ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 307)

D.5.1.41 Error 0101
Message Text
Input parameter error: Switch arc line-line can’t be built - distance from the corner doesn’t fit
end velocity and vector acceleration.
Explanation
Switch arc parameters: end velocity vse, vector acceleration vac and distance from the corner vsd
do not fit the condition vse 2 /R_switch = vse 2 /(vsd*tg(γ/2) < vac (where γ is the angle between the
two lines).
Action
Adjust parameters vse, vsd and vac to fit the equation.
D.5.1.42 Error 0102
Message Text
Angle of two lines is too close to 180 degrees – switch arc can’t be built.
Explanation
The second line continues the first. Switch arc is useless and can’t be built.
Action
Set vsc = 0.
D.5.1.43 Error 0103
Message Text
Requested velocity can’t be achieved with the given vector acceleration.
Explanation
The line trajectory in fixed velocity mode is not long enough to achieve the requested velocity
with the given vector acceleration.
Action
Adjust parameters vac and vsp.
D.5.1.44 Error 0104
Message Text
Input parameter error: Switch arc can’t be built - distance from the corner doesn’t fit end velocity
and vector acceleration.
Explanation
Switch arc parameters: end velocity vse, vector acceleration vac and distance from the corner vsd
do not fit the condition vse 2 /R_switch < vac. R_switch can be recalculated from given
parameter vsd. But relation between two parameters is not as simple as in case of two lines
intersection (message 101) and depends on geometry of the every special case of circle – line
intersection.
Action
Adjust parameters vse, vsd and vac. Possible solutions: increase vsd, increase vac, decrease vse.
Maestro Software Manual Appendix D: Maestro System Errors
MAN-MASSW (Ver. Q)
D-20