368 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Appendix H User-defined Function Block Motion Instructions
Use the MAJ instruction to move an axis at a constant speed until the command is terminated.
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
• 129 - Motor is not connected
• 140 - Operation is not supported when device is virtual
• 141 - Motor type not supported (Linear)
raC_Opr_K5100_MAM
Use the Motion Axis Move (raC_Opr_K5100_MAM) instruction to move (index) an axis to a
specified position.
Figure 45 - MAM Diagram
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_AtSpeed BOOL Tag
This bit is set when the rung makes a false-
to-true transition, the Sts_IP is set, and the
Target Speed is reached. This bit will remain
set while the Jog is active and AtSpeed
condition is true.
Sts_ERR DINT Tag
Instruction error codes. See Kinetix 5100
Drive UDFB Error Codes (Table 119
) for details.
Table 111 - MAJ Operands (Continued)
Operand Type Format Description
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