URL

/rw/motionsystem/errorstate

Method

GET

URL Params

None

See Common URL parameters

Success Response

HTTP_OK(200)

see HTTP Status codes

Example Response

<?xml version="1.0" encoding="UTF-8"?>
<html>
    <head>
        <title>motionsystem</title>
        <base href= "http://localhost/rw/motionsystem/" />
    </head>
    <body>
        <div class="state">
            <a href= "errorstate" rel="self"/>
            <ul>
                <li class="ms-errorstate" title="errorstate">
                    <span class="err-state">HPJ_OK</span>
                    <span class="err-count">0</span>
                </li>
            </ul>
        </div>
    </body>
</html>

Resources

ms-errorstate
- err-state Error state
  - HPJ_OK
  - HPJ_ERR_UNIT_NOT_ACTIVE If you are trying to jog a mechanical unit where the activation fails
  - HPJ_ERR_UNVALID_UNCALIBRATED_JOG_MOTION_TYPE if you are trying to jog an uncalibrated robot in any of the following modes: Linear, Align, Goto Pose, Arm-angle
  - HPJ_ERR_UNNORM_QUAT If an unnormalized quaternion reaches the jogging task. Can come from any of the following: tool definition, tool-load, total load, work object.
  - HPJ_ERR_ERRONEOUS_TOOL_MASS If the mass is negative in any load definition (tool load, load, or total load)
  - MECMAP_ERR_ROBHOLD_MISMATCH If there is a conflict between robhold in the tool and robhold in the work object
  - HPJ_ERR_WOBJ_MECH_NOT_FOUND If a unit used in coordinated jogging is not found
  - HPJ_ERR_UNVALID_JOG_MOTION_TYPE If the chosen jogging mode is invalid.
- err-count Error count (If a new error occurs, count will be incremented.)

Sample Call

curl --digest -u "Default User":robotics "http://localhost/rw/motionsystem/errorstate"

Note

Not supported in bootserver mode.