Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 107
Structure
See Input and Output Parameters Structure for Single Axis Motion Instructions
for the input and output parameters that are available for the MAJ instruction via
the Master Driven Speed Control (MDSC) function. Before any of these
parameters is active, you must execute an MDAC instruction and it must be active
(IP bit is set).
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-condition-in 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.
Runtime Error Condition
The slave move must start at rest if Speed Units = Seconds or Master Units. This
condition may occur when the MAJ with Speed = Seconds or Master Units is
started while another MAJ is in progress (merging or replacement mode).
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