rerror

Setting up a function, dealing with error-codes sent to the Robotic-Toolbox

Contents

Last date of modification : 2010/10/18

Syntax

Functionhead:

Inputs	Description	VALUE
@ERROR-FUNCTION	Handle of the to be executed function	@-operator+functionname
HANDLE	robot-identifier	integer > 0 given by robot
ERRORCODE	cartesian position not in range axial position not in range command not supported	-1 -2 -3

Description

rerror defines the function, that is called, if the toolbox receives an error-code from the robot-controller. The arguments of the defined function are the handle of the error-producing robot and the errorcode.

Examples

Defintion of an error-handling-function

rerror( @err_fct );
...
function err_fct(h, code)
 switch code
  case -1
      disp('Cartesian position not in range !');
  case -2
      disp('Axial position not in range !');
  case -3
      disp('Command not supported !');
 end
 rreset(h);

Back to the Robotic-Toolbox-Index

Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010

Published with MATLAB® 7.11