Motion State Instructions
46 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MASR(Axis,MotionControl);
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 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 is successfully reset from 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.
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