Motion State Instructions
60 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
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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.
Extended Error Codes
Extended Error Codes provide additional instruction specific information for the
Error Codes that are generic to many instructions. See Error Codes (ERR) for
Motion Instructions.
The following Extended Error codes help to pinpoint the problem when the
MDO instruction receives a Servo Message Failure (12) error message.
Extended Error Code (decimal) Associated Error Code (decimal) Meaning
Object Mode conflict (12) SERVO_MESSAGE_FAILURE (12) Axis is shutdown.
Status Bits
MDO Changes to Status Bits
Bit Name State Meaning
DriveEnableStatus TRUE Axis is in Drive Control state with the Drive Enable output
active.
Examples
Example 1
The Drive Output operand is a DINT tag and Drive Units is "Volts"
Ladder Diagram
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MDO(myAxis, myMotionControl, myDriveOutput_DINT, volts);
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