PLCopen Function Block ErrorIDs

No error.

Queue full.

Abort mode required.

Invalid axis.

One of these possible scenarios:

• Invalid master axis.
• Master axis and slave axis are the same.
• Master axis is currently slaved to the specified slave axis.
• Master axis and slave axis do not have the same update rate.

Invalid parameter number.

Invalid move.

Invalid override.

Buffer mode required.

Invalid parameter data.

Move cannot be executed because either:

• An axis error exists.
• The axis is in the stopping state.
• The axis is disabled Removal of the ENABLE signal. Disables power stage..

Invalid buffer mode.

Move was aborted due to an E-stop.

Move was aborted due to a controlled stop.

Invalid start mode or sync mode.

Invalid cam profile The position of a slave axis is mathematically linked to the position of a master axis. Example: A system where two rotating drums turn at a given ratio to each other. A more advanced case of electronic gearing is electronic camming. With electronic camming, a slave axis follows a profile that is a function of the master position. This profile need not be linear but it must be a mathematical function..

Invalid slave count Internal count pulses, 1 pulse = 1/2^20turn..

Input value is out of range.

Cannot access time stamp or latched The control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT® bus cycle. The status word is used to return the drive's latch status. position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. data.

Data not available.

Example: If a MC_ReadParam of FollowingError (1006) is programmed The act of performing a sequence of instructions or commands. on a simulator axis where no following error is available, an error 19 (data not available) is returned.

Motion engine is not running.

Invalid ratio of velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP to acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics), or acceleration to jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time..

See Limitations on Acceleration and Jerk.

Too many profiles – the number of selected profiles is limited to 256.

Internal Error.

Object already exists.

Block needs to be called between MLMotionInit and MLMotionStart.

The axis is owned by another group.

The axis is already present in the group.

No axes are mapped to the group.

Invalid name.

A name cannot be an empty string.

Name is already used.

The number of axes is too small.

The number of axes is too large.

Invalid update rate.

Invalid axis group.

Invalid kinematic parameter (i.e., position, speed Speed is the absolute value of the velocity without direction., velocity, acceleration, deceleration, or jerk).

Invalid floating point number.

Invalid object index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin..

Invalid number of positions in array.

Position is not a valid number.

Invalid coordinate system The reference system in which a coordinate or path is described..

Axis is not initialized.

Array is not the correct size.

A move cannot be made while the group is in a stopping state.

The axes group is not in the Disabled or Standby state.

The axes group is in the Disabled state.

The axis is not in this axes group.

Duplicate points specified.

Invalid radius specified.

Co-linear points were specified for the border points of a circle.

Cannot construct a circle with specified parameters.

Invalid circle mode.

Invalid path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along. choice for circular move.

Invalid transition mode.

The axis group does not have exactly two axes.

Example: Transitions are only allowed on groups with two axes.

Invalid engine type for axis.

An axis or its associated drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. is in an error state.

Cannot execute function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. because both queues are not empty.

Lines are parallel.

Not enough room for transitions.

Abort mode not allowed for Circular Absolute moves A positioning movement referenced to a fixed original position. Example: If a stage is positioned at +500 mm, an absolute move to +300 mm would result in a move of 200 mm towards the origin (in the negative direction)..

Invalid transition parameters.

Transition not allowed with Abort Move.

The axes group is not in the Standby state.

The maximum number of axes has been created.

The axis is not powered on.

Error in data reported from drive.

The axes group is not in the ErrorStop state.

The axes group is still in Error State.

The axes group is not in Standby or ErrorStop state.

The fast input The inputs are taken into account at each cycle depending on the system periodicity (i.e., each millisecond). Under certain circumstances, this can be insufficient when more accuracy is needed or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g., when a sensor sends a rising edge), the detection of a signal occurs faster. This can be 1000 times more accurate than the system periodicity. The timestamp associated with this input can be provided to the IPC to take corrective action. is in use.

Set position is in progress.

Invalid data point count.

Position Axis and Trigger Axis cannot be different for position mode trigger.

Invalid Fast Input trigger mode.

Cannot simultaneously perform motion from different motion engines.

Cannot call this function block twice in the same cycle with the same value for execute input.

This error may arise from these scenarios:

• The user application code was written to call the function block more than once in the same cycle.
• The PLC Programmable Logic Controller - A digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events. program is overloaded causing the application to think the function block is called more than once in the same cycle.

An axis is in a controlled stop error state.

Invalid kinematic transform type specified.

Invalid kinematic transform parameter specified.

Axes group has no ACS Axes Coordinate System - The system of coordinates related to the physical motors and the single movements caused by the single drives. to MCS transform specified.

The maximum number of transforms has been created.

Invalid transition between coordinate systems.

Invalid enabled Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. physical axes count.

Operation is not valid when the axis is enabled.

The Cam_Data array is not large enough to hold the specified number of elements.

Invalid master or slave scale.

The scale cannot be less than 0 (zero).

Element master or slave position is outside the range defined by Cam_Props.

A segment type was specified that is not supported by the value of the Options argument.

Master position of an element is too close to the master position of a previous element.

Invalid profile ID.

CamDataCount argument exceeds maximum array size of 20,000 data points.

Profile is currently is use.

Attempting to build a profile already containing elements.

Unable to allocate cam table.

Too few cam elements specified.

Cam elements are not sorted.

Average segment velocity outside of range defined by start and end element velocities.

First element's MasterIn value not equal to 0 (zero).

Last element's MasterIn value does not equal value of InputScale.

Cannot modify the first element in the cam element table.

SlaveOut value is outside the output range specified by Cam_Props.

Cannot modify the last element in the cam element table.

SlaveOut value is outside the output range specified by Cam_Props.