Motion Event Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 261
Extended Error Codes
Extended Error Codes provide additional instruction specific information for the
Error Codes that are generic to many instructions. The following Extended Error
codes help to pinpoint the problem when the MDR instruction receives a Servo
Message Failure (12) error message. See Motion Error Codes (.ERR) for Motion
Instructions.
Associated Error Code (decimal) Extended Error Code
(decimal)
Meaning
SERVO_MESSAGE_FAILURE (12) Invalid value (3) Registration input provided is out of range.
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 MDR instruction, an extended error code of 2 would refer to
the Input Number operand’s value. Input number is limited by the accepted range
of values for the instruction and by the drive type. Some CIP drives allow 1 and 2,
while other CIP drives will only allow 1.
Status Bits
MDR Changes to Status Bits
Bit Name State Meaning
RegEventArmedStatus FALSE The axis is not looking for a registration event.
RegEventStatus FALSE The previous registration event is cleared.
Example
When the input conditions are true, the controller disarms registration-event
checking for axis2.
Ladder Diagram
Structured Text
MDR(Axis1, MDR_1, 1);
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