ID 44050

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

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 Torque Control . The state Torque Control results from the assignment of the axis via MCV_SetDriveMode.

Response

Class

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

Solution

Class

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The state Torque Control can only be changed by a job sent by an instance of MCV_SetDriveMode, whereas a value not equal to 2 (HLI_LR_DRV_TORQ_CTRL) must be applied at input “DriveMode”. After this job is received, the axis is in state Standstill.

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

Error type

-