ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 304)

D.5.1.30 Error 0077
Message Text
Switch arc radius calculated by vsd too small for given end velocity and vector
acceleration.
Explanation
Input parameter vsd incorrect. Switch arc radius (calculated as a function of given parameter
vsd) does not fit necessary condition for uniform movement along the circle trajectory (vse 2 /vsr
≤ vac) where vse is end velocity, vsr is switch arc radius and vac is vector acceleration. Here we
assume that (vac) 2 < (sd
x
) 2 + (sd
y
) 2 , where sd
x
, sd
y
are stop accelerations for the two drives.
Action
Parameters vsd, vse and vac must be adjusted to fit the first equation.
D.5.1.31 Error 0079
Message Text
Input parameter error: trajectory time undefined or inadequate T<1 (Line FT)
Explanation
Input parameter trajectory time vtt is less than 1msec.
Action
Set vtt>1.
D.5.1.32 Error 0080
Message Text
Switch arc can’t be built with given velocity and vector acceleration – one of the line segments
isn’t long enough.
Explanation
A switch arc between two lines is built with a minimal radius that has to obey the requirement
vsr ≥ (vse*vse)/vac (where vse is end velocity, vsr is switch arc radius and vac is vector
acceleration). This means that the minimum distance from the corner d = vsr/tg(γ/2) ≥
(vse*vse)/(vac*tg(γ/2)), where γ is the angle between the two line. Error 0080 indicates that
minimum d that satisfies this requirement is greater than L1 or L2, where L1 and L2 are the
lengths of two intersecting lines.
Action
Adjust the vse (end velocity) input parameter.
D.5.1.33 Error 0081
Message Text
Circle velocity too high for given radius and PVT resolution – number of PVT points<3.
Explanation
Error message 0081 can be received in fixed velocity or maximum velocity (minimum time)
mode when the number of generated PVT points (N) is less than 3. This happens if the trajectory
parameters vnt and vsp, when placed in the equation N ≥ SweepAngle/(ω*vnt)=
SweepAngle*R/(vsp*vnt), results in an N that is less than 3 (here acceleration and deceleration,
that can increase N, are not taken into account).
Maestro Software Manual Appendix D: Maestro System Errors
MAN-MASSW (Ver. Q)
D-17