504 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Appendix C Use Add-On Instructions
Add-On Instruction Details When the Device Object is used with the current version of the Add-On
Instruction library, using the Device Object states to represent the axis is
preferred, as these states incorporate the instruction and drive information in
one location, which results in accurate drive state representation.
This section provides details for each instruction.
raC_xxx_K5100_MSO
(1)
Use the Motion Servo On (raC_xxx_K5100_MSO) instruction to activate the
drive amplifier for the specified axis and to activate the servo control loops.
Figure 261 - MSO Ladder Diagram
Operands
IMPORTANT Although the Dvc instructions function similarly to the Opr instructions,
the Opr are described in this section. The Opr instructions are used for
new applications.
(1) The xxx in the name can be Dvc (legacy applications) or Opr (new applications).
Operand Type Format Description
Instance raC_xxx_K5100_MSO Tag Unique instance of the MSO Add-On Instruction
Ref_Ctrl_Set raC_UDT_Itf_PowerMotionSA_Set Tag Interface for Ctrl_Set of the Device Object
Ref_Ctrl_Cmd raC_UDT_Itf_PowerMotionSA_Cmd Tag Interface for Ctrl_Cmd of the Device Object
Ref_Ctrl_Sts raC_UDT_Itf_PowerMotionSA_Sts Tag Interface for Ctrl_Sts of the Device Object
Mnemonic Description
Sts_EN (Enable)
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)
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)
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.
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