Preface
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 25
If the controller: Then:
Does not detect an error when the
instruction executes
The controller sets the .DN bit.
Detects an error when the instruction
executes
The controller sets the .ER bit and stores an
error code in the control structure.
7. The next time the rung becomes false after either the .DN or .ER bit sets,
the controller clears the .EN bit.
8. When the rung becomes true, the controller can execute the instruction
again.
See also
Motion Direct Drive On (MDO) on page 56
Motion Redefine Position (MRP) on page 149
Process type motion instructions initiate motion processes that can take an
indefinite amount of time to complete.
Examples of process type instructions include the:
• Motion Arm Watch Position (MAW) instruction
• Motion Axis Move (MAM) instruction
Process type instructions work as follows:
1. When the rung that contains the motion instruction becomes true, the
controller:
Instructions
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