Motion Configuration Instructions
314 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
stored in the Axis Object for subsequent use with the Motion Apply Axis Tuning
(MAAT) instruction.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MRAT(Axis,MotionControl);
Operands
Ladder Diagram and Structured Text
Operand Type
(ControlLogix 5580 controllers)
Type
(CompactLogix 5370,
ControlLogix 5570
controllers)
Format Description
Axis AXIS_CIP_DRIVE
AXIS_CIP_DRIVE
AXIS_SERVO
AXIS_SERVO_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.
Mnemonic Description
.DN (Done) Bit 29 It is set after the tuning process has been successfully completed.
.ER (Error) Bit 28 It is set to indicate that the instruction detected an error, such as if you specified an unconfigured axis.
.IP (In Process) Bit 26 It is set on positive rung transition and cleared after the tuning process is complete, or terminated by a stop
command, shutdown, or a servo fault
.PC (Process Complete) Bit
27
It is set after the tuning process has been successfully completed
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