380 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
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 running
• 105 - Drive is disabled
• 107 - raC_Opr_K5100_MAS is executing
• 108 - Other motion UDFB is sending the command
• 111 - SpeedReference is out of range
• 112 - AccelReference is out of range
• 113 - DecelReference is out of range
• 122 - HomingMethod is out of range
• 129 - Motor is not connected
• 140 - Operation is not supported when device is virtual
• 141 - Motor type not supported (Linear)
• 150 - PositionReference in counts exceeds maximum allowed value (2147481984)
raC_Opr_K5100_MAT
The Motion Axis Torque (raC_Opr_K5100_MAT) instruction lets you use torque limiting while a
pre-defined speed is used to move the motor. The first time the pre-defined torque limit is
reached, the Sts_TorqueReached bit is set. While the Sts_TorqueReached bit is set, the MAT
operation remains active until it is terminated by an raC_Opr_K5100_MAS (Motion Axis Stop)/
MSF (Motion Servo Off), or a drive fault. The torque and speed entries are bi-directional.
Figure 51 - MAT Diagram
36 Look for the collision point in forward direction and regard it as the origin. Do not look for Z pulse.
37
Look for the collision point in reverse direction and regard it as the origin. Return to Z pulse. Shows
error when encounter positive limit.
38 Look for the collision point in reverse direction and regard it as the origin. Do not look for Z pulse.
Table 118 - MAT 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.
Table 117 - Homing Methods (Continued)
Value Description
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