Active Control Axis Behavior Model

The Motion Control Axis Object State Model is based on elements of the S88 and Pack/ML standard state models. The current state of the Motion Control Axis Object instance is indicated by the CIP Axis State attribute (Attribute ID = 650). State transitions can be initiated either directly using the Axis Control request mechanism or by conditions that occur in either the controller or motion device during operation.
The diagram shows the basic operating states of the Motion Control Axis Object when actively controlling axis motion (Control Mode != No Control) or, in the case of a regenerative converter (G), when actively controlling power, or in the case of a track section (X), when actively controlling current for resident movers. Shaded regions show mapping of Axis States to corresponding Identity Object states. State transitions ending on shaded boxes can transition to any axis state within the box.
Motion Control Axis Behavior Model (Active Control)
Tip:
* Specific Standby State after a Fault Reset is determined by applying the Fault Reset State Transition Precedence Rules.
** When an axis is in the Stopped or Major Faulted states with Holding torque (as a result of a Category 2 Stop), a Start Inhibit condition, Disable Request, or Shutdown Request is used to execute the configured Stopping Action.
Valid transitions for the Axis State Model are defined in the following table:
Current State
Event
Conditions
Next State
Off
Power Up
Self Test
Self Test
Self Test Complete
Initializing
Initializing
Initialization Fault
Major Faulted
Initializing
Initialization Complete
Pre-Charge
Shutdown
Major Fault
Major Faulted
Pre-Charge
Shutdown
Shutdown
Pre-Charge
Major Fault
Major Faulted
Pre-Charge
Bus Up
Stopped
Start Inhibited
Shutdown
Shutdown
Start Inhibited
Major Fault
Major Faulted
Start Inhibited
Inhibits Cleared
Stopped
Major Faulted
Shutdown*
Power Structure Enabled = 1
Aborting
Major Faulted
Disable*
Power Structure Enabled = 1
Aborting
Major Faulted
Start Inhibit*
Power Structure Enabled = 1
Aborting
Major Faulted
Fault Reset
Shutdown = 1
Shutdown
Major Faulted
Fault Reset
Shutdown = 0
DC Bus Up = 0
Pre-Charge
Major Faulted
Fault Reset
Shutdown = 0
DC Bus Up = 1
Start Inhibit > 0
Start Inhibited
Major Faulted
Fault Reset
Shutdown = 0
DC Bus Up = 1
Start Inhibit =0
Stopped
Major Faulted
Reconnection
Initializing
Stopped
Shutdown*
Power Structure Enabled = 1
Stopping
Stopped
Disable*
Power Structure Enabled = 1
Stopping
Stopped
Start Inhibit*
Power Structure Enabled = 1
Stopping
Stopped
Start Inhibit
Power Structure Enabled = 0
Start Inhibit
Stopped
Not Bus Up
Pre-Charge
Stopped
Shutdown
Shutdown
Stopped
Major Fault
Major Faulted
Stopped
Enable
Starting
Stopped
Test (Active)
Starting
Starting
Shutdown
Shutdown
Starting
Major Fault
Aborting
Starting
Disable
Stopping
Starting
Start Complete
In Process = 0
Running
Starting
Start Complete
In Process = 1
Testing
Stopping
Stop Complete
Shutdown = 0
Stopped
Stopping
Stop Complete
Shutdown = 1
Shutdown
Stopping
Major Fault
Aborting
Stopping
Enable
Flying Start Enable = 1
Starting
Aborting
Stop Complete
Major Faulted
Aborting
Fault Reset
Stopping
Testing
Shutdown
Stopping
Testing
Major Fault
Aborting
Testing
Disable
Stopping
Testing
Test Complete
Stopping
Running
Shutdown
Stopping
Running
Major Fault
Aborting
Running
Disable
Stopping
Any State
Connection Close
Initializing
Any State
Connection Loss
Major Faulted
*
Event disables the axis power structure after a Category 2 Stop leaves the axis in active hold condition.
Axis Test Mode
L5K_RM003_OperationalDiagramAxisTestMode_v36
Axes with the Test Mode attribute set to Enabled and that are configured for Controller Loop Back simulate these transitions for the Axis State Model.
Current State
Event
Conditions
Next State
Axis Test Mode Support
(Test Mode Configuration)
Off
Power Up
Initializing
Controller Loop Back: V35
Initializing
Initialization
Complete
Stopped
Controller Loop Back: V35
Stopped
Enable
Running
Controller Loop Back: V35
Stopped
Shutdown
Shutdown = 1
Shutdown
Controller Loop Back: V35
Stopped
STO Disable
STO Active = 1
Start Inhibited
Controller Loop Back: V36
Stopped
Major Fault
Major Faulted
Controller Loop Back: V36
Running
Disable
Stopped
Controller Loop Back: V35
Running
Major Fault
Major Faulted
Controller Loop Back: V36
Shutdown
Shutdown Reset
Shutdown = 0
STO Active = 0
Stopped
Controller Loop Back: V35
Shutdown
Shutdown Reset
Shutdown = 0
STO Active = 1
Start Inhibited
Controller Loop Back: V36
Shutdown
Major Fault
Major Faulted
Controller Loop Back: V36
Star Inhibited
Shutdown
Shutdown
Controller Loop Back: V36
Star Inhibited
Major Fault
Major Faulted
Controller Loop Back: V36
Star Inhibited
STO Enable
STO Active = 0
Stopped
Controller Loop Back: V36
Major Faulted
Fault Reset
Shutdown = 0
STO Active = 1
Shutdown
Controller Loop Back: V36
Major Faulted
Fault Reset
Shutdown = 0
STO Active = 1
Start Inhibited
Controller Loop Back: V36
Major Faulted
Fault Reset
Shutdown = 0
STO Active = 0
Stopped
Controller Loop Back: V36
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