Motion State Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 43
Execution
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, and .ER are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if the .DN or .ER bit is true.
Rung-condition-in is true The .EN bit is set to true and the instruction executes. If
the EN bit is set to false, then there is no action taken.
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
Extended Error Codes provide additional instruction specific information for the
Error Codes that are generic to many instructions. See Motion Error Codes (.ERR)
for Motion Instructions.
MASD Changes to Single Axis Status Bits
Axis Status Bits
Bit Name State Meaning
ServoActionStatus FALSE The axis is in the Servo Off state with the
servo loop inactive.
DriveEnableStatus FALSE The drive enable output is inactive.
ShutdownStatus TRUE The axis is in the shutdown state.
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