Motion Configuration Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 327
Axis Parameter Data Type Units Meaning
Encoder Polarity Negative Boolean - Inverts the sense of the encoder
feedback input to the motion
module.
To successfully execute a MAHD instruction running the Motor Encoder Test,
the targeted axis must be configured as either a Servo or Feedback Only axis type.
If any of these conditions are not met than the instruction errs.
Important:
The instruction execution may take multiple scans to execute because it
requires multiple coarse updates to complete the request. The Done (.DN)
bit is not set immediately, but only after the request is completed.
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.
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 true.
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.
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