466 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Appendix C Use Add-On Instructions
Operands
Description
The raC_Dvc_K5100_MSF instruction directly and immediately turns off drive
output and disables the servo loop on any physical servo axis. The resulting state
of the axis is referred to as Ref_Axis.Input.Active.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time that the instruction executes.
Execution
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 104 - Another raC_Dvc_K5100_MSF message is executing
• 129 - Motor not connected
See Error Codes
on page 462 for details.
Operand Type Format Description
Instance raC_Dvc_K5100_MSF Tag Instance of raC_Dvc_K5100_MSF
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 disabled and the drive enable bit
have been cleared.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
IMPORTANT The instruction execution can take multiple scans to execute because it requires
multiple course updates to complete the request. The Done (Sts_DN) bit is not
set immediately, but only after the request is completed.
Condition Ladder Diagram Action
Prescan The Sts_EN, Sts_DN, Sts_ER and
Ref_Axis.Output_IO.ServoOff bits are cleared. The rung-
condition-out is set to false.
Rung-condition-in is false The Sts_EN bit is cleared if the Sts_DN or Sts_ER bit is
true.
Rung-condition-in is true The Sts_EN bit is cleared to false if the Sts_DN or Sts_ER
bit is true.
Postscan —
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