Motion Axis Shutdown (MASD)

Use the Motion Axis Shutdown (MASD) instruction to force a specified axis into the Shutdown state. The Shutdown state of an axis is the condition where the drive output is disabled, servo loop deactivated, and any available or associated OK solid-state relay contacts open. The axis remains in the Shutdown state until either an Axis or Group Shutdown Reset is executed.

Available Languages

Ladder Diagram

Function Block

This instruction is not available in function block.

Structured Text

MASD(Axis,MotionControl);

Operands

Ladder Diagram and Structured Text

See

Structured Text Syntax

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

MOTION_INSTRUCTION Structure

Description

The MASD instruction directly and immediately disables drive output, disables the servo loop, and opens any associated OK contacts. This action places the axis into the Shutdown state.

Another action initiated by the MASD instruction is the clearing of all motion processes in progress and the clearing of all the motion status bits. Associated with this action, the command also clears all motion instruction IP bits that are currently set for the targeted axis.

The MASD instruction forces the targeted axis into the Shutdown state. One of the unique characteristics of the Shutdown state is that, when available, the OK solid state relay contact for the motion module or drive is Open. Where available this feature can be used to open up the E-Stop string that controls main power to the drive system. Note that there is typically only one OK contact per motion module which means that execution of an MASD instruction for either axis associated with a given module opens the OK contact.

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

The axis remains in the shutdown state until a Motion Axis Shutdown Reset (MASR), a Motion Group Shutdown Reset (MGSR), or a Motion Coordinate Shutdown Reset (MCSR) instruction executes. If the axis is associated with a Coordinate System, the axis will be reset if the Motion Coordinate Shutdown Reset (MCSR) instruction executes.

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

In this transitional instruction, the relay ladder, toggle the Rung-condition-in from cleared to set each time the instruction should execute.

Master Driven Speed Control (MDSC) and the MASD Instruction

When the axis is shut down:

Affects Math Status Flags

No

Major/Minor Faults

None specific to this instruction. A major fault can occur if an uninitialized reference or a reference of the incorrect type is passed to the Axis operand. 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.

MASD Changes to Single Axis Status Bits

Axis Status Bits

Motion Status Bits

Examples

Ladder Diagram

Structured Text

MASD(myAxis, myMotionControl);

Relay Ladder

Structured Text

MASD(myAxis, myMotionControl);