Motion Event Instructions
238 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
MOTION_INSTRUCTION Structure
Mnemonic Description
.EN (Enable) Bit 31 It is set to true when the rung makes a false-to-true transition and remains set to true until the
servo message transaction is completed and the rung goes false.
.DN (Done) Bit 29 It is set to true when the axis watch event checking has been successfully armed.
.ER (Error) Bit 28 It is set to true to indicate that the instruction detected an error, such as if you specified an
unconfigured axis.
.IP (In Process) Bit 26 It is set to true on positive rung transition and cleared to false after the watch event has
occurred, or has been superseded by another Motion Arm Watch, or terminated by a Motion
Disarm Watch command.
.PC (Process Complete) Bit
27
It is set to true when a watch event occurs.
Description
The MAW instruction sets up a Watch Position event to occur when the specified
physical axis reaches the specified Set-point position.
Set Point Position
Watch Position events are useful for synchronizing an operation to a specified axis
position while the axis is moving, such as activating a solenoid to push a carton off
a conveyor at a certain axis position. Select or enter the desired physical axis, the
desired Trigger Condition, and enter a value or tag variable for the desired Watch
Position.
If the targeted axis does not appear in the list of available axes, the axis has not
been configured for operation. Use the Tag Editor to create and configure a new
axis.
When an Arm Watch Position instruction is executed, the WatchEventStatus bit
is set to 0 (FALSE) and the actual position of a physical axis is monitored (at the
servo loop update rate) until it reaches the specified Watch Position. After the
watch position event occurs, the WatchEventStatus bit for the axis is set to 1
(TRUE).
Multiple watch position events may be active at a given time, however only one
may be active at a time for any given physical axis. Each event is monitored
independently and may be checked using the appropriate WatchEventStatus bit.
Important:
In large I/O connections, force values can slow down the rate at which the
controller processes repetitive watch positions.
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