Data Sheet

75
6.3 MotionEngine
ⅰ) Error.h
(1) void ErrorCheck(int Error)
Parameter
int Error
Return
void
Description
1. no error
(ARMSDK_NO_ERROR 0x00)
2. IK solution does not exist
(ARMSDK_NO_IK_SOLUTION 0x01)
3. no IK solution and allowable error
(ARMSDK_ACCEPTABLE_ERROR 0x02)
4. Joints’ next and previous step large difference in angle
(ARMSDK_TOO_MUCH_ANGLE_CHANGE 0x04)
5. angle or not within JointData’s limit
(ARMSDK_OUT_OF_JOINT_RANGE 0x08)
The 5 types of ERROR