Multi-Axis Coordinated Motion Instructions
364 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
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 either the .DN or .ER bit is true.
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.
Extended Error Codes
Use Extended Error Codes (EXERR) for more instruction about an error. See
Motion Error Codes (.ERR) for Motion Instructions.
Changes to Status Bits
None
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