Rockwell Automation Publication 2198-UM002E-EN-P - February 2018
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Motor Control Feature Support
Appendix D
For MDS instruction (2198-
xxxx
-ERS4 drives, firmware 9.001 or later):
• When using SLAT, start the axis with an MDS instruction.
• The MDS instruction turns on the power structure enable and tracking
command status along with execute the velocity command.
See sample code in
Motion Drive Start (MDS) Instruction
• The acceleration and deceleration rate is controlled by Ramped
Acceleration and Ramped Deceleration by using the SSV instruction.
• The Torque Command is set to Axis Tag.Torque Trim. Make sure the
Torque Trim Write is checked in the drive parameter (see Drive
Parameters dialog box above). The value can be changed.
– Alternatively, you can use the Axis Tag.DirectCommandVelocity to
alter the Velocity Command when the existing MDS instruction is
being executed.
• To stop the axis, use MAS instructions, keeping the Change Decel to
NO and by using an SSV instruction to change Ramped Deceleration
for the desired rate.
Motion Drive Start (MDS) Instruction
Kinetix 5700 (catalog numbers 2198-
xxxx
-ERS4) inverters (firmware revision
9.001) provides access to the Motion Drive Start (MDS) instruction. Use the
MDS instruction to activate the drive control loops for the specified axis and
run the motor at the specified speed.
For information regarding the MDS instruction, refer to the Logix5000
Controllers Motion Instructions Reference Manual, publication
For the Kinetix 5700 drive, the MDS instruction is valid only when the axis
configuration is set to one of these control modes:
• Frequency Control
• Velocity Loop
• Torque Loop
IMPORTANT
The MDS instruction is not valid when the axis configuration is set to Position
Loop.