Powerflex 527 rotating after MSO instruction

[Jiggadoo 1]

I am controlling the powerflex 527 drive with MSO instruction, first setting the drive on and then running the motor with MAJ instruction. After MSO instruction, motor is rotating about 2 sec and then stops to wait the  MAJ. I have not find any solution for this. My configuration is frequency control, no feedback, sensorless.

One hint i found from the rockwell pages but it did not help me. Rated slip speed is set to zero.

 

[Jiggadoo 1]

Here is more specific of my problem. Setting the servo on, it will enable the MSO, if xxx.ServoActionStatus is not set. After I receive the xxx.ServoActionStatus signal it will take about 2 sec. Then it will set the MAJ instruction on and start rotating. Problem is that when MSO is set, motor start already rotating. This 2 sec moment I can not control any possible way, ramp times etc...

My idea is to set MSO already on and wait the right moment to start the motor. When I give the start command, it should be starting to run immediately.

Anyone experience of this?