Motion Configuration Instructions
328 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Error Codes
See Motion Error Codes (ERR) for Motion Instructions.
Extended Error Codes
Extended Error Codes provide additional instruction specific information for the
Error Codes that are generic to many instructions. See Motion Error Codes
(ERR). The following Extended Error codes help to pinpoint the problem when
the MAHD instruction receives a Servo Message Failure (12) error message.
Associated Error Code (decimal) Extended Error Code
(decimal)
Meaning
SERVO_MESSAGE_FAILURE (12) No resources (2) Not enough memory resources to complete
request. (SERCOS)
SERVO_MESSAGE_FAILURE (12) Object Mode conflict (12) Axis is in shutdown.
SERVO_MESSAGE_FAILURE (12) Permission denied (15) Enable input switch error. (SERCOS)
SERVO_MESSAGE_FAILURE (12) Device in wrong state (16) Redefine Position, Home, and Registration 2 are
mutually exclusive (SERCOS), device state not
correct for action. (SERCOS)
Status Bits
MAHD Changes to Status Bits
None
Example
When the input conditions are true, the controller applies the results of a
previously executed Motion Run Hookup Diagnostics (MRHD) instruction to
axis1.
Ladder Diagram
See also
Structured Text Syntax on page 635
MAHD Flow Chart (True) on page 329
Motion Configuration Instructions on page 305
Common Attributes on page 663
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