Allen-Bradley 1756 ControlLogix - Motion Servo On (MSO)

Motion State Instructions
Chapter 1
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 77
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers. Controller differences are noted where applicable.
Use the Motion Servo On (MSO) instruction to activate the drive amplifier for
the specified axis and to activate the axis' servo control loop.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MSO(Axis,MotionControl);
Operands
Ladder Diagram and Structured Text
Operand Type
CompactLogix 5380, CompactLogix
5480, ControlLogix 5580, Compact
GuardLogix 5380, and GuardLogix
5580 controllers
Type
CompactLogix 5370,
ControlLogix 5570, Compact
GuardLogix 5370, and
GuardLogix 5570 controllers
Format Description
Axis AXIS_CIP_DRIVE AXIS_CIP_DRIVE
AXIS_GENERIC
AXIS_GENERIC_DRIVE
AXIS_SERVO
AXIS_SERVO_DRIVE
tag Name of the axis to
perform operation on
Motion Control MOTION_INSTRUCTION tag Structure used to access
instruction status
parameters.
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
Motion Servo On (MSO)