ID 44019

FB error: order not allowed, because axis is in state CONTINUOUS_MOTION.
Description	An order should be send via an FB to the motion controller. The commanded FB also sets the “Error” output to TRUE in the same PLC cycle and displays this error message at the “ErrorID” output because a motion command, triggered by an instance of an FB MC_MoveVelocity, MC_CamOut or MC_GearOut is still active for this axis. This order had not yet been acknowledged with “Done” = TRUE.
Response	Class	-	The order is dismissed by the FB and not issued to the motion controller.
Solution	Class	-	In general, there are two possibilities to handle the situation: a new job is placed for the axis concerned, which leads to a change in the axis state. The job must therefore be commanded in the state Continuous Motion . These are, for example, jobs from instances of the FB types MC_Halt and MC_Stop. If the axis is to be converted to another state, please refer to the PLCopen axis state diagram (see [MCP-P1//PLCopen axis state model). The commanded FB is an instance of MC_Reset. FB of this type can only send an order successfully if the axis is in state Errorstop . Afterwards, it’s possible to reassign the FB that notified the error code.
Error type	-