356 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Appendix H User-defined Function Block Motion Instructions
Figure 36 - Device Object UDFB
The Kinetix 5100 drive UDFB motion instructions are aimed to provide necessary simple
motion functions. Table 102
lists the Kinetix 5100 drive UDFBs.
Table 102 - UDFB Motion Instruction List for Kinetix 5100 Drives
Name Description
raC_Opr_K5100_MSO
Motion Servo On.
Use the Motion Servo On instruction to activate the drive output and to activate the
drive servo loops.
raC_Opr_K5100_MSF
Motion Servo Off.
Use the Motion Servo Off instruction to deactivate the drive output and to deactivate
the drive servo loops.
raC_Opr_K5100_MAJ
Motion Axis Jog
Use the Motion Axis Jog instruction to accelerate or decelerate the motor at a constant
speed without termination.
raC_Opr_K5100_MAT
Motion Axis Torque
Use the Motion Axis Torque instruction to use torque limiting while a predefined speed
is used to move the motor.
raC_Opr_K5100_MAM
Motion Axis Move
Use the Motion Axis Move instruction to move the motor to a specified position.
raC_Opr_K5100_MAH
Motion Axis Home
Use the Motion Axis Home instruction to home the motor.
raC_Opr_K5100_MAG
Motion Axis Gear
Use the Motion Axis Gear instruction to set the gear ratio between a pulse-source and
follower drive.
IMPORTANT: This UDFB changes the drive E-gear ratio; Slave/Follower ID151 (P1.044)
and Master ID152 (P1.045) Counts. If your drive is positioning, be aware that the units
are impacted because the E-gear ratio controls the counts/motor rotation value.
raC_Opr_K5100_MAS
Motion Axis Stop
Use the Motion Axis Stop instruction to stop a specific motion process on the motor or
to stop the motor completely.
raC_Opr_K5100_MAFR
Motion Axis Fault Reset.
Use the Motion Axis Fault Reset instruction to clear many motion faults for the drive.
Some faults cannot be cleared until you cycle power to the drive. The faults, which can
be cleared by raC_xxx_K5100_MAFR, are listed in the fault list section.
raC_Opr_K5100_MAI
Motion Axis Index
Use the Motion Axis Index instruction to execute the specified PR (index) function of
the drive. Use K5100C configuration software or explicit messaging to set the PR
(index) parameters. The raC_Opr_K5100_MAI instruction specifies the PR (index)
number to be executed.
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