User Manual

66 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Appendix A Kinetix 3 Drive Component-class User-defined Functional Block
Figure 10 - RA_K3_MBUS_STS Function Block Flowchart
NearPosn BOOL This bit is true when the motor feedback position is within the position tolerance specified by
parameter Pr5.02 - Near Position Size.
1, 0
Warning BOOL This bit is true when there is a warning on the drive. Warning descriptions can be seen in the
Kinetix 3 drive’s user manual. See the
Additional Resources on page 9.
1, 0
InMotion BOOL This bit is true when the drive is moving as part of an index. 1, 0
InDwell BOOL This bit is true when the drive is holding position for a specified time as part of an index. 1, 0
Homed BOOL This bit is true when the drive has completed the homing sequence and has a valid home
position. This bit does not clear if the encoder exceeds its range; however, it does not have a valid
absolute position reference.
1, 0
IndexSelect UINT This is binary combination representing the current index that is being acted on. If no index is in
process, it represents the value of the last index that was acted on.
0…63
EndOfSeq BOOL This bit is true when motion has stopped on the axis in Indexing mode. This could be due to
completion of the motion cycle, or an aborted index.
1, 0
Table 12 - RA_K3_MBUS_STS Outputs (continued)
Variable Type Description Range
First Scan?
Initialize Variables
Run Diagnostics
Yes
No
Are Channel
and Node Address Within
Range;
Read Drive Status
End
Diagnostics?
No
Yes
Start
End
Set Error Bits
Yes