Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 29
Chapter 1
Motion State Instructions
Motion state control instructions directly control or change the operating states
of an axis. These are the motion state instructions.
Available Instructions
Ladder Diagram and Structured Text
MSO MSF MASD MASR MDO MDF MDS MAFR
Function Block
Not available
Important:
Tags used for the motion control attribute of instructions should only be used once. Re-use of the motion
control tag in other instructions can cause unintended operation. This may result in damage to equipment
or personal injury.
Motion state control instructions directly control or change the operating states of
an axis. The motion state instructions are:
If you want to: Use this instruction:
Enable the servo drive and activate the axis servo loop. MSO
Disable the servo drive and deactivate the axis servo
loop.
MSF
Force an axis into the shutdown operating state. Once
the axis is in the shutdown operating state, the
controller will block any instructions that initiate axis
motion.
MASD
Change an axis from an existing shutdown operating
state to an axis ready operating state. If all of the axes
of a servo module are removed from the shutdown
state as a result of this instruction, the OK relay
contacts for the module will close.
MASR
Enable the servo drive and set the servo output voltage
of an axis.
MDO
Deactivate the servo drive and set the servo output
voltage to the output offset voltage.
MDF
Activate the drive control loops for the specified axis
and run the motor at the specified speed.
MDS
Clear all motion faults for an axis. MAFR
Motion State Instructions
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