| |
Motion type PVT used and the
velocity, position, or time array address is NULL |
| |
Motion type PVTF used and the
feedforward, velocity, position, or time array address is NULL. |
| |
Motion type SPLINE, BESSEL,
BSPLINE, BSPLINE2, or PT used and the position, or time array address
is NULL |
| |
Motion type PVTF, PVT, BESSEL,
BSPLINE, BSPLINE2, or PT used and one of the time slices used is less
than one servo sample. The minimum amount of time required for each
point in these types of moves is one servo sample (0.5 mSec = 1 servo
sample at 2 kHz servo sample rate). |
| |
Motion type S_CURVE, S_CURVE_JERK,
or TRAPEZOIDAL used and position or trajectory structure addresses
passed in are NULL. |
| |
Motion type VELOCITY_JERK, VELOCITY
used and trajectory structure address passed in is NULL |
| |
Motion type FRAME is used and
the frame structure address is NULL or the pointCount is not an whole
multiple of the axisCount. |
| |
A delay before motion start
is specified of time <= 0 |
| |
Motion type S_CURVE_JERK is
used and one or more of the following is <= 0
accelerationJerk
decelerationJerk
acceleration
velocity
deceleration |
| |
Motion type S_CURVE is used
and jerkPercent is not between 0 and 100. |
| |
Motion type TRAPEZOIDAL is used
and one or more of the follwoing is <= 0
acceleration
velocity
deceleration |
| |
Motion type VELOCITY is used
and
acceleration is <= 0
jerkPercent < 0
jerkPercent > 100 |
| |
Motion type VELOCITY_JERK
acceleration <= 0
accelerationJerk <= 0 |
