Rockwell Automation Allen-Bradley Micro830

Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 381
Appendix H User-defined Function Block Motion Instructions
Error Codes:
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - raC_Opr_K5100_MSF is executing
• 105 - Drive is disabled
• 107 - raC_Opr_K5100_MAS is executing
• 108 - Other motion UDFB is sending the command
• 111 - Speed limit is > 80000 or < -80000
• 116 - TorqueReference is out of range
• 125 - TorqueRampTime is out of range
• 129 - Motor is not connected
• 140 - Operation is not supported when device is virtual
• 141 - Motor type not supported (Linear)
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_TorqueReference DINT
Immediate
value or
Tag
The limited value of motor torque, in the unit
of 0.1% of the motor rated torque.
Range: -4000…+4000
Set_TorqueRampTime DINT
Immediate
value or
Tag
Torque Ramp Time, the time (ms) it takes to
ramp up from 0 to the TorqueReference.
Range: 1…65500
Set_SpeedLimit DINT
Immediate
value or
Tag
Speed limit that is used during the constant
torque operation: unit is 0.1 rpm for rotary
motor.
Range: -80,000…+80,000
_ENO BOOL Tag True when this UDFB output is enabled.
Ref_Ctrl_Cfg_Out raC_UDT_Itf_K5100_Cfg Tag Interface to device object.
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_EN (Enable) BOOL Tag
This bit is set when the rung makes a false-
to-true transition and remains set as the
message transaction to execute the MAT 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 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 as 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 MAT message
transaction is successful, and the motor
begins to move. This bit remains set while the
MAT operation is active.
Sts_TorqueReached BOOL Tag
This bit is set when the rung makes a false-
to-true transition, the Sts_IP is set, and the
Set_TorqueReference value is reached. This
bit is set (and remains set) on the first
occurrence of this condition.
Sts_ERR DINT Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (Table 119
) for details.
Table 118 - MAT Operands (Continued)
Operand Type Format Description