ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 300)

D.5.1.14 Error 0023
Message Text
Calculation error: Velocity was not calculated (line, FT, trapez. vel. profile).
Explanation
Line trajectory was calculated in fixed time (FT) mode with a trapezoidal velocity profile. In this
mode the motion library calculates velocity for the fixed velocity segment of the trajectory. The
trajectory is calculated for the general case where Vo ≠ 0, Vend ≠ 0 . Message 0023 indicates that
error has occurred during such a calculation. Possible reason: contradictions in the input
parameters. For instance, maximum vector velocity less is than needed to execute the trajectory
in the requested period of time.
Action
Check and correct input parameters such as trajectory time, vector velocity, vector and
acceleration/deceleration.
D.5.1.15 Error 0028
Message Text
Input parameter error: Circle and a line do not intersect.
Explanation
Distance from the circle center to the line (length of the perpendicular) is greater than circle
radius.
Action
Verify trajectory parameters
D.5.1.16 Error 0030
Message Text
Input parameter error: Circle trajectory time too short for given max velocity – vsp (FT mode)
Explanation
Maximum vector velocity defined by input parameter vsp is not enough to execute trajectory
while predefined time (parameter vtt) for fixed time mode.
Action
Verify trajectory parameters vtt (trajectory fixed time) and vsp (trajectory max velocity)
D.5.1.17 Error 0040
Message Text
Input parameter error: Switch arc radius too long – arc cannot be built.
Explanation
Given switch arc radius too long. Switch arc lying between circle and line cannot have radius > R
– d (where d – distance from circle center to the line).
Action
Decrease switch arc radius to satisfy R_switch < R – d
Maestro Software Manual Appendix D: Maestro System Errors
MAN-MASSW (Ver. Q)
D-13