Motion Group Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 231
MOTION_INSTRUCTION Structure
Mnemonic Description
.EN (Enable) Bit 31 It is set when the rung makes a false-to-true transition and remains set until the servo
message transaction is completed and the rung goes false.
.DN (Done) Bit 29 It is set when the group of axes have been successfully set to Shutdown state.
.ER (Error) Bit 28 It is set to indicate that the instruction detected an error, such as if you specified an
unconfigured group.
Description
The MGSP instruction synchronously latches all command and actual position
values of all axes in the specified group at the time of execution. The MGSP
instruction takes only one parameter; simply select or enter the desired axis to
strobe.
If the targeted group does not appear in the list of available groups, the group has
not been configured for operation. Use the Tag Editor to create and configure a
new groups.
The MGSP instruction may be used at any time to capture a complete set of
command and actual position information for all axes in the specified group. This
operation is often required as a precursor to computations involving position
values of different axes within the group.
To successfully execute a MGSP instruction, the targeted group must be
configured.
Important:
The MGSP instruction execution completes in a single scan, setting the
Done .DN bit immediately.
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.
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