Motion State Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 67
The DirectVelocityControlStatus bit remains set until it is made inactive via an
MAS or MASR instruction, or via an axis fault.
Also, when the MDS instruction is initiated without errors, the
DirectTorqueControlStatus bit attribute of the MotionStatus axis attribute is set,
indicating the DirectTorqueControlStatus Command attribute is active on the
axis.
The DirectTorqueControlStatus bit remains set until it is made inactive via an
MAS or MASR instruction, or via an axis fault.
Some fault actions impact the execution of the MDS instruction.
Fault Action Description
Ignore Ignore instructs the device to completely ignore the exception condition. For some exceptions that are
fundamental to the operation of the axis, it may not be possible to Ignore the condition.
Alarm Alarm action instructs the device to set the associated bit in the Axis Alarm word but to otherwise not
affect axis behavior. For some exceptions that are fundamental to the operation of the device, it may
not be possible to select this action or any other action that leaves device operation unaffected.
Fault Status Only Fault Status Only instructs the device to set the associated bit in the Axis Faults word but to otherwise
not affect axis behavior. It is up to the controller to programmatically bring the axis to a stop in this
condition. For some exceptions that are fundamental to the operation of the device, it may not be
possible to select this action or any other action that leaves device operation unaffected.
Stop Planner Stop Motion instructs the device to set the associated bit in the Axis Faults word and instructs the
Motion Planner to perform a controlled stop of all planned motion at the configured Max Decel rate
but otherwise not affect axis behavior. This allows the axis to be subsequently moved via the Motion
Planner without first clearing the fault. For some exceptions that are fundamental to the operation of
the device, it may not be possible to select this action or any other action that leaves device enabled.
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