Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 481
Use Add-On Instructions Appendix C
Description
The raC_Dvc_K5100_MAH instruction is used to calibrate the absolute
position of the specified axis.
Execution
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - raC_Dvc_K5100_MSF is running
• 105 - Drive is disabled
• 107 - raC_Dvc_K5100_MAS is executing
• 108 - Other RA motion Add-On Instruction is sending the command
• 111 - SpeedReference is out of range
• 112 - AccelReference is out of range
• 113 - DecelReference is out of range
• 122 - HomingMethod 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.
raC_Dvc_K5100_MAT
Use the Motion Axis Torque (raC_Dvc_K5100_MAT) instruction to move an
axis at a constant torque without regard to position or speed.
Figure 223 - MAT Ladder Diagram
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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