api_reference_dynamixel_error

Python

• Dynamixel error module defines error codes, exception classes, and utility functions for handling errors in the DYNAMIXEL Easy SDK.

Exception Class

DxlRuntimeError

Method	Description
DxlRuntimeError(dxl_error: DxlError)	Initializes the DxlRuntimeError with a DxlError.
DxlRuntimeError(msg: str)	Initializes the DxlRuntimeError with a message.

Enum Class

DxlError

Enum Member	Value
SDK_COMM_SUCCESS	0
SDK_COMM_PORT_BUSY	-1000
SDK_COMM_TX_FAIL	-1001
SDK_COMM_RX_FAIL	-1002
SDK_COMM_TX_ERROR	-2000
SDK_COMM_RX_WAITING	-3000
SDK_COMM_RX_TIMEOUT	-3001
SDK_COMM_RX_CORRUPT	-3002
SDK_COMM_NOT_AVAILABLE	-9000
SDK_ERRNUM_RESULT_FAIL	1
SDK_ERRNUM_INSTRUCTION	2
SDK_ERRNUM_CRC	3
SDK_ERRNUM_DATA_RANGE	4
SDK_ERRNUM_DATA_LENGTH	5
SDK_ERRNUM_DATA_LIMIT	6
SDK_ERRNUM_ACCESS	7
EASY_SDK_FUNCTION_NOT_SUPPORTED	11
EASY_SDK_TORQUE_STATUS_MISMATCH	12
EASY_SDK_OPERATING_MODE_MISMATCH	13
EASY_SDK_ADD_PARAM_FAIL	21
EASY_SDK_COMMAND_IS_EMPTY	22
EASY_SDK_DUPLICATE_ID	23
EASY_SDK_FAIL_TO_GET_DATA	24

Module Function

getErrorMessage(dxl_error)

• Returns the error message corresponding to the given DxlError.

Parameter	Return Message
DxlError.SDK_COMM_SUCCESS	[TxRxResult] Communication success!
DxlError.SDK_COMM_PORT_BUSY	[TxRxResult] Port is in use!
DxlError.SDK_COMM_TX_FAIL	[TxRxResult] Failed to transmit instruction packet
DxlError.SDK_COMM_RX_FAIL	[TxRxResult] Failed to get status packet from device
DxlError.SDK_COMM_TX_ERROR	[TxRxResult] Incorrect instruction packet
DxlError.SDK_COMM_RX_WAITING	[TxRxResult] Receiving status packet
DxlError.SDK_COMM_RX_TIMEOUT	[TxRxResult] No status packet received
DxlError.SDK_COMM_RX_CORRUPT	[TxRxResult] Incorrect status packet
DxlError.SDK_COMM_NOT_AVAILABLE	[TxRxResult] Protocol does not support this function
DxlError.SDK_ERRNUM_RESULT_FAIL	[RxPacketError] Failed to process the instruction packet!
DxlError.SDK_ERRNUM_INSTRUCTION	[RxPacketError] Undefined instruction or incorrect instruction!
DxlError.SDK_ERRNUM_CRC	[RxPacketError] CRC doesn't match!
DxlError.SDK_ERRNUM_DATA_RANGE	[RxPacketError] The data value is out of range!
DxlError.SDK_ERRNUM_DATA_LENGTH	[RxPacketError] The data length does not match as expected!
DxlError.SDK_ERRNUM_DATA_LIMIT	[RxPacketError] The data value exceeds the limit value!
DxlError.SDK_ERRNUM_ACCESS	[RxPacketError] Writing or Reading is not available to target address!
DxlError.EASY_SDK_FUNCTION_NOT_SUPPORTED	[EasySDKUsageError] Function not supported
DxlError.EASY_SDK_TORQUE_STATUS_MISMATCH	[EasySDKUsageError] Motor torque status mismatch
DxlError.EASY_SDK_OPERATING_MODE_MISMATCH	[EasySDKUsageError] Operating mode mismatch
DxlError.EASY_SDK_ADD_PARAM_FAIL	[EasySDKUsageError] Failed to add parameter
DxlError.EASY_SDK_COMMAND_IS_EMPTY	[EasySDKUsageError] No command to execute
DxlError.EASY_SDK_DUPLICATE_ID	[EasySDKUsageError] Duplicate ID in staged commands
DxlError.EASY_SDK_FAIL_TO_GET_DATA	[EasySDKUsageError] Failed to get data from motor

C++

Exception Class

DxlRuntimeError

Method	Description
DxlRuntimeError(const std::string & message)	Initializes the DxlRuntimeError with a message.

Result Class

Result<T, E>

Method	Description
isSuccess() const	Returns true if the result has no error, false otherwise.
value() const	Returns the value if the result is success.
error() const	Returns the error if the result is failure.

Enum Class

DxlError

Enum Member	Value
SDK_COMM_SUCCESS	0
SDK_COMM_PORT_BUSY	-1000
SDK_COMM_TX_FAIL	-1001
SDK_COMM_RX_FAIL	-1002
SDK_COMM_TX_ERROR	-2000
SDK_COMM_RX_WAITING	-3000
SDK_COMM_RX_TIMEOUT	-3001
SDK_COMM_RX_CORRUPT	-3002
SDK_COMM_NOT_AVAILABLE	-9000
SDK_ERRNUM_RESULT_FAIL	1
SDK_ERRNUM_INSTRUCTION	2
SDK_ERRNUM_CRC	3
SDK_ERRNUM_DATA_RANGE	4
SDK_ERRNUM_DATA_LENGTH	5
SDK_ERRNUM_DATA_LIMIT	6
SDK_ERRNUM_ACCESS	7
EASY_SDK_FUNCTION_NOT_SUPPORTED	11
EASY_SDK_TORQUE_STATUS_MISMATCH	12
EASY_SDK_OPERATING_MODE_MISMATCH	13
EASY_SDK_ADD_PARAM_FAIL	21
EASY_SDK_COMMAND_IS_EMPTY	22
EASY_SDK_DUPLICATE_ID	23
EASY_SDK_FAIL_TO_GET_DATA	24

Module Function

getErrorMessage(dxl_error)

• Returns the error message corresponding to the given DxlError.

Parameter	Return Message
DxlError::SDK_COMM_SUCCESS	[TxRxResult] Communication success!
DxlError::SDK_COMM_PORT_BUSY	[TxRxResult] Port is in use!
DxlError::SDK_COMM_TX_FAIL	[TxRxResult] Failed to transmit instruction packet
DxlError::SDK_COMM_RX_FAIL	[TxRxResult] Failed to get status packet from device
DxlError::SDK_COMM_TX_ERROR	[TxRxResult] Incorrect instruction packet
DxlError::SDK_COMM_RX_WAITING	[TxRxResult] Receiving status packet
DxlError::SDK_COMM_RX_TIMEOUT	[TxRxResult] No status packet received
DxlError::SDK_COMM_RX_CORRUPT	[TxRxResult] Incorrect status packet
DxlError::SDK_COMM_NOT_AVAILABLE	[TxRxResult] Protocol does not support this function
DxlError::SDK_ERRNUM_RESULT_FAIL	[RxPacketError] Failed to process the instruction packet!
DxlError::SDK_ERRNUM_INSTRUCTION	[RxPacketError] Undefined instruction or incorrect instruction!
DxlError::SDK_ERRNUM_CRC	[RxPacketError] CRC doesn't match!
DxlError::SDK_ERRNUM_DATA_RANGE	[RxPacketError] The data value is out of range!
DxlError::SDK_ERRNUM_DATA_LENGTH	[RxPacketError] The data length does not match as expected!
DxlError::SDK_ERRNUM_DATA_LIMIT	[RxPacketError] The data value exceeds the limit value!
DxlError::SDK_ERRNUM_ACCESS	[RxPacketError] Writing or Reading is not available to target address!
DxlError::EASY_SDK_FUNCTION_NOT_SUPPORTED	[EasySDKUsageError] Function not supported
DxlError::EASY_SDK_TORQUE_STATUS_MISMATCH	[EasySDKUsageError] Motor torque status mismatch
DxlError::EASY_SDK_OPERATING_MODE_MISMATCH	[EasySDKUsageError] Operating mode mismatch
DxlError::EASY_SDK_ADD_PARAM_FAIL	[EasySDKUsageError] Failed to add parameter
DxlError::EASY_SDK_COMMAND_IS_EMPTY	[EasySDKUsageError] No command to execute
DxlError::EASY_SDK_DUPLICATE_ID	[EasySDKUsageError] Duplicate ID in staged commands
DxlError::EASY_SDK_FAIL_TO_GET_DATA	[EasySDKUsageError] Failed to get data from motor