Motion State Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 73
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 MSF Instruction
If an MSF is issued in Master Driven Mode, the system shuts the servo off.
The IP bit of the Master Driven Axis Control (MDAC) instruction does not
change on an axis that has its servos turned off.
The AC bit of the MDAC instruction resets when the axis stops as the servos are
turned off.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
Execution
Ladder Diagram
Condition Ladder Diagram Action
Prescan The .EN, .DN, and .ER bits are cleared.
The rung-condition-out is set to false.
Rung-condition-in is false The .EN bit is cleared if the .DN or .ER bit is true.
Rung-condition-in is true The .EN bit is cleared to false if the .DN or .ER bit is true
Postscan The rung-condition-out is set to false.
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.
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