Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 363
Appendix H User-defined Function Block Motion Instructions
Use the raC_Opr_K5100_MSO instruction to activate the motor. This instruction must be used
while there are no active faults on the drive and the drive is in a Ready State. The resulting
state of the drive is reflected when Ref_Ctrl_Sts_In.Active is one.
Error Codes:
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 102 - Another raC_Opr_K5100_MSO message is executing
• 103 - raC_Opr_K5100_MSF is executing
• 129 - Motor not connected
raC_Opr_K5100_MSF
Use the Motion Servo Off (raC_Opr_K5100_MSF) instruction to deactivate the drive output for
the specified axis and to deactivate the motor.
Figure 41 - MSF Diagram
Sts_DN (Done) BOOL Tag
This bit is set when the rung makes a false-
to-true transition and the cmd to activate the
drive has been acknowledged.
Sts_ER (Error) BOOL Tag
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_ERR DINT Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (Table 119
) for details.
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.
Table 108 - MSF Operands
Operand Type Format Description
_EN BOOL Tag True when the rung is enabled.
Ref_Ctrl_Set_In raC_UDT_Itf_K5100_Set Tag Interface from device object.
Ref_Ctrl_Cmd_In raC_UDT_Itf_K5100_Cmd Tag Interface from device object.
Ref_Ctrl_Sts_In raC_UDT_Itf_K5100_Sts Tag Interface from device object.
_ENO BOOL Tag True when this UDFB output is enabled.
Ref_Ctrl_Set_Out raC_UDT_Itf_K5100_Set Tag Interface to device object.
Ref_Ctrl_Cmd_Out raC_UDT_Itf_K5100_Cmd Tag Interface to device object.
Table 107 - MSO Operands (Continued)
Operand Type Format Description
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