Allen-Bradley Kinetix 5100 2198-E1020-ERS - Page 472

472 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Appendix C Use Add-On Instructions
Operands
Operand Type Format Description
Instance raC_Dvc_K5100_MAM Tag Instance of raC_Dvc_K5100_MAM
Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on
Set_PositionReference DINT Immediate or Tag Position Reference (PUU) Range:
-2,147,483,648…+2,147,483,647
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 for the Axis to move in
0.1 RPM/s for rotary.
Range: 458…30,000,000
Set_DecelReference DINT Immediate or Tag Deceleration Rate for the Axis to move in
0.1 RPM/s for rotary.
Range: 458 …30,000,000
Cfg_TravelMode USINT Tag 2 (0b0010) - NonCyclic Move Type
10 (0b1010) - Cyclic Move Type
Cfg_NonCyclicMoveType USINT Tag This operand is effective only when the
Cfg_TravelMode = 0b0010
00- absolute positioning
01- relative positioning
10- incremental positioning
11- high-speed position capturing
Cfg_CapturedPositionSelect BOOL Tag This operand is effective only when the
Cfg_TravelMode = 0b0010
and Cfg_NonCyclicMoveType = 0b11
0 - DI9
1 - DI10
Cfg_CyclicMoveType USINT Tag This operand is effective only when the
Cfg_TravelMode = 0b1010
00 - Rotary Positive
01 - Rotary Negative
10 - Rotary shortest path
Cfg_PositionCommandOverride BOOL Tag 0 - NA
1 - When executing this movement, it
interrupts previous movement
Cfg_PositionCommandOverlap BOOL Tag 0 - NA
1 - Current movement can be overlapped
by the next movement
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) The move was successfully initiated.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
Sts_IP (In Progress) The axis is moving to the end position.
Sts_PC (Process
Completed)
The axis is at the end Position and remains set until the rung makes a false-to-true transition or
if some other action stops the move before the axis gets to the end position.