Rockwell Automation 2080-LC50 Micro830 and Micro850 Programmable Controllers User Manual - Manual (Page 100)

86 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Chapter 7 Motion Control with PTO and PWM
For the above exceptions, it is still possible for the user application to issue a
successful movement function block to the axis after the axis state changes.
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 the table below.
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 the engine is
running. The diagnostic data is being updated.
MCEng_Faulted 0x03 MC engine exists, but the engine is faulted.
TIP 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.