98 Rockwell Automation Publication 2080-UM002L-EN-E - November 2021
Chapter 7 Motion Control
MC_Engine_Diag Data Type
The MC_Engine_Diag data type contains diagnostic information on the
embedded motion engine. It can be monitored in debug mode through the
Connected Components Workbench software when the motion engine is
active, or through the user application as part of user logic. It can also be
monitored remotely through various communication channels.
One MC_Engine_Diag instance is created automatically in the Connected
Components Workbench software when the user adds the first motion axis in
the motion configuration. This instance is shared by all user-configured
motion axes.
Function Block and Axis
Status Error Codes
All motion control function blocks share the same ErrorID definition.
Axis error and function block error share the same Error ID, but error
descriptions are different, as described in Table 7 on page 99
.
Data Elements for MC_Engine_Diag
Element Name Data Type
MCEngState UINT16
CurrScantime
(1)
(1) The time unit for this element is microsecond. This diagnostic information can be used to optimize motion configuration and user
application logic adjustment.
UINT16
MaxScantime
(1)
UINT16
CurrEngineInterval
(1)
UINT16
MaxEngineInterval
(1)
UINT16
ExtraData UINT16
MCEngstate States
State Name State Description
MCEng_Idle 0x01
MC engine exists (at least one axis defined), but the engine is idle as there is no
axis is moving. The Engine diagnostic data is not being updated.
MCEng_Running 0x02
MC engine exists (at least one axis defined) and the engine is running. The
diagnostic data is being updated.
MCEng_Faulted 0x03 MC engine exists, but the engine is faulted.
Error code 128 is warning information to indicate the motion profile has been
changed and velocity has been adjusted to a lower value but the function
block can execute successfully.
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