464 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Appendix C Use Add-On Instructions
Add-On Instruction Details
This section provides details for each instruction.
raC_Dvc_K5100_MSO
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.
Figure 214 - MSO Ladder Diagram
Operands
118 CyclicMoveType is higher than 2 _ERR_CyclicMoveTypeOutOfRange raC_Dvc_K5100_MAM
119 TravelMode is not either 2 or 10 _ERR_TravelModeOutOfRange raC_Dvc_K5100_MAM
122 HomingMethod is out of range _ERR_HomingMethodOutOfRange raC_Dvc_K5100_MAH
125 TorqueRampTime is out of range _ERR_TorqueRampTimeOutOfRange raC_Dvc_K5100_MAT
126 Homing is not completed _ERR_HomeNotCompleted raC_Dvc_K5100_MAM
127 Previous motion command has not completed _ERR_PreviousMotionNotCompleted raC_Dvc_K5100_MAM,
raC_Dvc_K5100_MAH,
raC_Dvc_K5100_MAS,
raC_Dvc_K5100_MAI,
raC_Dvc_K5100_MAG,
raC_Dvc_K5100_MAT, raC_Dvc_K5100_MAJ
129 Motor is not connected _ERR_MotorNotConnected raC_Dvc_K5100_MSO,
raC_Dvc_K5100_MSF,
raC_Dvc_K5100_MAS,
raC_Dvc_K5100_MAJ,
raC_Dvc_K5100_MAT, raC_Dvc_K5100_MAI,
raC_Dvc_K5100_MAM,
raC_Dvc_K5100_MAH,
raC_Dvc_K5100_MAG
Table 137 - Kinetix 5100 Drive Add-On Instruction Error Codes (Continued)
Error Corrective Action or Cause Macro Name Used in Which Add-On Instruction
Operand Type Format Description
Instance raC_Dvc_K5100_MSO Tag Instance of raC_Dvc_K5100_MSO
Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on
Mnemonic Description
Sts_EN (Enable) This bit 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.
Sts_DN (Done) This bit is set when the axis servo action has been successfully enabled and the drive enable bit
has been set.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
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