Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 261)

253 Publication 1784-UM003A-EN-P – June 2003
Chapter
12
Motion Instructions
This chapter describes the motion instructions for RSLogix 5000
programming software.
The motion instructions for the RSLogix 5000 programming software consist
of six main categories:
• Motion State instructions – to control or change the operating state of
an axis.
• Motion Move instructions – to control all aspects of axis position.
• Motion Group instructions – to control a group of axes.
• Motion Event instructions – control the arming and disarming of
special event checking functions.
• Motion Configuration instructions – to tune an axis and to run
diagnostic tests for the system.
• Motion Coordinated Move instructions – to control multi-axis
coordinated motion.
• Motion Direct Commands.
For more information about motion instructions, refer to the Logix5000
Controller Motion Instruction Set Reference Manual (publication 1756-RM007).
Motion State Instructions Motion state instructions directly control or change the operating state of an
axis.
The motion state instructions are:
Instruction Abbreviation Description
Motion Servo On MSO Enables the servo drive and activates the axis servo loop
Motion Servo Off MSF Disables the servo drive and deactivates the axis servo loop
Motion Axis Shutdown MASD Forces an axis into the shutdown operating state
Once the axis is in the shutdown state, the controller will block any
instructions that initiate axis motion.