162 Rockwell Automation Publication 2080-UM002M-EN-E - April 2022
Chapter 8 Motion Control
When a motion control function block ends with an error, and the axis is in
ErrorStop state, in most cases, MC_Reset function block (or, MC_Power Off/
On and MC_Reset) can be used to have the axis to be recovered. With this, the
axis can get back to normal motion operation without stopping the controller
operation.
Major Fault Handling In case the controller encounters issues where recovery is not possible through
the Stop, Reset, or Power function blocks, controller operation will be stopped
and a major fault will be reported.
Table 15 on page 163
defines the motion-related major fault codes for Micro830,
Micro850, and Micro870 controllers.
10 MC_FB_ERR_SOFT_LIMIT
This function block cannot execute as it will end up moving
beyond the soft limit, or the function block is aborted as
the soft limit has been reached.
Check the velocity or target position settings in the
function block, or adjust soft limit setting.
The axis is not operational due to soft limit error detected,
or due to expected soft limit error in a function block.
Reset the state of the axis using the MC_Reset function
block.
Check the velocity or target position settings for the
function block, or adjust Soft Limit setting.
11 MC_FB_ERR_HARD_LIMIT
This function block is aborted as the Hard Limit switch
active state has been detected during axis movement, or
aborted as the Hard Limit switch active state has been
detected before axis movement starts.
Move the axis away from the hard limit switch in the
opposite direction.
The axis is not operational due to hard limit error detected.
Reset the state of the axis using the MC_Reset function
block, and then move the axis away from the hard limit
switch in the opposite direction.
12 MC_FB_ERR_LOG_LIMIT
This function block cannot execute as it will end up moving
beyond the PTO Accumulator logic limit, or the function
block is aborted as the PTO Accumulator logic limit has
been reached.
Check the velocity or target position settings for the
function block. Or, use MC_SetPosition function block to
adjust the axis coordinate system.
The axis is not operational due to PTO Accumulator logic
limit error detected, or due to expected PTO accumulator
logic limit error in a function block.
Reset the state of the axis using the MC_Reset function
block.
Check the velocity or target position settings for the
function block. Or, use MC_SetPosition function block to
adjust the axis coordinate system.
13 MC_FB_ERR_ENGINE
A motion engine execution error is detected during the
execution of this function block.
Cycle power to the entire motion setup, including
controller, drives and actuators, and then download the
User Application again.
If the fault is persistent, call Tech support.
The axis is not operational due to a motion engine
execution error.
Cycle power to the entire motion setup, including
controller, drives and actuators, and then download the
User Application again.
If the fault is persistent, contact your local Rockwell
Automation technical support representative. For contact
information, see:
rok.auto/support
16 MC_FB_ERR_NOT_HOMED
The Function Block cannot execute because the axis needs
to be homed first.
Execute homing against the axis using MC_Home Function
Block.
The axis is not operational because the axis is not homed.
Reset the state of the axis using the MC_Reset Function
Block.
128 MC_FB_PARAM_MODIFIED
Warning: The requested motion parameter for the axis has
been adjusted.
The function block executes successfully.
Motion internal Fault, Error ID = 0x80.
Contact your local Rockwell Automation technical support
representative. For contact information, see: rok.auto/
support
(1) You can view axis status through the Axis Monitor feature of the Connected Components Workbench software.
Table 14 - Motion Function Block and Axis Status Error ID (Continued)
Error ID Error ID MACRO Error Description for Function Block
Error Description for Axis Status
(1)
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