Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 377
Appendix H User-defined Function Block Motion Instructions
Error Codes:
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - MSF is executing
• 105 - Drive is disabled
• 107 - raC_Opr_K5100_MAS is executing
• 108 - Other motion UDFB is sending the command
• 129 - Motor is not connected
• 131 - Slave count is out of range 1 to (2
29
…1)
• 132 - Master counts is out of range 1 to (2
31
…1)
• 140 - Operation is not supported when device is virtual
• 141 - Motor type not supported (Linear)
raC_Opr_K5100_MAH
Use the Motion Axis Home (raC_Opr_K5100_MAH) instruction to command a homing procedure
in the drive. Homing is used to define an origin for your motor and to establish an absolute
positioning reference for the motor.
Figure 50 - MAH Diagram
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_IP (In Progress) BOOL Tag
This bit is set when the rung makes a false-
to-true transition, the MAG message
transaction is successful, and the drive
begins following. This bit remains set as the
motor is executing the gearing. It remains set
while the MAG is active, regardless of the
rung-in condition.
Sts_ERR DINT Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (Table 119
) for details.
Table 115 - MAG Operands (Continued)
Operand Type Format Description
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