ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 309)

D.5.2.4 Warning 0004
Message Text
Switch arc can’t be built: zero velocity at the end point
Explanation
Switch arc is built if the first shape end velocity not equal zero - parameter vse ≠ 0.
Action
If velocity at the end point should be zero (vse = 0) parameter vsc should be also equal zero. In
other case to parameter vse should be set nonzero value.
D.5.2.5 Warning 0005
Message Text
Switch arc can’t be built: second line extends the first line.
Explanation
Angle between two lines close to zero so switch arc is useless and cannot be built.
D.5.2.6 Warning 0006
Message Text
Direction of the vector velocity at the start point does not coincide with the direction of the line.
Explanation
If direction of the vector velocity at the start point does not coincide with the direction of the line
trajectory cannot be executed precisely and PVT point will not be laying strictly on the line.
Sometimes this problem can be caused not by input parameters error but by fact that servo drive
executes homing and other operations with possible error 1-3 counts. So start position of the line
can slightly differ from those defined for the line trajectory.
D.5.2.7 Warning 0007
Message Text
Switch arc radius too long and circle – line switch arc cannot be built (vsc = 1)
Explanation
If in circle – line trajectory line continues inside the circle switch arc radius
r
must satisfy
condition
r < R
(R radius of the circle). The same is valid for the line – circle trajectory (if
intersection point is not the nearest to the circle’s center point on the line).
D.5.2.8 Warning 0008
Message Text
Switch arc can’t be built: The line is a tangent to circle.
Explanation
If line is tangent to circle and directions of the velocity vectors for two shapes coincide at
intersection point switch arc is useless and cannot be built.
Maestro Software Manual Appendix D: Maestro System Errors
MAN-MASSW (Ver. Q)
D-22