dxl_get_rxpacket_error

It checks the errors included in status packet.

int dxl_get_rxpacket_error(
int errbit
);

- errbit

This is Bit Flag to check whether errors occur or not. It has one of the following values.

Value	Name	Contents
1	ERRBIT_VOLTAGE	If the Error-impressed voltage is deviated from the set movement voltage range in the control table, it is set to 1.
2	ERRBIT_ANGLE	If the writing of Goal Position value is deviated from the range between CW Angle Limit ~ CCW Angle Limit, it is set to 1.
4	ERRBIT_OVERHEAT	If the internal temperature of Dynamixel is deviated from the set movement temperature range in the control table, it is set to 1.
8	ERRBIT_RANGE	When the command is deviated from the using range, it is set to 1.
16	ERRBIT_CHECKSUM	When Checksum of the transmitted Instruction Packet is not matching, it is set to 1.
32	ERRBIT_OVERLOAD	When the set torque cannot control the current load, it is set to 1.
64	ERRBIT_INSTRUCTION	If an undefined instruction is transmitted, or action command is transmitted without reg_write command, it is set to 1.

- If it is 1, errors occur; if it is 0, no errors occur.

if( dxl_get_rxpacket_error(ERRBIT_VOLTAGE) == 1 )

{

// Input voltage error occurred

}

if( dxl_get_rxpacket_error(ERRBIT_ANGLE ) == 1 )

{

// Angle limit error occurred

}

if( dxl_get_rxpacket_error(ERRBIT_OVERHEAT) == 1 )

{

// Overheating error occurred

}

if( dxl_get_rxpacket_error(ERRBIT_RANGE) == 1 )

{

// Range error occurred

}

if( dxl_get_rxpacket_error(ERRBIT_CHECKSUM) == 1 )

{

// Checksum error occurred

}

if( dxl_get_rxpacket_error(ERRBIT_OVERLOAD) == 1 )

{

// Overload error occurred

}

if( dxl_get_rxpacket_error(ERRBIT_INSTRUCTION) == 1 )

{

// Instruction error occurred

}