Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 509
Appendix C Use Add-On Instructions
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - MSF is executing
• 105 - Drive is disabled
• 107 - Another raC_xxx_K5100_MAS message is executing
• 113 - Decel_Rate is out of range
• 127 - Previous command has not completed
• 129 - Motor is not connected
See Error Codes
on page 524 for details.
raC_xxx_K5100_MAJ
(1)
Use the Motion Axis Jog (MAJ) instruction to move an axis at a constant speed
until the command is terminated.
Figure 265 - MAJ Ladder Diagram
Operands
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_MAJ Tag Unique instance of the MAJ 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_SpeedReference REAL Immediate or Tag
Units are 0.1 rpm for rotary motors.
Range: -80,000…+80,000
Set_AccelReference REAL Immediate or Tag
Units are 0.1 rpm/s for rotary motors.
Range: 458…30,000,000
Set_DecelReference REAL Immediate or Tag
Units are 0.1 rpm/s for rotary motors.
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 Jog 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 Jog the drive (Sts_EN) is complete.
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