ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 310)

D.5.2.9 Warning 0009
Message Text
Switch arc can’t be built: Two circles have the same tangent at the intersection point.
Explanation
If two circles have the same tangent at the intersection point we do not need switch arc and it
cannot be built.
D.5.3 Additional Errors
D.5.3.1 Error 0202 0007
Message text
Input parameter error: Angle between vector velocity at start point and line direction > 90
degrees.
Explanation
Vector velocity at the line segment start point differs from the line direction. Algorithm allows
such divergence for the angle less then 90o.
Action
Review and revise everything related to the trajectory definition in your program or in the
command interpreter.
D.5.3.2 Error 0202 0018
Input parameter error: Smoothing mode parameter vsc = 3 inapplicable to circle-circle switch.
Explanation
For the circle-circle switch for the parameter vsc can be set one of the three possible values: 0 –
no smoothing (default value), 1 – smoothing with minimum possible radius of the switch arced
by the user and 2 – smoothing with switch arc radius, predefined by the user.
Action
Verify and correct switch parameter vsc
D.5.3.3 Error 0202 0048
Message text
Input parameter error: Circle trajectory can't be built (vsp*vsp)/R > vac*vae.
Explanation
The necessary condition for the circular motion v
2 /r ≤ a is not satisfied.
Action
The values of the parameters vsp, R and vac must be corrected to satisfy condition
(vsp*vsp)/R > vac*vae.
Maestro Software Manual Appendix D: Maestro System Errors
MAN-MASSW (Ver. Q)
D-23