Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
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Use Add-On Instructions
Appendix C
Description
Use the raC_Dvc_K5100_MAS instruction when you want a decelerated stop
for any controlled motion in process for the axis. The instruction stops the
motion without disabling the servo loop. Use the instruction to do the following:
• Stop a specific motion process such as jogging, moving, gearing, indexing,
or outputting a torque.
• Stop the axis completely.
Execution
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - MSF is executing
• 105 - Drive is disabled
• 107 - Another raC_Dvc_K5100_MAS message is executing
• 113 - Decel_Rate is out of range
• 127 - Previous motion has not completed
• 129 - Motor is not connected to drive
See
raC_Dvc_K5100_MAJ
Use the Motion Axis Jog (MAJ) instruction to move an axis at a constant speed
without regard to position.
Figure 218 - MAJ Ladder Diagram
Condition/State
Action Taken
Prescan
The Sts_EN, Sts_DN, Sts_ER and
Ref_Axis.Output_IO.StopMotion 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
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