508 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Appendix C Use Add-On Instructions
raC_xxx_K5100_MAS
(1)
Use the Motion Axis Stop (raC_xxx_K5100_MAS) instruction to stop motion on
an axis. The drive remains active when the stop instruction is complete.
Figure 264 - MAS Ladder Diagram
Operands
Description
Use the raC_xxx_K5100_MAS instruction when you want a controlled stop for
any controlled motion. The instruction stops the motion without disabling the
motor. This Add-On Instruction stops any motion that is generated by motion
Add-On Instruction including the MAJ, MAM, or MAG.
(1) The xxx in the name can be Dvc (legacy applications) or Opr (new applications).
Operand Type Format Description
Instance raC_xxx_K5100_MAS Tag Unique instance of the MAS Add-On Instruction
Ref_Ctrl_Cfg raC_UDT_Itf_PowerMotionSA_Cfg Tag Interface for Ctrl_Cfg of the Device Object
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
Set_DecelReference REAL Tag
The Deceleration Rate in 0.1 RPM/s for rotary
motor. Range: 458…30,000,000
Mnemonic Description
Sts_EN (Enable)
This bit is set when the rung makes a false-to-true transition and the message
transaction to Stop 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 Stop 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.
Sts_IP (In Progress)
This bit is set when the rung makes a false-to-true transition, the Stop message
transaction is successful, and the motor begins to decelerate. This bit remains set as
the motor is executing the stop.
Sts_PC (Process
Completed)
This bit is set when the rung makes a false-to-true transition, the Sts_IP is set, and
Zero Speed is reached. Zero Speed is defined using KNX5100C software>General
Setting.
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