ID 44020

FB error: order not allowed, because axis is in the state SYNCHRONIZED_MOTION.
Description	A job is to be sent 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 Synchronised Motion . The state Synchronised Motion results from assigning the axis via MC_CamIn or MC_GearIn.
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 status. The job must therefore be commanded in the state Synchronised 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 is possible to reassign the FB that notified the error code.
Error type	-