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19 ERROR CODE LISTS
Table 19.3 Motion SFC interpreter detection errors (16100 to 16199) (continued)
Error factor
Error code
Name Description
Error Processing Corrective Action
16110 GSUB setting error 1
• The self program was called/started by
GSUB.
16111 GSUB setting error 2
• The main program was called/started by
GSUB.
GSUB cannot call its own or main program.
Correct the Motion SFC program.
16112
Parallel branch
nesting excess
• Nesting of parallel branches within a parallel
branch route exceeded four levels.
The nesting of parallel branch is up to four
levels.
Subroutine the branch destination processing
and correct the program.
16113 Executed task error
• An attempt was made to execute a motion
control step K with an event or NMI task.
Motion control steps cannot be executed in
the Motion SFC programs executed by the
event and NMI tasks.
16120
Simultaneously
active step count
excess
• The number of simultaneously active steps
exceeded 256 during execution.
Stop to execute the
applicable Motion SFC
program No..
For the subroutine called
program, the call source
program also stops to
execute.
Number of simultaneously active steps is
maximum 256. Re-examine the Motion SFC
program.
Table 19.4 Motion SFC program run errors (16200 to 16299)
Error factor
Error code
Name Description
Error Processing Corrective Action
16200
No specified
program (Kn)
• The servo program (Kn) specified with the
motion control step does not exist.
Create the specified servo program.
16201
No specified
program
(Fn/FSn)
• The operation control program (Fn/FSn)
specified with the operation control step does
not exist.
Create the specified operation control
program.
16202
No specified
program
(Gn)
• The program (Gn) specified with the transition
does not exist.
Create the specified transition program.
16203
No specified
program
(Motion SFC)
• The Motion SFC program specified with the
clear step does not exist.
Correct the specified Motion SFC program
name or create the specified Motion SFC
program.
16204
No setting of
operation
expression/condition
al expression
• The program (Gn) specified with the transition
does not have a conditional expression
setting.
Be sure to set a conditional expression in
the last block of the transition program.
16205
Fn/FSn program
code error
• Internal code error in the operation control
program (Fn/FSn)
16206
Gn program code
error
• Internal code error in the transition program
(Gn)
The Motion SFC program code is corrupted.
Turn PLC ready flag (M2000) OFF and write
the Motion SFC program again.
Or, replace the external battery if it passed
over a life.
16207
Specified the invalid
device
• The invalid device (T, C) in the program is set
up.
Stop to execute the
applicable Motion SFC
program No..
For the subroutine called
program, the call source
program also stops to
execute.
Correct the program which does set the
effective device.