PLCopen Function Block ErrorIDs

These are the errors returned in 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 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.
5	Invalid parameter number.
6	Invalid move.
7	Invalid override.
8	Buffer mode required.
9	Invalid parameter data.
10	Move cannot be executed because either: An axis error exists. The axis is in the stopping state. 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. Example: If a MC_ReadParam of FollowingError (1006) is programmed on a simulator axis where 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. See Limitations on Acceleration and Jerk.
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 (i.e., 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	Co-linear 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. 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 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 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 these scenarios: The user application code was written to call the function block more than once in the same cycle. The PLC program is 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.
86	The requested transition mode is not supported.
87	The remaining distance of the active move is shorter than the transition corner distance.
88	Aborting a move during an S-Curve Corner transition is not allowed.
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 0 (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 20,000 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 0 (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.