| |CONTROL\_OUTSIDE\_WORKSPACE|56|Commanded Cartesian position is outside of robot workspace| | ||
| |CONTROL\_ACTUATOR\_COUNT\_MISMATCH|57|Number of constraint sent does not correspond to number of actuator \(ex: joint speed\)| | ||
| |CONTROL\_INVALID\_DURATION|58|Duration constraint is too short. The robot would need out of limit speeds/accelerations to reach this duration.| | ||
| |CONTROL\_INVALID\_SPEED|59|Speed constraint is negative| | ||
| |CONTROL\_LARGE\_SPEED|60|Speed constraint is too high \(exceed speed limit of leads to high acceleration\)| | ||
| |CONTROL\_INVALID\_ACCELERATION|61|Speed constraint is too high or duration constraint too short and leads to high acceleration| | ||
| |CONTROL\_INVALID\_TIME\_STEP|62|Refresh rate is smaller than the duration of the trajectory| | ||
| |CONTROL\_LARGE\_SIZE|63|Duration of the trajectory is more than 100s. The length of the trajectory is limited to 100000 points to avoid saturating the base memory.| | ||
| |CONTROL\_WRONG\_MODE|64|Control mode is not a trajectory mode| | ||
| |CONTROL\_JOINT\_POSITION\_LIMIT|65|Commanded configuration contains at least one actuator which is out of its physical limits| | ||
| |CONTROL\_NO\_FILE\_IN\_MEMORY|66|Trajectory is not computed and try to be started| | ||
| |CONTROL\_INDEX\_OUT\_OF\_TRAJECTORY|67|Attempting to read a point of the trajectory with an index higher than the number of point in trajectory point list.| | ||
| |CONTROL\_ALREADY\_RUNNING|68|Trajectory is already running| | ||
| |CONTROL\_WRONG\_STARTING\_POINT|69|Robot is not on the first point of the trajectory when we try to start the trajectory. This can happen if there is a motion between the moment when trajectory is computed and when it is started.| | ||
| |CONTROL\_CARTESIAN\_CANNOT\_START|70|Cannot start| | ||
| |CONTROL\_UNDEFINED\_CONSTRAINT|71|Kontrol library is not initialized| | ||
| |CONTROL\_UNINITIALIZED|72|Contraint sent is not defined| | ||
| |CONTROL\_NO\_ACTION|73|Action does not exist| | ||
| |CONTROL\_UNDEFINED|74|Undefined error| | ||
| |WRONG\_SERVOING\_MODE|75|Robot is in not in the right servoing mode| | ||
| |CONTROL\_WRONG\_STARTING\_SPEED|76|Robot is not at the right speed when starting a new trajectory.| | ||
| |USERNAME\_LENGTH\_EXCEEDED|100|User profile username length exceeds maximum allowed length| | ||
| |FIRSTNAME\_LENGTH\_EXCEEDED|101|User profile first name length exceeds maximum allowed length| | ||
| |LASTNAME\_LENGTH\_EXCEEDED|102|User profile last name length exceeds maximum allowed length| | ||
| |PASSWORD\_LENGTH\_EXCEEDED|103|User profile password length exceeds maximum allowed length| | ||
| |USERNAME\_ALREADY\_EXISTS|104|User profile username already in use by another profile| | ||
| |USERNAME\_EMPTY|105|User profile empty username not allowed| | ||
| |PASSWORD\_NOT\_CHANGED|106|Change password both passwords are the same| | ||
| |MAXIMUM\_USER\_PROFILES\_USED|107|Maximum number of user profiles in use| | ||
| |ROUTER\_UNVAILABLE|108|The client router is currently unavailable. This can happen if an API method is called after the router has been deactivated via the method SetActivationStatus.| | ||
| |ADDRESS\_NOT\_IN\_VALID\_RANGE|120|IP Address not valid against netmask| | ||
| |SESSION\_NOT\_IN\_CONTROL|130|Trying to perform command from a non-controlling session in single-level mode| | ||
| |METHOD\_TIMEOUT|131|Timeout occured during method execution| | ||
| |UNSUPPORTED\_ROBOT\_CONFIGURATION|132|Product Configuration setter method failed because changing this parameter is unsupported on your robot model| | ||
| |NVRAM\_READ\_FAIL|133|Failed to read in NVRAM.| | ||
| |NVRAM\_WRITE\_FAIL|134|Failed to write in NVRAM.| | ||
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| **Parent topic:** [Api \(C++\)](../../summary_pages/Api.md) | ||
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