Motion Error Codes, faults, and attributes
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 563
81 Error on MGSR, if a MASD or MGS (programmed) is executed while the MGSR is
still in process.
Do not overlap the MASD instruction or MGS stop instruction with Stop Mode =
Programmed on an active MGSR instruction.
Partial Group Shutdown Reset.
If your application program is actively executing an MGSR instruction and you try
to execute an MASD instruction or MGS stop instruction with Stop Mode =
Programmed on one of the axes affected by the active MGSR instruction, you will
see this error on the MGSR instruction.
82 The axis was found to be in the incorrect operational axis state. CIP axis in incorrect state.
83 The MDS instruction cannot be performed due to control mode selection. Illegal Control Mode or Method. The MDS instruction is not valid in Position Loop
or Feedback Only modes.
84 The CIP drive device digital input is not assigned. Drive Digital Input Not Assigned
85 Instruction not allowed when redefine position is in process.
Performing MAH while MRP is in process results in this instruction error.
Homing, redefine position in progress
An Active Redefine Position instruction is in process.
You would get this error if any of the motion planner instructions are executed
while MRP is in progress. Motion Instructions included are: MAM, MAJ, MCLM ,
MCCM, MATC, MAPC , MDAC, MDCC, and MCPM.
86 Current use of the MDS instruction requires an optional attribute that is not
supported.
Optional attribute not supported by the integrated motion drive being used.
Executing a MDS instruction on a CIP- Velocity Loop with Feedback axis associated
with a Kinetix 6500 drive errors. The instruction requires an optional attribute that
is not currently supported.
The MDS instruction is not supported by the drive type.
87 The instruction is invalid while running direct controlled motion. Not Allowed While In Direct Motion
88 The instruction is invalid while running planned motion. Not Allowed While Planner Active
93 A move was programmed in MDSC mode before the MDSC link has been
established by the execution of a MDAC or MDCC.
MDSC Not Activated
94 Some dynamics units belong to Master Driven Mode and some to Time Driven
Mode.
Some units are time based whereas others are velocity based, for example,
Speed in Seconds and Acceleration in units/sec2.
Incompatibility of units. Dynamics in Seconds are incompatible with Merge
Speed = Current.
MDSC Units Conflict
95 All instructions in the queue must use a compatible Lock Direction, for example,
Position Forward Only and Immediate Forward Only.
Lock Direction = None and speed units belong to Master Driven Mode.
MDSC Lock Direction Conflict
If you change from Time Driven mode to Master Driven mode while an axis is
moving and Lock Direction is not Immediate Forward or Reverse you will get error
95 MDSC Lock Direction Conflict.
96 MDAC (All) and MDAC (something other than All) on the same slave. MDSC MDAC All Conflict
97 Trying to replace a running Master with a new Master whose speed is zero, or
replacing a Slave that is moving via an MAM with another MAM with the same or
a different Master that is not moving.
MDSC Idle Master and Slave Moving
98 The actual direction of master axis’ motion does not match the direction
programmed by Lock Direction parameter (IMMEDIATE FORWARD ONLY or
IMMEDIATE REVERSE ONLY) when the slave is already moving.
MDSC Lock Direction Master Direction Mismatch
99 Either of these could be the reason for the error:
• Performing MDCC on non-Cartesian coordinate system
• Using Lock Position for MATC in Time Driven Mode
• If the master axis in the MDCC instruction is not from the Base Update Group.
MDSC Feature Not Supported
100 If speed is in seconds or Master units, move must start from rest. Axis Not At Rest.
101 Return data array is either nonexistent or not big enough to store all the
requested data.
MDSC Calculated Data Size Error.
102 Attempt to activate a second MDSC instruction with a Lock Position or a Merge
with a Lock Position while an axis is moving.
MDSC Lock While Moving.
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