Rockwell Automation Allen-Bradley Micro830

Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 373
Appendix H User-defined Function Block Motion Instructions
Figure 46 - MAI Diagram
Use the Motion Axis Index (raC_Opr_K5100_MAI) instruction to execute motion control by
internal register (PR) in Kinetix 5100 drives. The 99 built-in command registers select the PR
command source.
Table 113 - MAI 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.
Set_StartingIndex INT
Immediate
value or
Tag
Enter the pre-configured PR# to execute.
_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.
Ref_Ctrl_Sts_Out raC_UDT_Itf_K5100_Sts Tag Interface to device object.
Sts_ActiveIndex INT Tag
Reads the current PR# that is executing in
the drive.
Sts_EN (Enable) BOOL Tag
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) BOOL Tag
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) 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_IP (In Progress) BOOL Tag
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
will remain set until the AtReference bit is set.
Sts_PC (Process
Completed)
BOOL Tag
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.
Sts_ERR DINT Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (Table 119
) for details.