ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 303)

D.5.1.27 Error 0074
Message Text
Switch arc can’t be built: angle between lines too small to calculate.
Explanation
The angle between the lines is too small to built a switch arc. In fact, the second line goes along
the first line in the reverse direction.
Action
Set a value of zero for the vsc (smoothing type) parameter.
D.5.1.28 Error 0075
Message Text
Input parameter error: Switch arc radius too small for given end velocity and vector acceleration.
Explanation
Switch arc radius 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 vsr, vse and vac must be adjusted to fit the first equation.
D.5.1.29 Error 0076
Message Text
Input parameter error: Requested trajectory time can’t be achieved with the given vector
acceleration
Explanation
Circle trajectory, fixed time mode. To execute the trajectory during the requested time, the
angular velocity must satisfy the equation: ω ≥ SweepAngle/vtt. Both sides of the equation can
be equal if the start and finish angular velocities are equal to SweepAngle/vtt.
Error message 0076 indicates that vector acceleration doesn’t fit the requirement:
vac ≥ v
2 /R = ω 2 R = (SweepAngle/vtt) 2 R
Action
Vector acceleration vac, maximum velocity vsp and trajectory time vtt must be adjusted to fit
this requirement.
Maestro Software Manual Appendix D: Maestro System Errors
MAN-MASSW (Ver. Q)
D-16