Motion Configuration Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 307
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MAAT(Axis,MotionControl);
Operands
There are data conversion rules for mixed data types within an instruction. See
Data Conversions.
Ladder Diagram and Structured Text
Operand Type Format Description
Axis AXIS_SERV0
AXIS_SERV0_DRIVE
Tag Name of the axis to perform
operation on
Motion Control MOTION_INSTRUCTION Tag Structure used to access instruction
status parameters.
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
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 the Rung-condition-in goes false.
.DN (Done) Bit 29 The done bit indicates when the instruction completes an apply axis-tuning
process.
.ER (Error) Bit 28 The error bit indicates when the instruction detects an error, such as if the axis
is not configured.
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