using SKMC.Api.Core.Exceptions;

namespace SKMC.Api.Motion.Config
{
    /// <summary>
    /// 运动控制异常
    /// </summary>
    public class MotionException : ExceptionBase
    {
        /// <summary>
        /// 控制卡初始化失败 8
        /// </summary>
        public static int CARD_INIT = 0b_0000_0000_1000;

        /// <summary>
        /// 电机或驱动器报警 384
        /// </summary>
        public static int Axis_Alarm = 0b_0001_1000_0000;

        /// <summary>
        /// 电机未上使能 385
        /// </summary>
        public static int Axis_Enable = 0b_0001_1000_0001;

        /// <summary>
        /// 电机触发正限位 386
        /// </summary>
        public static int Axis_PEL = 0b_0001_1000_0010;

        /// <summary>
        /// 电机触发负限位 387
        /// </summary>
        public static int Axis_NEL = 0b_0001_1000_0011;

        /// <summary>
        /// 电机未回零 388
        /// </summary>
        public static int Axis_NORG = 0b_0001_1000_0100;

        /// <summary>
        /// 电机未通过动作验证 392
        /// </summary>
        public static int Axis_Checkfail = 0b_0001_1000_1000;

        /// <summary>
        /// 电机到位超时 393
        /// </summary>
        public static int Axis_Timeout_Move = 0b_0001_1000_1001;

        /// <summary>
        /// 电机回零超时 396
        /// </summary>
        public static int Axis_Timeout_Home = 0b_0001_1000_1100;

        /// <summary>
        /// 气缸未通过动作验证 460
        /// </summary>
        public static int Cylinde_Checkefail = 0b_0001_1100_1100;

        /// <summary>
        /// 电机未通过安全条件 416
        /// </summary>
        public static int Axis_Unsafe = 0b_0001_1010_0000;

        /// <summary>
        /// 气缸未通过安全条件 480
        /// </summary>
        public static int Cylinde_Unsafe = 0b_0001_1110_0000;
    }
}