Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 468 / 500

468
Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Appendix C
Use Add-On Instructions
Execution
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 106 - Another raC_Dvc_K5100_MAFR message is executing
See Error Codes on page 462 for details.
raC_Dvc_K5100_MAS
Use the Motion Axis Stop (raC_Dvc_K5100_MAS) instruction to stop a
specific motion process on an axis or to stop the axis completely.
Figure 217 - MAS Ladder Diagram
Operands
Condition/State Action Taken
Prescan The Sts_EN, Sts_DN, and Sts_ER bits are cleared. The
rung-condition-out is set to false.
Rung-condition-in is false The Sts_EN bit is cleared if the Sts_DN or Sts_ER bit is
true.
Rung-condition-in is true The Sts_EN bit is cleared to false if the Sts_DN or Sts_ER
bit is true.
Postscan —
Operand Type Format Description
Instance raC_Dvc_K5100_MAS Tag Instance of raC_Dvc_K5100_MAS
Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on
Set_DecelReference DINT Tag The Deceleration Rate in 0.1 RPM/s for
rotary motor. Range: 458…30,000,000
Mnemonic Description
Sts_EN (Enable) This bit is set when the rung makes a false-to-true transition and remains set until the servo
message transaction is completed and the rung goes false.
Sts_DN (Done) This bit is set when the stop process is initiated.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
Sts_IP (In Progress) This bit is to indicate that the operation is in progress.
Sts_PC (Process
Completed)
This bit is set to indicate that the process is completed (axis is stopped).