Chapter 17 Motion control instructions
442 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Axis error scenarios
In most cases, when a movement function block instruction issued to an axis
results in a function block error, the axis is also flagged as being in an Error state,
and the corresponding ErrorID element is set on the AXIS_REF data for the axis.
However, in the following situations, an axis error may not always be flagged, and
it is still possible for the user application to issue a successful movement function
block to the axis after the axis state changes.
Scenario Example
A movement function block instructs an axis, but the axis is in a state in which the function block
cannot be executed properly.
The axis has no power, or the axis is in a Homing sequence, or
in an Error Stop state.
A movement function block instructs an axis, but the axis is still controlled by another movement
function block. The axis cannot allow the motion to be controlled by the new function block
without going to a full stop.
The new function block commands the axis to change motion
direction.
When one movement function block tries to control an axis, but the axis is still controlled by
another movement function block, and the newly-defined motion profile cannot be realized by the
controller.
User Application issues an S-Curve MC_MoveAbsolute function
block to an axis with too short a distance given when the axis is
moving.
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