Motion Group Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 227
MOTION_INSTRUCTION Structure
Mnemonic Description
.EN (Enable) Bit 31 The enable bit indicates when the instruction is enabled. It remains set until servo messaging completes and
Rung-condition-in goes false.
.DN (Done) Bit 29 The done bit indicates when the instruction resets the group of axes from the shutdown operating state.
.ER (Error) Bit 28 The error bit indicates when the instruction detects an error, such as if messaging to the servo module failed.
Description
The MGSR instruction takes all the axes in the specified group out of the
Shutdown state by clearing all axis faults and closing any associated OK solid-state
relay contacts for the motion modules within the group. This action places all axes
within the motion group in the Axis Ready state.
Just as the Motion Group Shutdown (MGSD) instruction forces all the axes in the
targeted group into the Shutdown state. The MGSR instruction takes all the axis
in the specified group out of the Shutdown state and into the Axis Ready state.
One of the unique characteristics of the Shutdown state is that, if supported, the
OK solid state relay contact for each of the group’s motion modules is Open.
Hence, the result of an MGSR instruction applied to a group of motion modules is
that all motion module OK relay contacts close. This feature can be used to close
the E-Stop strings that control main power to the various drive systems and
permits the customer to reapply power to the drives.
To successfully execute a MGSR instruction, the targeted group must be
configured.
Important:
The instruction execution may take multiple scans to execute because it
requires multiple coarse updates to complete the request. The Done (.DN)
bit is not set immediately, but only after the request is completed.
This is a transitional instruction:
• In relay ladder, toggle Rung-condition-in from false to true each time the
instruction should execute.
• In structured text, condition the instruction so that it only executes on a
transition.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
To Next Page
Loading...
Need help?
General
