506 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Appendix C Use Add-On Instructions
Description
The raC_xxx_K5100_MSF instruction deactivates the motor. This instruction
must be used when there are no active faults on the drive and the drive is in the
Ready state. The resulting state of the drive is reflected when RefCtrlSts.Active
is zero.
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 104 - Another raC_Dvc_K5100_MSF message is executing
• 129 - Motor not connected
See Error Codes
on page 524 for details.
raC_xxx_K5100_MAFR
(1)
Use the Motion Axis Fault Reset (raC_xxx_K5100_MAFR) instruction to clear
some drive faults. When the fault is no longer active in the drive, this
instruction clears the fault. This instruction does not clear any faults that are
still active in the drive.
Figure 263 - MAFR 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_MAFR Tag Unique instance of the MAFR 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 the message
transaction to Reset is initiated and in process. It remains high until the rung-in
condition is false 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 Reset 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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