Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 505
Appendix C Use Add-On Instructions
Description
Use the raC_xxx_K5100_MSO instruction to activate the motor. This
instruction must be used while there are no active faults on the drive and the
drive is in a Ready State. The resulting state of the drive is reflected when
Ref_CtrlSts.Active is one.
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 102 - Another raC_xxx_K5100_MSO message is executing
• 103 - raC_Dvc_K5100_MSF is executing
• 127 - Previous command has not completed
• 129 - Motor not connected
See Error Codes
on page 524 for details.
raC_xxx_K5100_MSF
(1)
Use the Motion Servo Off (raC_xxx_K5100_MSF) instruction to deactivate the
drive output for the specified axis and to deactivate the motor.
Figure 262 - MSF Ladder Diagram
Operands
IMPORTANT
The instruction execution can take multiple scans to execute
because it requires multiple RPI updates to complete the request.
The Done (Sts_DN) bit is not set immediately, but only after the
request is completed.
You can use the F1 key to view fault error codes.
(1) The xxx in the name can be Dvc (legacy applications) or Opr (new applications).
Operand Type Format Description
Instance raC_xxx_K5100_MSF Tag Unique instance of the MSF 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 deactivate 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 message
transaction to deactivate the drive (Sts_EN) is complete.
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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