470 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Appendix C Use Add-On Instructions
Operands
Description
Use the MAJ instruction to move an axis at a constant speed without regard to
position.
Execution
Operand Type Format Description
Instance raC_Dvc_K5100_MAJ Tag Instance of raC_Dvc_K5100_MAJ
Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to jog
Set_SpeedReference DINT Immediate or Tag Speed to move the axis in 0.1 RPM for
rotary motor. Range: -80,000…+80,000
Set_AccelReference DINT Immediate or Tag Acceleration rate in 0.1 RPM/s for rotary.
Range: 458…30,000,000
Set_DecelReference DINT Immediate or Tag Deceleration rate in 0.1 RPM/s for rotary
motor. Range: 458…30,000,000
Mnemonic Description
Sts_EN (Enable) This bit is set when the rung makes a false to true transition. The EN bit stays set until the
process is complete and the rung goes false.
Sts_DN (Done) This bit is set when the jog command is successfully initiated.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
Sts_IP (In Process) This bit is set when the axis is jogging.
Sts_PC (Process
Complete)
This bit is set when the axis has reached the target speed.
Guidelines Details
In the ladder diagram, toggle the rung condition each
time you want to execute the instruction.
This instruction is transitional:
In ladder diagram, toggle the rung-condition-in from
cleared to set each time you want to execute the
instruction.
Use raC_Dvc_K5100_MAS instruction to stop the jog.
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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