Motion State Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 37
control faults. Once the appropriate fault action is taken, the MAFR instruction
can be used to clear all active fault status bits.
Important:
The .DN bit is not set immediately. It will be set once the appropriate Motion Module or Drive has
completed its required resets, which could take up to several seconds. Once set the axis is in the
Ready state, but only after the request is completed.
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, and .ER 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. If
the EN bit is set to false, then there is no action taken,
Postscan N/A
Structured Text
Condition/State Action Taken
Prescan See Prescan in 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 Ladder Diagram table.
Error Codes
See Motion Error Codes (.ERR) for Motion Instructions.
Extended Error Codes
Extended Error Codes provide additional instruction specific information for the
Error Codes that are generic to many instructions. See Motion Error Codes (.ERR)
for Motion Instructions.
To Next Page
Loading...
Need help?
General
