Multi-Axis Coordinated Motion Instructions
390 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Error Code
(.ERR)
Extended Error
Code
(.EXERR)
Description
138 4 MCPM Path Data Invalid Value in MCPM Path Data Move Type
If the move type is not either absolute or incremental, the
instruction will report this error.
138 5 MCPM Path Data Invalid Value in MCPM Path Data TT Type
If any term types other than 0, 1 and 6 are specified, the
instruction will report this error.
138 6 MCPM Path Data Invalid Value in MCPM Path Data CMD TOL
If negative command tolerance is specified or INF or NAN is
specified, the instruction will report this error.
139 0 MCPM Dyn Data Invalid Value in MCPM Dyn Data Units Mode
If Units Mode is specified anything other than 0, 1, or 2,
instruction will report this error.
139 1 MCPM Dyn Data Invalid Value in MCPM Dyn Data Time Units
If Time Units is specified anything other than 0 or 1, the
instruction will report this error.
139 2 MCPM Dyn Data Invalid Value in MCPM Dyn Data Profile
If Profile is specified anything other than 0(trap) or 1(s-curve), the
instruction will report this error.
139 3 MCPM Dyn Data Invalid Value in MCPM Dyn Data Speed
If the speed is negative or INF or NAN, the instruction will report
this error.
139 4 MCPM Dyn Data Invalid Value in MCPM Dyn Data Accel
If the accel is zero or negative or INF or NAN, the instruction will
report this error.
139 5 MCPM Dyn Data Invalid Value in MCPM Dyn Data Decel
If the decel is zero or negative or INF or NAN, the instruction will
report this error.
139 6 MCPM Dyn Data Invalid Value in MCPM Dyn Data Accel Jerk
If Jerk Units are %time and if the accel jerk is INF, NAN, less than
or equal to zero or value greater than 100%, then the instruction
will error.
Tip: These errors apply only for s-curve.
139 7 MCPM Dyn Data Invalid Value
MCPM Dyn Data Decel jerk
If Jerk Units are %time, and if the decel jerk is NAN and less than
or equal to zero, then the instruction will report error.
Tip: This error only applies for s-curve.
139 8 MCPM Dyn Data Invalid Value
MCPM Dyn Data Orientation Speed
If the orientation speed is negative or INF or NAN, the instruction
will report this error.
139 9 MCPM Dyn Data Invalid Value
MCPM Dyn Data Orientation Accel
If the orientation accel is zero or negative or INF or NAN, the
instruction will report this error.
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