476 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Appendix C Use Add-On Instructions
Operands
Description
Use the Motion Axis Index (raC_Dvc_K5100_MAI) instruction to execute
motion control by internal register (PR) in Kinetix 5100 drives. The 99 built-in
command registers selects the PR command source. See Chapter 11
, Motion
Control in PR Mode on page 247 for details.
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
• 115 - StartingIndex is out of range
• 127 - Previous motion has not completed
• 129 - Motor is not connected to drive
See Error Codes
on page 462 for details.
Operand Type Format Description
Instance raC_Dvc_K5100_MAI Tag Instance of raC_Dvc_K5100_MAI
Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on.
Cfg_StartingIndex USINT Tag The first index the drive SHOULD execute.
Range: 1…99
Sts_ActiveIndex USINT Tag The active index the drive executing.
Mnemonic Description
Sts_EN (Enable) This bit is set when the rung makes a false-to-true transition and remains set until the process is
completed and the rung goes false.
Sts_DN (Done) This bit is set when the command is issued successfully.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
Sts_IP (In Progress) The axis is executing the index.
Sts_PC (Process
Completed)
The index has been completed.
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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