Motion Configuration Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 341
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 Motion 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. Motion Error Codes (ERR) for
Motion Instructions. The following Extended Error codes help to pinpoint the
problem when the MRHD instruction receives a Servo Message Failure (12) error
message.
Associated Error Code (decimal) Extended Error Code
(decimal)
Meaning
SERVO_MESSAGE_FAILURE (12) Process terminated on
request (1)
Test execution followed by an
instruction to shutdown/disable drive,
or a motion stop instruction or a
Processor change requests a cancel of
the Test.
SERVO_MESSAGE_FAILURE (12) Object Mode conflict (12) Axis is in shutdown.
SERVO_MESSAGE_FAILURE (12) Device in wrong state (16) Incorrect Tune Process order. (SERCOS)
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