Motion Group Instructions
216 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
In addition to the ways the various stopping modes affect the Motion Drive Start
(MDS) instruction were described in the previous table, all these modes also clear
the MDS In Process (.IP) bit and clear the DirectVelocityControlStatus bit in the
Motion Status attribute.
This is a transitional instruction:
• In relay ladder, toggle Rung-condition-in from false to true each time the
instruction should execute.
Master Driven Speed Control (MDSC) and the MGS Instruction
If an MGS is issued when in Master Driven Mode, a switch is made to Time
Driven Mode and the axes are stopped in Time Driven Mode.
The IP bit of the Master Driven Axis Control (MDAC) and Master Driven
Coordinate Control (MDCC) instructions are reset.
The AC bit of the MDAC and MDCC instructions are reset when the axis is
stopped as the group is shutdown.
The status bit CalculatedDataAvailable in an active motion instruction status
word for an MAM, MCLM or MCCM instruction is cleared when an MCS is
executed (goes IP). The CalculatedData is not recomputed.
The MGS instruction clears the pending Master Axis for all future single and
coordinated motion instructions.
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
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