Motion Configuration Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 325
Ladder Diagram and Structured Text
Operand Type Format Description
Axis AXIS_SERVO
AXIS_SERVO_DRIVE
Tag Name of the axis to perform operation on.
Motion Control MOTION_INSTRUCTI
ON
Tag Structure used to access instruction status
parameters.
Diagnostic Test UDINT Immediate Selects the specific test for the motion
module to run:
0 = motor/encoder hookup test
1 = encoder hookup test
2 = encoder marker test
Observed
Direction
BOOLEAN Immediate Sets the direction of the test motion. Select
either:
0 = forward
1 = reverse
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
For the operands that require you to select from available options, enter your
selection as:
This Operand Has These Options Which You
Enter as Text Or Enter as a Number
DiagnosticTest motor_encoder
encoder
marker
0
1
2
ObservedDirection forward
reverse
0
1
MOTION_INSTRUCTION Structure
Mnemonic Description
.EN (Enable) Bit 31 It is set when the rung makes a false-to-true transition and remains set
until the servo message transaction is completed and the rung goes false.
.DN (Done) Bit 29 It is set after the hookup test apply process has been successfully executed.
.ER (Error) Bit 28 It is set to indicate that the instruction detected an error, such as if you
specified an unconfigured axis.
Description
The MAHD instruction is used to execute a series of computations resulting in
values for the Encoder Polarity and Servo Polarity configuration bit parameters of
the specified axis. As part of work performed by MAHD, these resultant
configuration bit parameters are applied to the motion module so that the axis is
ready for full servo operation. This instruction is designed to follow execution of
the Motion Run Hookup Diagnostics (MRHD) instruction which generates axis
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