378 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Appendix H User-defined Function Block Motion Instructions
Table 116 - MAH Operands
Operand Type Format Description
_EN BOOL Tag True when the rung is enabled.
Ref_Ctrl_Cfg_In raC_UDT_Itf_K5100_Cfg Tag Interface from device object.
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.
Set_HomingMethod SINT
Immediate
value or
Tag
0…38. Set this value for the Homing Method
used with K5100 drive. See Table 117
.
Set_PositionReference LREAL
Immediate
value or
Tag
The feedback position when a homing
procedure is completed.
Range: -2,147,483,648…+2,147,483,647
Set_SpeedReference LREAL
Immediate
value or
Tag
The first (high) speed reference. Units are 0.1
rpm for rotary motors.
Range: 1…20,000
Set_HomeReturnSpeed LREAL
Immediate
value or
Tag
The second (low) speed reference. Units are
0.1 rpm for rotary motors.
Range: 1…5000
Set_AccelReference LREAL
Immediate
value or
Tag
Units are 0.1 rpm/s for rotary motors.
Range: 458…30,000,000
Set_DecelReference LREAL
Immediate
value or
Tag
Units are 0.1 rpm/s for rotary motors.
Range: 458…30,000,000
_ENO BOOL Tag True when this UDFB output is enabled.
Ref_Ctrl_Cfg_Out raC_UDT_Itf_K5100_Cfg Tag Interface to device object.
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 the message
transaction to Home is initiated and in
process. It remains high until the rung-in
condition is false 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 message
transaction to Home the drive (Sts_EN) is
complete.
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 as 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 Home message
transaction is successful, and the homing
begins. This bit remains set if the homing is
executing.
Sts_PC (Process
Complete)
BOOL Tag
This bit is set when the rung makes a false-
to-true transition, and the Homing Sequence
is completed.
Sts_ERR DINT Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (Table 119
) for details.
Table 117 - Homing Methods
Value Description
0 Homing in forward direction and regard PL as homing origin. Return to Z pulse.
1 Homing in forward direction and regard PL as homing origin. Go forward to Z pulse.
2 Homing in forward direction and regard PL as homing origin. Do not look for Z pulse.
3 Homing in reverse direction and regard NL as homing origin. Return to Z pulse.
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