Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 455
Appendix C
Use Add-On Instructions
The Kinetix® 5100 drive Add-On Instructions are aimed to provide necessary
function block. Table 136
lists the Kinetix 5100 drive Add-On Instructions.
Topic Page
Download the Add-On Instruction Files and Data Types 456
Import the Add-On Instruction Files and Data Types 456
Create an Application 458
Add-On Instruction Configuration 459
Error Codes 462
Add-On Instruction Details 464
Table 136 - Add-On Instruction List for Kinetix 5100 Drives
Name Description
raC_Dvc_K5100_MSO Motion Axis Servo On.
Use the Motion Servo On (raC_Dvc_K5100_MSO) instruction to activate the drive
amplifier for the specified axis and to activate the axis servo control loop.
raC_Dvc_K5100_MSF Motion Axis Servo Off.
Use the Motion Servo Off (raC_Dvc_K5100_MSF) instruction to deactivate the drive
output for the specified axis and to deactivate the axis servo loop.
raC_Dvc_K5100_MAJ Motion Axis Jog
Use the Motion Axis Jog (raC_Dvc_K5100_MAJ) instruction to move an axis at a
constant speed until you tell it to stop.
raC_Dvc_K5100_MAT Motion Axis Torque
Use the Motion Axis Torque (raC_Dvc_K5100_MAT) instruction to move an axis at a
constant torque until you tell it to stop.
raC_Dvc_K5100_MAM Motion Axis Move
Use the Motion Axis Move (raC_Dvc_K5100_MAM) instruction to move an axis to a
specified position.
raC_Dvc_K5100_MAH Motion Axis Home
Use the Motion Axis Home (raC_Dvc_K5100_MAH) instruction to home an axis.
raC_Dvc_K5100_MAG Motion Axis Gear
Use the Motion Axis Gear (raC_Dvc_K5100_MAG) instruction to start to accept the
external pulse input (master axis), and provides electronic gearing between master axis
and slave axis (motor) in a specified direction and at a specified ratio.
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