ID 44016

FB error: order not allowed, because the axis is in state STOPPING.

Description

An order should be send via an FB to the motion controller. The commanded FB sets output “Error” to TRUE and displays this error code at the output “ErrorID” in the same PLC cycle, because the axis is in state Stopping .

In the state Stopping an axis is located after a job by an instance of the MC_Stop and also when it is at a standstill and the "Execute" input of the MC_Stop has the value TRUE.

Response

Class

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The order is dismissed by the FB and not issued to the motion controller.

Solution

Class

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An order by a MC_Stop instance can’t be aborted by another order. Therefore, you have to wait until the axis stands still. Before a new assignment by another FB, however, it must also be ensured that the "Execute" input has the value FALSE, because otherwise the axis remains in the state Stopping . Only on the falling edge at the “Execute” input sets the axis to the state Standstill.

Afterwards, it’s possible to reassign the FB that notified the error code.

Error type

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