PLCopen Function Block ErrorID Output

These are the possible errors that could be returned at the ErrorID output of the function blocks.

ErrorID	Description
0	no error
1	queue full
2	abort mode required
3	invalid axis
4	One of four 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.
5	invalid parameter number
6	invalid move
7	invalid override
8	buffer mode required
9	invalid parameter data
10	move cannot be executed because an axis error exists, the axis is in the stopping state or the axis is disabled.
11	invalid buffer mode
12	move was aborted due to an E-stop
13	move was aborted due to a controlled stop
14	invalid start mode or sync mode
15	invalid cam profile
16	invalid slave count
17	input value is out of range
18	cannot access time stamp or latched position data
19	data not available For example, if a MC_ReadParm of FollowingError (1006) is programmed on a simulator axis for which no following error is available, an error 19 (data not available) is returned.
20	Motion engine is not running
21	Invalid ratio of velocity to acceleration, 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 for more details.
22	Too many profiles – the number of selected profiles is limited to 256.
23	Internal Error
24	Object already exists
25	Block needs to be called between MLMotionInit and MLMotionStart
26	The axis is owned by another group
27	The axis is already present in the group
28	No axes are mapped to the group
29	Invalid name. A name cannot be an empty string
30	Name is already used
31	The number of axes is too small
32	The number of axes is too large
33	Invalid update rate
34	Invalid axis group
35	Invalid kinematic parameter (position, speed, velocity, acceleration, deceleration, or jerk)
36	Invalid floating point number
37	Invalid object index
38	Invalid number of positions in array
39	Position is not a valid number
40	Invalid coordinate system
41	Axis is not initialized
42	Array is not the correct size
43	A move cannot be made while the group is in a stopping state.
44	The axes group is not in the Disabled or Standby state
45	The axes group is in the Disabled state
46	The axis is not in this axes group
47	Duplicate points specified
48	Invalid radius specified
49	Colinear points were specified for the border points of a circle
50	Cannot construct a circle with specified parameters
51	Invalid circle mode
52	Invalid path choice for circular move
53	Invalid transition mode
54	The axis group does not have exactly two axes. As an example, transitions are only allowed on groups with two axes.
55	Invalid engine type for axis
56	An axis or its associated drive is in an error state.
57	Cannot execute function because both queues are not empty.
58	Lines are parallel
59	Not enough room for transitions
60	Abort mode not allowed for Circular Absolute moves
61	Invalid transition parameters
62	Transition not allowed with Abort Move.
63	The axes group is not in the Standby state.
64	The maximum number of axes has been created.
65	The axis is not powered on.
66	Error in data reported from drive.
67	The axes group is not in the ErrorStop state.
68	The axes group is still in Error State.
69	The axes group is not in Standby or ErrorStop state.
70	The fast input The inputs are taken into account at each cycle depending on the system periodicity (for example 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 (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action is in use.
71	Set position is in progress.
72	Invalid data point count.
73	Position Axis and Trigger Axis cannot be different for position mode trigger
74	Invalid Fast Input The inputs are taken into account at each cycle depending on the system periodicity (for example 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 (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action trigger mode
75	Cannot simultaneously perform motion from different motion engines.
76	Cannot call this function block twice in the same cycle with the same value for execute input. This error may arise from two scenarios: User application code was written in a way that the function block was called more than once in the same cycle PLC "Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is 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 being overloaded causing the application to think the function block is called more than once in the same cycle
77	An axis is in a controlled stop error state.
78	Invalid kinematic transform type specified.
79	Invalid kinematic transform parameter specified.
80	Axes group has no ACS to MCS transform specified.
81	The maximum number of transforms has been created.
82	Invalid transition between coordinate systems.
83	Invalid enabled physical axes count.
84	Operation is not valid when the axis is enabled
100	The 'Cam_Data' array is not large enough to hold the specified number of elements
101	Invalid master or slave scale. The scale cannot be less than zero
102	Element master or slave position is outside the range defined by 'Cam_Props'
103	A segment type was specified that is not supported by the value of the 'Options' argument
104	Master position of an element is too close to the master position of a previous element
106	Invalid profile ID
107	'CamDataCount' argument exceeds maximum array size of 20000 data points
108	Profile is currently is use
109	Attempting to build a profile already containing elements
110	Unable to allocate cam table
111	Too few cam elements specified
112	Cam elements are not sorted
113	Average segment velocity outside of range defined by start and end element velocities
200	First element's 'MasterIn' value not equal to zero
201	Last element's 'MasterIn' value does not equal value of 'InputScale'
202	Cannot modify the first element in the cam element table. 'SlaveOut' value is outside the output range specified by 'Cam_Props'.
203	Cannot modify the last element in the cam element table. 'SlaveOut' value is outside the output range specified by 'Cam_Props'.
204	Unknown cam error.