Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 473
Use Add-On Instructions Appendix C
Description
The raC_Dvc_K5100_MAM instruction moves an axis to either a specified
absolute position or by a specified incremental distance. The
raC_Dvc_K5100_MAM instruction can also produce other special types of
moves.
Execution
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - MSF is executing
• 105 - Drive is disabled
• 107 - raC_Dvc_K5100_MAS is executing
• 108 - Other RA motion Add-On Instruction is sending the command
• 112 - AccelReference is out of range
• 113 - DecelReference is out of range
• 111 - SpeedReference is out of range
• 117 - NonCyclicMoveType is out of range
• 118 - CyclicMoveType is out of range
• 119 - TravelMode is out of range
• 126 - Homing not completed
• 127 - Previous motion has not completed
• 129 - Motor is not connected to drive
See Error Codes
on page 462 for details.
Condition/State Action Taken
Prescan The Sts_EN, Sts_DN, Sts_ER bits and
Ref_Axis.Output_IO.StartMotion 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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