Motion control instructions Chapter 17
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015 441
Value MACRO ID Description
09 MC_FB_ERR_
VELOCITY
The function block cannot execute because the motion profile requested in the function block cannot be achieved due to current
axis velocity.
Examples:
• The function block requests the axis to reverse the direction while the axis is moving.
• The required motion profile cannot be achieved due to current velocity too low or too high.
Check the motion profile setting in the function block, and correct the profile, or re-execute the function block when the axis
velocity is compatible with the requested motion profile.
0A MC_FB_ERR_
SOFT_LIMIT
This function block cannot execute as it will end up moving beyond the Soft Limit, or the function block is aborted as the Soft
Limit has been reached.
Check the velocity or target position settings in the function block, or adjust Soft Limit setting.
0B MC_FB_ERR_
HARD_LIMIT
This function block is aborted as the Hard Limit switch active state has been detected during axis movement, or aborted as the
Hard Limit switch active state has been detected before axis movement starts.
Move the axis away from the Hard Limit switch in the opposite direction.
0C MC_FB_ERR_
LOG_LIMIT
This function block cannot execute as it will end up moving beyond the PTO Accumulator logic limit, or the function block is
aborted as the PTO Accumulator logic limit has been reached.
Check the velocity or target position settings for the function block. Or use MC_SetPosition function block to adjust the axis
coordinate system.
0D MC_FB_ERR_
ERR_ENGINE
A motion engine execution error is detected during the execution of this function block.
Power cycle the whole motion setup, including controller, drives and actuators, and re-download the User Application. If the
fault persists, call Tech support.
10 MC_FB_ERR_
NOT_HOMED
The function block cannot execute because the axis need to be homed first.
Execute homing against the axis using MC_Home function block.
80 MC_FB_ERR_
PARAM_MODIFIED
Warning: The requested velocity for the axis has been adjusted to a lower value.
The function block executes successfully at a lower velocity.
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