Motion Event Instructions
300 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Description
The MDOC instruction disarms a specific or all output cams for a specified axis
depending on the selected disarm type. The axis provides the position input to the
Output Cam. The execution target defines a specific Output Cam from the set
that is connected to the specified axis.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time the instruction should execute.
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 the .DN or .ER bit is set to true. Otherwise, the
.EN bit is not affected.
The .DN,.ER ,.IP and .PC bits are not affected.
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 is true in the Ladder Diagram
table.
Postscan See Postscan in the Ladder Diagram table.
Error Codes
See Motion Error Codes (.ERR).
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