Motion Event Instructions
278 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Reference
Depending on the selected reference, the Output Cam is connected to either the
actual or command position of the axis.
Important:
The MAOC instruction execution completes in a single scan, thus the Done (.DN) bit and the In Process .IP
bit are set immediately. The In Process .IP bit remains set until the cam position moves beyond the cam
start or cam end position in Once execution mode, is superseded by another MAOC instruction or is
disarmed by the MDOC instruction. The Process Complete bit is cleared immediately when the MAOC
executes and set when the cam position moves beyond the cam start or cam end position in Once
execution mode.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time the instruction should execute.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
Execution
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, .ER, and .IP bits are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if the .DN or .ER bit is set to true. Otherwise, the
.EN bit is not affected.
The .DN,.ER ,.IP and .PC bits are not affected.
Rung-condition-in is true The .EN bit is set to true and the instruction executes.
Postscan N/A
Structured Text
Condition/State Action Taken
Prescan See Prescan in the Ladder Diagram table.
Normal execution See Rung-condition-in is false, followed by rung is true in the Ladder Diagram
table.
Postscan See Postscan in the Ladder Diagram table.
Error Codes
See Motion Error Codes (.ERR) for Motion Instructions.
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