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.
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
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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