Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 361
Appendix H User-defined Function Block Motion Instructions
Table 106 - raC_UDT_Itf_K5100_Sts Data Types
Input Description DataType
eState
Enumerated state value:
0 = Unused
1 = Initializing
2 = Disconnected
3 = Disconnecting
4 = Connecting
5 = Idle
6 = Configuring
7 = Available
DINT
FirstWarning
Capture the First Alarm Bit to trigger. Display the respective
Description and Time Stamp on Faceplate. Log the same in
Event Queue.
raC_UDT_Event
FirstFault
Capture the Fault Code of the device. Display the respective
code, description, and timestamp on faceplate. Log the
same in Event Queue.
raC_UDT_Event
eCmdFail Enumerated command failure code DINT
bSts Status (Bit Overlays) DINT
Physical 1 = Operating as a physical device BOOL
Virtual 1 = Operating as a virtual device BOOL
Connected 1 = PAC to device connection has been established. BOOL
Available
1 = The automation device is available for interaction with
the user program
BOOL
Warning 1 = A warning is active on the automation device BOOL
Faulted 1 = A fault is active on the automation device BOOL
Ready 1 = Device is ready to be Activated BOOL
Active 1 = Device power structure is active BOOL
ZeroSpeed
1 = Motor is within zero speed tolerance (this tolerance is
defined in KNX5100C software)
BOOL
Homed Indicates whether the drive completed the home operation. BOOL
AtReference
Depending on the motion command (position, speed, torque),
AtReference is 1 when the actual reference = command
reference.
BOOL
CommandInProgress
Toggles state when a motion command is active in the drive.
This bit changes state (toggles between 0 and 1) when a new
command is executed from the drive.
IMPORTANT: Once this bit changes state, it remains in that
state for the duration of the command; it toggles to the
opposite state (and remains in that state) once a new
command is received.
BOOL
FaultCode Active Fault Code in the drive DINT
WarningCode Active Warning Code in the drive DINT
OperatingMode Indicate which operating mode is currently used. DINT
MotorType
Indicate which type of motor is connected to the drive.
Rotary Motor = 1
Linear Motor =2 (Future)
DINT
ActualPosition
Actual position of the motor. Units depend on the Cfg
settings. These can be drive counts or Position Units.
REAL
ActualVelocity
Actual speed of the motor. Units depend on the Cfg settings.
These can be 0.1 RPM/sec or Position Units.
REAL
ActualTorque
When the operating mode is 4, Torque Mode, this represents
the % motor torque.
REAL
ActiveIndex
Indicates the currently executing Position Register PR
(index).
DINT
ParameterMonitor1Value
Parameter Monitor 1 Value
You can use ID60 (P0.035) to specify the mapping parameter
instance ID number. The content of the parameter that is
specified by ID60 (P0.035) is shown in ID55 (P0.025).
DINT
ParameterMonitor2Value
Parameter Monitor 2 Value
You can use ID61 (P0.036) to specify the mapping parameter
instance ID number. The content of the parameter that is
specified by ID61 (P0.036) is shown in ID56 (P0.026).
DINT
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