Axis is stopping, cannot load move (_ecSTOP_IN_PROGRESS)

What does 236 mean?

This error occurs when a new move command is issued to an axis that is currently in the process of stopping. This can happen if CANCEL or STOP commands are sent while the axis is already stopping or handling another CANCEL. Issuing commands prematurely can lead to unpredictable axis behavior and potentially unsafe conditions.

• Issuing a new motion command (e.g., MOVEABS, MOVEREL) from the PLC or HMI while the drive is executing a programmed stop or deceleration profile.
• A subsequent stop command (e.g., STOP, CANCEL) is sent while the axis is still decelerating from a previous motion command.
• PLC program logic not waiting for the axis to reach a "stopped" or "idle" state (e.g., checking status bit S5-01 (Axis State)) before issuing a new move.
• Rapid consecutive commands from an external controller (e.g., fieldbus master) overriding an active stop sequence.

Click steps to track your progress.

1. 1

   Implement a delay or status check in the control program to verify the axis has reached a stopped state (e.g., S5-01 (Axis State) = "Stopped") before issuing any new motion commands.

2. 2

   Review the sequence of motion commands in the PLC/HMI program to identify any overlapping or conflicting stop/move instructions.

3. 3

   Use the drive's status bits (e.g., S5-01 (Axis State)) or feedback registers to confirm the axis is completely idle before attempting to load a new move.

4. 4

   Adjust acceleration/deceleration ramps (e.g., P3-01 (Acceleration Time), P3-02 (Deceleration Time)) if rapid stops are causing subsequent moves to be issued too quickly.

5. 5

   If using fieldbus control, ensure the master controller explicitly waits for a "motion complete" or "axis stopped" indication before sending the next command.