text: <s>[INST] Servo Action Status Summary: Trying to issue a MSO or MSF while axis is in motion.I have been getting this error on a few occasions lately and this had not been a problem in the past and there has been no logic change to the servo group. My first question is where does the ServoStatusAction bit reside, I am thinking it is in the drive amp. The motion group is started and runs for whatever and then we get a fault which states what I have put in the topic summary. This is error code 22 and stems from the Motion Control Tag. For some reason the servo action status bit changes state, goes to a 0, while we are running and in a group of 7 servos this is the only one that appears to be doing this. I have changed the amp and it went away for a week or so but now it is doing it again. When this happens there is no physical fault on the drive just a fault on the motion group. Any ideas on what may be happening here would certainly be appreciated. [/INST] Your code is trying to turn the drive on while it is already on and moving. This is not a drive problem. Some part of your logic is trying to re-issue the MSO command after the drive is already on. http://literature.rockwellautomation.com/idc/groups/literature/documents/um/motion-um003_-en-p.pdf Look at the top rung of page 337 in the link above. using my_servo_axis.servoactionstatus in this manner will prevent the error you are getting. \\n </s>