Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 499
Appendix C Use Add-On Instructions
For example, to inhibit write commands from the device faceplate or other
external sources write a 1 to the ModuleName_AOI_CtlrSet.InhibitCmd
program tag from your application program. This write prevents a jog
command from the device faceplate.
Table 153 - raC_UDT_Itf_K5100_Set Data Types
Member Description DataType
bInhibit Bit overlay for external access restriction DINT
InhibitCmd
1 = Inhibit user Commands from external sources; 0 =
Allow Control. This is only used with the optional device
faceplate.
BOOL
InhibitSet
1 = Inhibit user Settings from external sources; 0 = Allow
This member is only used with the optional device
faceplate.
BOOL
OperatingMode
Determines the drive operating mode when ‘Start
Motion’ has a zero-to-one transition.
1 - Position mode
2 - Speed mode
3 - Home mode
4 - Torque mode
5 - Gear mode (Fixed Ratio, based on present E-Gear
ratio)
6 - Index mode
7 - Reserved
8 - Gear Mode (Variable Ratio, based on Master/Slave
tag values)
9 - Enhanced MAT mode
DINT
MoveType
Specify the type of move.
0 = Absolute
1 = Incremental
2 = Rotary Shortest Path
3 = Rotary Positive
4 = Rotary Negative
7 = Relative
8 = Capture
DINT
PositionCommandOverlap Allows overlapping of successive movements. BOOL
PositionCommandOverride
Allows interruption of current movement, replacing it
with a new movement.
BOOL
CapturedPositionSelect
Capture position selection (First capture or second
capture).
BOOL
Position Determines the command position. REAL
Velocity Determines the command speed. REAL
Accel Determines the command acceleration. REAL
Decel Determines the command deceleration. REAL
Torque Determines the command torque. DINT
TorqueRampTime Determines the command torque ramp time. DINT
StartingIndex
This entry is the PR (Position Register) the drive should
execute.
DINT
HomingMethod Homing Method. DINT
HomeReturnSpeed Determines the command home return speed. REAL
CamMasterReference
Future: Determines the master position reference of
CAM.
DINT
CamExecutionSchedule
Future: Determines the method used to execute the CAM
profile.
DINT
CamExecutionMode
Future: Determines if the cam profile is executed only
one time or repeatedly.
DINT
CamStopMode Future: Determines the stop mode of CAM. BOOL
CamSlaveScaling
Future: Scales the total distance covered by the slave
axis through the cam profile.
DINT
CamLockPosition
Future: Determines the starting location in the cam
profile
DINT
CamMasterLockPosition
Future: Determines the master location where the slave
axis locks to the mater axis.
DINT
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