Motion Axis Shutdown (MASR)
This information applies to the
CompactLogix
5370, ControlLogix
5570, Compact GuardLogix
5370, GuardLogix
5570, Compact GuardLogix
5380, CompactLogix
5380, CompactLogix
5480, ControlLogix
5580, and GuardLogix
5580 controllers. Controller differences are noted where applicable.Use the Motion Axis Shutdown (MASR) instruction to transition an axis from an existing Shutdown state to an Axis Ready state. All faults associated with the specified axis are automatically cleared. If, as a result of this instruction, all axes of the associated motion module are no longer in the Shutdown condition, the OK relay contacts for the module close.
Architecture | Standard | Safety |
|---|---|---|
CompactLogix 5370, ControlLogix 5570, Compact GuardLogix 5370, and GuardLogix 5570 controllers | Yes | No |
Compact GuardLogix 5380, CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix 5580 controllers | Yes | No |
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MASR(Axis,MotionControl);
Operands
Ladder Diagram and Structured Text
Operand | Type CompactLogix 5370, Compact GuardLogix 5370, Compact GuardLogix 5380, CompactLogix 5380, CompactLogix 5480 | Type ControlLogix 5570, GuardLogix 5570, ControlLogix 5580, and GuardLogix 5580 controllers | Format | Description |
|---|---|---|---|---|
Axis | AXIS_CIP_DRIVE AXIS_VIRTUAL | AXIS_CIP_DRIVE AXIS_GENERIC AXIS_GENERIC_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Tip: AXIS_GENERIC is supported by the ControlLogix 5570 and the GuardLogix 5570 controllers only. | Tag | Name of the axis on which to perform operation. For controllers that support the REF_TO motion data types, the supported axis operand type can be replaced by an equivalent REF_TO type. |
Motion Control | MOTION_INSTRUCTION | MOTION_INSTRUCTION | Tag | Structure used to access instruction status parameters. |
See
Structured Text Syntax
for more information on the syntax of expressions within structured text.MOTION_INSTRUCTION Structure
Mnemonic | Description |
|---|---|
.EN (Enable) Bit 31 | It is set when the rung makes a false-to-true transition and remains set until the servo message transaction is completed and the rung goes false. |
.DN (Done) Bit 29 | It is set when the axes is successfully reset from Shutdown state. |
.ER (Done) Bit 28 | It is set to indicate that the instruction detected an error, such as if you specified an unconfigured axis. |
Description
The MASR instruction clears all axis faults and takes the specified axis out of the Shutdown state. If the motion module supports an OK contact, and no other module axis is in the Shutdown state, the MASR instruction results in closure of the module’s OK solid-state relay contact. Regardless of the OK contact condition, execution of the MASR places the axis into the Axis Ready state.
Just as the Motion Axis Shutdown (MASD) instruction forces the targeted axis into the Shutdown state, the MASR instruction takes the axis out of the Shutdown state into the Axis Ready state. One of the unique characteristics of the Shutdown state is that any associated OK solid state relay contact for the motion module is Open. If, as a result of an MASR instruction there are no axes associated with a given motion module in the Shutdown state, the OK relay contacts close as a result of the MASR. This feature can be used to close the E-Stop string that controls main power to the drive system and, thus, permit the customer to reapply power to the drive. Note that there is typically only one OK contact per motion module which means that execution of the MASR instruction may be required for all axes associated with a given module for the OK contact to close.
The MASR instruction is a procedure type command that is processed from the Logix controller, through the associated motion module, and to the associated drives.
IMPORTANT:
The instruction execution may take multiple scans to execute because it requires multiple coarse updates to complete the request. The Done (.DN) bit is not set immediately, but only after the request is completed.
In this transitional instruction, the relay ladder, toggle the rung-condition-in from cleared to set each time the instruction should execute.
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
Condition/State | Action Taken |
|---|---|
Prescan | The .EN, .DN, and .ER are cleared to false. |
Rung-condition-in is false | The .EN bit is cleared to false if the .DN or .ER bit is true. |
Rung-condition-in is true | The .EN bit is set to true and the instruction executes. If the .EN bit is set to false, no action is taken. |
Postscan | N/A |
Structured Text
Condition/State | Action Taken |
|---|---|
Prescan | See Prescan in the Ladder Diagram table |
Normal execution | See Rung-condition-in is false, followed by rung is true in the Ladder Diagram table. |
Postscan | See Postscan in Ladder Diagram table. |
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
Bit Name | State | Meaning |
|---|---|---|
ShutdownStatus | FALSE | The axis is not in the shutdown state. |
Examples
When the input conditions are true, the controller resets axis1 from a previous shutdown operating state into an axis ready operating state
Ladder Diagram
When the input conditions are true, the controller resets Axis_2 from a previous shutdown operating state into an axis ready operating state.
Relay Ladder
Structured Text
MASR(Axis_2, MASR_1);
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