366
Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Appendix H User-defined Function Block Motion Instructions
Use the raC_Opr_K5100_MAS instruction when you want a controlled stop for any controlled
motion. The instruction stops the motion without disabling the motor. This UDFB stops any
motion that is generated by motion UDFBs including the MAJ, MAM, or MAG.
Error Codes:
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 103 - MSF is executing
• 105 - Drive is disabled
• 113 - DecelReference is out of range
• 129 - Motor is not connected
• 140 - Operation is not supported when device is virtual
• 141 - Motor type not supported (Linear)
Table 110 - MAS Operands
Operand
Type
Format
Description
_EN
BOOL
Tag
True when the rung is enabled.
Ref_Ctrl_Cfg_In
raC_UDT_Itf_K5100_Cfg
Tag
Interface from device object.
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_DecelReference
LREAL
Immediate
value or
Tag
Deceleration reference for stopping the Axis.
_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 activate the drive is
initiated and in process. It remains set while
the rung-in condition is true 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 cmd to activate the
drive has been acknowledged.
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 Stop message
transaction is successful, and the motor
begins to decelerate. This bit will remain set
as the motor is executing the stop.
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 Zero
Speed is reached. Zero Speed is defined using
KNX5100C software -> General Setting
Sts_ERR
DINT
Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (
) for details.