Motion State Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 69
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
Execution
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, and .ER are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if the .DN or .ER bit is true.
Rung-condition-in is true The .EN bit is set to true and the instruction executes. If
the EN bit is set to false, there is no action taken,
Postscan N/A
Structured Text
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.
Error Codes
See Motion Error Codes (.ERR) for Motion Instructions.
Extended Error Codes
Extended Error Codes provide additional instruction specific information for the
Error Codes that are generic to many instructions. See Motion Error Codes (.ERR)
for Motion Instructions.
MDS Changes to Status Bits
Axis Status Bits
Bit Name State Meaning
DriveVelocityControlStatus FALSE Axis is not under Direct Velocity
Control.
DirectTorqueControlStatus FALSE Axis is not under Direct Torque
Control.
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