Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 365
Appendix H User-defined Function Block Motion Instructions
The raC_Opr_K5100_MAFR instruction attempts to clear any active fault on the specified axis.
If the active fault condition is still present, the drive remains faulted.
Error Codes:
• 100 - Kinetix 5100 drive is not ready
• 106 - Another raC_Opr_K5100_MAFR message is executing
raC_Opr_K5100_MAS
Use the Motion Axis Stop (raC_Opr_K5100_MAS) instruction to stop motion on an axis. The drive
remains active when the stop instruction is complete.
Figure 43 - MAS Diagram
Table 109 - MAFR Operands
Operand Type Format Description
_EN BOOL Tag True when the rung is enabled.
Ref_Ctrl_Set_In raC_UDT_Itf_K5100_Set Tag Interface from device object.
Ref_Ctrl_Cmd_In raC_UDT_Itf_K5100_Cmd Tag Interface from device object.
Ref_Ctrl_Sts_In raC_UDT_Itf_K5100_Sts Tag Interface from device object.
_ENO BOOL Tag True when this UDFB output is enabled.
Ref_Ctrl_Set_Out raC_UDT_Itf_K5100_Set Tag Interface to device object.
Ref_Ctrl_Cmd_Out raC_UDT_Itf_K5100_Cmd Tag Interface to device object.
Ref_Ctrl_Sts_Out raC_UDT_Itf_K5100_Sts Tag Interface to device object.
Sts_EN (Enable) BOOL Tag
This bit is set when the rung makes a false-
to-true transition and remains set as the
message transaction to activate the drive is
initiated and in process. It remains set while
the rung-in condition is true and no faults are
active.
Sts_DN (Done) BOOL Tag
This bit is set when the rung makes a false-
to-true transition and the cmd to activate the
drive has been acknowledged.
Sts_ER (Error) BOOL Tag
This bit is set when the rung makes a false-
to-true transition and there is an error that
has occurred with the instruction. (This
instruction error can be a result of a fault on
the drive itself). See Sts_ERR for details on
the cause of the error.
Sts_ERR DINT Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (Table 119
) for details.
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