Motion State Instructions
74 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Extended Error Codes
Extended Error Codes provide additional instruction specific information for the
Error Codes that are generic to many instructions.
MSF Changes to Status Bits
Axis Status Bits
Bit Name State Meaning
ServoActionStatus FALSE Axis is in Servo Off state with the servo loop
inactive.
DriveEnableStatus FALSE Axis Drive Enable output is active.
Motion Status Bits
Bit Name State Meaning
AccelStatus FALSE Axis is not Accelerating.
DecelStatus FALSE Axis is not Decelerating.
MoveStatus FALSE Axis is not Moving.
JogStatus FALSE Axis is not Jogging.
GearingStatus FALSE Axis is not Gearing.
HomingStatus FALSE Axis is not Homing.
StoppingStatus FALSE Axis is not Stopping.
PositionCamStatus FALSE Axis is not Position Camming.
TimeCamStatus FALSE Axis is not Time Camming.
PositionCamPendingStatus FALSE Axis does not have a Position Cam Pending.
TimeCamPendingStatus FALSE Axis does not have a Time Cam Pending.
GearingLockStatus FALSE Axis is not in a Gear Locked condition.
PositionCamLockStatus FALSE Axis is not in a Cam Locked condition.
DirectVelocityControlStatus FALSE Axis is not under Direct Velocity Control.
DirectTorqueControlStatus FALSE Axis is not under Direct Torque Control.
Example
When the input conditions are true, the controller disables the servo drive and the
axis servo loop configured by Axis0.
Ladder Diagram
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