226 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Appendix C Motor Control Feature Support
The speed is decreased by updating the speed reference and then re-executing
the MDS instruction.
Figure 119 - Decrease Speed
When the axis configuration is in Torque Loop, the Speed attribute within the
MDS instruction is not used to command the speed of the drive. The speed is
determined by the amount of torque specified in the CommandTorque and/or
TorqueTrim attributes.
Figure 120 - Torque Mode
IMPORTANT You must command zero torque in the CommandTorque and TorqueTrim
attributes before you can use the Motion Axis Stop (MAS) instruction to stop a
specific motion process on an axis or to stop the axis completely. To use the
MAS instruction, you must set Change Decel to No. Otherwise, an instruction
error can occur. The deceleration rate is set based on the Ramp
Deceleration attribute. The Motion Servo Off (MSF) instruction is used to
deactivate the drive output for the specified axis and to deactivate the axis’
servo loop. If you execute an MSF instruction while the axis is moving, the
axis coasts to an uncontrolled stop.
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