508 Rockwell Automation Publication 750-PM001N-EN-P - February 2017
Appendix F Integrated Motion on EtherNet/IP Application
Encoder Feedback Operation
Velocity Mode using the Motion Drive Start (MDS) Instruction to Operate the Axis
1. The MDS instruction is initiated. The following actions occur:
• The axis is enabled.
• The output phase loss is checked.
• A torque command is preloaded from a previous move or from a
customer-defined, preloaded value.
• The torque current feedback is verified and the brake is commanded to
release.
• After the brake release time has expired, the axis velocity reference is
released.
The axis is now under control velocity command.
2. The Motion Servo Off (MSF) instruction is initiated and the brake prove
routine begins.
a. If the brake prove routine is successful, the power structure is disabled
and the axis enters the Stopped state.
b. If the brake has slipped, the axis issues a brake slip alarm and remains
active. The axis can be restarted and the load can be lowered to a safe
location. When the brake no longer slips after an MSF instruction, the
Brake Malfunction fault occurs and requires a power cycle to clear the
fault.
c. If enabled, the Auto Sag routine issues a brake slip alarm and runs the
Auto Sag routine.
The Auto Sag routine repeatedly attempts to set the brake and check
for slippage. When the load no longer slips, the power structure is
disabled and a Brake Malfunction fault occurs. A power cycle is
required to clear the fault. The Auto Sag routine cannot be interrupted.
Velocity or Position Modes using a Motion Servo On (MSO) and Move Instructions to Control the
Axis
1. The MSO instruction is initiated. The following actions occur:
• The axis is enabled.
• An output phase loss is checked.
• The torque command is preloaded from a previous move or from a
customer-defined, preloaded value.
• The torque current feedback is verified and a brake release command is
issued.
• Motion is enabled when the brake timer expires.
2. When the brake release timer has expired, motion can be allowed (for
example, MAJ, MAM, and MAG).
3. Control the axis as desired for position or velocity.
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