Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 467
Use Add-On Instructions Appendix C
raC_Dvc_K5100_MAFR
Use the Motion Axis Fault Reset (raC_Dvc_K5100_MAFR) instruction to clear
some motion faults for an axis. Other faults cannot be cleared until you power
cycle the drive. The faults that are cleared by raC_Dvc_K5100_MAFR are listed
in Fault list section.
Figure 216 - MAFR Ladder Diagram
Operands
Description
The raC_Dvc_K5100_MAFR instruction directly clears fault status on the
specified axis. It does not correct the condition that caused the error. If the
condition is not corrected before executing this instruction, the axis could
immediately fault again giving the appearance that the fault status was not reset.
This instruction is most commonly used as part of a fault handler program. Once
the appropriate fault action is taken, the raC_Dvc_K5100_MAFR instruction is
used to clear some motion faults for an axis. Other faults cannot be cleared until
you power cycle the drive.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time that the instruction executes.
Operand Type Format Description
Instance raC_Dvc_K5100_MAFR Tag Instance of raC_Dvc_K5100_MAFR
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 fault clear has been executed.
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.
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