Motion State Instructions
42 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Another characteristic of the Shutdown state is that any instruction that initiates
axis motion is blocked from execution. Attempts to do so result in an execution
error. Only by executing one of the Shutdown Reset instructions can motion be
successfully initiated.
The axis remains in the shutdown state until a Motion Axis Shutdown Reset
(MASR), a Motion Group Shutdown Reset (MGSR), or a Motion Coordinate
Shutdown Reset (MCSR) instruction executes. If the axis is associated with a
Coordinate System, the axis will be reset if the Motion Coordinate Shutdown
Reset (MCSR) instruction executes.
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.
Additionally, for CIP motion, the MASD instruction supports canceling the
Motion Drive Start (MDS) instruction. This includes clearing the MDS In
Process (.IP) bit, and clearing the DirectVelocityControlStatus and the
DirectTorqueControlStatus bit in the Motion Status attribute.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time the instruction should execute.
Master Driven Speed Control (MDSC) and the MASD Instruction
When the axis is shut down:
• The IP bit of the Master Driven Axis Control (MDAC) instruction is reset
on an axis that is shutdown.
• The AC bit of the MDAC instruction is reset when the axis is stopped as it
is shutdown.
• The MASD instruction clears the pending Master Axis for all future single
motion instructions.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
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