Axis is locked for motion commands

What does 42EF mean?

The axis or group is currently in a locked state, preventing the execution of new motion commands, because a `MC_Stop` command is still actively processing. This safety interlock ensures that an initiated stop sequence completes fully before any new motion is permitted, preventing unintended or hazardous movements.

• An MC_Stop command is actively processing and its 'Done' output has not yet transitioned to TRUE, indicating the axis has not fully stopped.
• A follow-up motion command was issued too quickly after an MC_Stop, before the axis reached a true standstill or was released from the stop state.
• The 'BufferMode' input of the subsequent motion command is set incorrectly, preventing it from aborting or buffering after an active MC_Stop.
• An internal safety interlock or condition (e.g., software limit) is holding the axis in a locked state following an MC_Stop.
• Configuration parameter (e.g., P-AXIS-00009, StopDeceleration) is set too low, causing a prolonged stopping sequence.

Click steps to track your progress.

1. 1

   1. Monitor the 'Done' output of the MC_Stop function block; ensure it is TRUE before issuing any new motion commands.

2. 2

   2. Implement a delay in the PLC logic or check the axis status (e.g., MC_ReadStatus.Stopping is FALSE and Velocity is 0.0) after MC_Stop.

3. 3

   3. Verify the 'BufferMode' input of subsequent motion commands; ensure it is set to a suitable mode (e.g., ABORTING or BUFFERED) for sequential execution.

4. 4

   4. Check for any active safety functions or interlocks (e.g., Emergency Stop status, Safety Gate contact) that may be keeping the axis locked.

5. 5

   5. Review and potentially increase the MC_Stop deceleration rate (e.g., P-AXIS-00009) to reduce the stopping time, if mechanically feasible.