Allen-Bradley Studio 5000 Logix Emulate User Manual

Motion State Instructions
Chapter 1
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 41
Operands
Ladder Diagram and Structured Text
Operand Type
CompactLogix 5380,
CompactLogix 5480, ControlLogix
5580, Compact GuardLogix 5380,
and GuardLogix 5580 controllers
Type
CompactLogix 5370, ControlLogix
5570, Compact GuardLogix 5370,
and GuardLogix 5570 controllers
Format Description
Axis AXIS_CIP_DRIVE
AXIS_VIRTUAL
AXIS_CIP_DRIVE
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_GENERIC_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.
MOTION_INSTRUCTION Structure
Mnemonic Description
.EN (Enable) Bit 31 It is set when the rung makes a false-to-true transition and remains set until the servo message
transaction is completed and the rung goes false.
.DN (Done) Bit 29 It is set when the axes have been successfully set to Shutdown state.
.ER (Done) Bit 28 It is set to indicate that the instruction detected an error, such as if you specified an unconfigured
axis.
Description
The MASD instruction directly and immediately disables drive output, disables
the servo loop, and opens any associated OK contacts. This action places the axis
into the Shutdown state.
Another action initiated by the MASD instruction is the clearing of all motion
processes in progress and the clearing of all the motion status bits. Associated with
this action, the command also clears all motion instruction IP bits that are
currently set for the targeted axis.
The MASD instruction forces the targeted axis into the Shutdown state. One of
the unique characteristics of the Shutdown state is that, when available, the OK
solid state relay contact for the motion module or drive is Open. Where available
this feature can be used to open up the E-Stop string that controls main power to
the drive system. Note that there is typically only one OK contact per motion
module which means that execution of an MASD instruction for either axis
associated with a given module opens the OK contact.

Allen-Bradley Studio 5000 Logix Emulate Specifications

General

Brand	Allen-Bradley
Model	Studio 5000 Logix Emulate
Category	Controller
Language	English