516 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Appendix C Use Add-On Instructions
Operands
Description
Use the Motion Axis Index (raC_xxx_K5100_MAI) instruction to execute
motion control by internal register (PR) in Kinetix 5100 drives. The 99 built-in
command registers selects the PR command source. See Chapter 11
, Motion
Control in PR Mode on page 285 for details.
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - MSF is executing
• 105 - Drive is disabled
•107 - raC_xxx_K5100_MAS is executing
• 108 - Other motion Add-On Instruction is sending the command
• 115 - StartingIndex is out of range
• 127 - Previous command is not completed
• 129 - Motor is not connected
See Error Codes
on page 524 for details.
Operand Type Format Description
Instance raC_xxx_K5100_MAI Tag Unique instance of the MAI 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
Set_StartingIndex INT Tag Enter the pre-configured PR# to execute
Sts_ActiveIndex INT Tag
Reads the current PR# that is executing in the
drive
Mnemonic Description
Sts_EN (Enable)
This bit is set when the rung makes a false-to-true transition and the message transaction
to MAI 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 MAI 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 MAI message transaction
is successful, and the PR command has been sent to the drive. This bit remains set until the
AtReference bit is set.
Sts_PC (Process
Completed)
This bit is set when the rung makes a false-to-true transition, the Sts_IP is set, and the MAI
has sent the PR execution and the AtReference bit is set.
You can use the F1 key to view fault error codes.
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