This error occurs when a motion function block, such as MC_MoveRelative or MC_MoveAbsolute is called outside the EtherCAT_Master task. All motion has be called from the EtherCAT_Master.
From this image, you can see the RunMotion_CFC is inside the MainTask which is the problem. Users can click these Program calls under the Task Configuration to drag and drop. Moving this into the EtherCAT_Master and then compiling would fix this error.