Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 389
Error Code
(.ERR)
Extended Error
Code
(.EXERR)
Description
65 0 thru 5 Axis Position overflow
The range for position depends on the conversion constant of the
axis.
Maximum positive position = 2,147,483,647 / conversion
constant of the axis.
Maximum negative position = -2,147,483,648 / conversion
constant of the axis.
Select a conversion constant of 2,097,152 counts/inch. In this
case:
• Maximum positive position = 2,147,483,647 / 2,097,152
counts/inch = 1023 inches.
• Maximum negative position = -2,147,483,648 / 2,097,152
counts/inch = -1023 inches.
For a motion coordinated instruction, look at the extended error
code (EXERR). It identifies which axis caused the error.
76 0 thru 5 Maximum deceleration jerk is set to zero
You cannot start motion that uses an S-curve profile if the
maximum deceleration jerk for the axis is zero.
(EXERR). It identifies which axis caused the error.
138 0 MCPM Path Data Invalid Value
MCPM Path Data Interpolation Type
If the interpolation type is set to anything other than 0 or 1, the
instruction will report this error.
138 1 MCPM Path Data has Invalid Value.
The instruction will report error if either of the below conditions
are true.
• If the end position is either infinity or NAN
• If kinematic transform is active
• If end position Rx isn’t between +/-180 deg for
absolute moves
• If end position Rz isn’t between +/-180 deg for
absolute moves
• If end position Ry isn’t between +/-90 deg for
absolute moves
• If kinematic transform is active AND robot Geometry is Delta
J1J2J6 (Delta 3 axes) or Delta J1J2J3J6 (Delta 4 axes)
• If end position Rx isn’t 180° for absolute moves
• If end position Ry isn’t 0° for absolute moves
• If kinematic transform is active AND robot Geometry is Delta
J1J2J3J4J5 (Delta 5 axis)
• If end position Rx isn’t 0 or 180° for absolute moves
138 2 MCPM Path Data Invalid Value in MCPM Path Data Robot Config
If an invalid Robot Configuration is specified (any bits other than
but 0,1,2,3 are set), the instruction will report this error.
138 3 MCPM Path Data Invalid Value in MCPM Path Data Turns Counter
If turns counter value is not within +/-127, the instruction will
report this error.
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