Motion Group Shutdown (MGSD)

Use the Motion Group Shutdown (MGSD) instruction to force all axes in the designated group into a Shutdown state. The Shutdown state of an axis is Servo Off, drive output is deactivated, and the motion module’s OK solid-state relay contacts, if applicable, are opened. The group of axes remains in the Shutdown state until either Group Shutdown Reset is executed or each axis is individually reset via the Motion Axis Shutdown (MASD) instruction.

Available Languages

Ladder Diagram

Function Block

This instruction is not available in function block.

Structured Text

MGSD(Group,MotionControl);

Operands

Ladder Diagram

Structured Text

See

Structured Text Syntax

for more information on the syntax of expressions within structured text.

MOTION_INSTRUCTION Structure

Description

The MGSD instruction turns drive output off, disables the servo loops of all axes in the specified group, and opens any associated OK contacts for all applicable motion modules in the group. This action places all group axes into the Shutdown state. The MGSD instruction takes only one parameter; simply select or enter the desired group to shutdown.

Another action initiated by the MGSD instruction is the clearing of all motion processes in progress and a clearing of all the motion status bits. Associated with this action, the command also clears all motion instruction .IP bits that may currently be set for each axis in the group.

The MGSD instruction forces the targeted group of axes into the Shutdown state. One of the unique characteristics of the Shutdown state is that the OK solid state relay contact for all of the group’s motion modules Open. This feature can be used to open up the E-Stop string(s) that control main power to the various drive systems.

Another characteristic of the Shutdown state is that any instruction that initiates axis motion for an axis within the group is blocked from execution. Attempts to do so results in an execution error. Only by executing one of the Shutdown Reset instructions can motion then be successfully initiated.

To successfully execute a MGSD instruction, the targeted group must be created and configured.

Additionally, the MGSD instruction supports canceling the Motion Drive Start (MDS) instruction. This includes clearing the MDS In Process (.IP) bit, and clearing the DirectVelocityControlStatus bit and the DirectTorqueControlStatus bit in the Motion Status attribute.

This is a transitional instruction:

Master Driven Speed Control (MDSC) and the MGSD Instruction

When the group shuts down:

Affects Math Status Flags

No

Major/Minor Faults

None specific to this instruction. See Common Attributes for operand-related faults.

Execution

Ladder Diagram

Structured Text

Error Codes

See Motion Error Codes (ERR) for Motion Instructions.

Extended Error Codes

Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions. See Motion Error Codes (ERR) for Motion Instructions.

Status Bits

MGSD Changes to Single Axis Status Bits

Example

When the input conditions are true, the controller forces all axes in group1 into a shutdown operating state.

Ladder Diagram

Structured Text

MGSD(Motion,MGSD_2);