Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 153
Execution
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, .ER, and .IP bits are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if the .DN or .ER bit is true.
Rung-condition-in is true The .EN bit is set to true and the instruction executes.
Postscan N/A
Structured Text
Condition/State Action Taken
Prescan See Prescan in the Ladder Diagram table.
Normal execution See Rung-condition-in is false, followed by rung is true in the Ladder Diagram table.
Postscan See Postscan in the Ladder Diagram table.
Error Codes
See 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)
for Motion Instructions. The following Extended Error codes help to pinpoint the
problem when the MRP instruction receives a Servo Message Failure (12) error
message.
Associated Error Code (decimal) Extended Error Code
(decimal)
Meaning
SERVO_MESSAGE_FAILURE (12) Device in wrong state (16) Redefine Position, Home, and
Registration 2 are mutually exclusive.
Extended Error codes for the Parameter Out of Range (13) error code work a little
differently. Rather than having a standard enumeration, the number that appears
for the Extended Error code refers to the number of the operand as they are listed
in the faceplate from top to bottom with the first operand being counted as zero.
Therefore for the MRP instruction, an extended error code of 4 would refer to the
Position operand’s value. You would then have to check your value with the
accepted range of values for the instruction.
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