Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 482 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Appendix C
Use Add-On Instructions
Operands
Description
Use the Motion Axis Torque (raC_Dvc_K5100_MAT) instruction to move an
axis at a constant torque without regard to position or speed.
Execution
Operand Type Format Description
Instance raC_Dvc_K5100_MAT Tag Instance of raC_Dvc_K5100_MAT
Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on
Set_TorqueReference DINT Immediate or Tag Torque Reference
Range: -4000…+4000
Set_TorqueRampTime DINT Immediate or Tag Torque Ramp Time
Range: 1…65500
Mnemonic Description
Sts_EN (Enable) This bit is set when the rung makes a false-to-true transition and remains set until the process
is completed and the rung goes false.
Sts_DN (Done) The torque command is successfully initiated.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
Sts_IP (In Progress) The axis is outputting the torque.
Sts_PC (Process
Completed)
The output torque has reached the torque.
Table 138 - Programming Guidelines
Guidelines Details
In ladder diagram, toggle the rung condition each time
you want to execute the instruction.
This instruction is transitional:
In ladder diagram, toggle the rung-condition-in from
cleared to set each time you want to execute the
instruction.
Use raC_Dvc_K5100_MAS instruction to stop the jog.
Condition/State Action Taken
Prescan The Sts_EN, Sts_DN, Sts_ER bits and
Ref_Axis.Output_IO.StartMotion 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 —