Feedback Only Axis Behavior Model
When the Motion Control Axis is not actively controlling axis motion (Control Mode = No Control), the state diagram reduces to the following for a Feedback Only axis or CIP Motion Encoder device type. 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 Fault Reset State Transition Precedence rules.
Valid transitions for the Axis State Model of a Feedback Only axis or CIP Motion Encoder are defined in this 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 | Start Inhibited | |
Shutdown | Major fault | Major faulted | |
Shutdown | Shutdown reset | Start Inhibited>0 | Start Inhibited |
Shutdown | Shutdown reset | Start Inhibited>0 | Running |
Start Inhibited | Shutdown | Shutdown | |
Start Inhibited | Major fault | Major faulted | |
Start Inhibited | Inhibits cleared | Running | |
Major Faulted | Fault reset | Shutdown = 1 | Shutdown |
Major Faulted | Fault reset | Shutdown = 0 Start Inhibited > 0 | Start Inhibited |
Major Faulted | Fault reset | Shutdown = 0 Start Inhibited = 0 | Running |
Major Faulted | Reconnection | Initializing | |
Running | Shutdown | Shutdown | |
Running | Major fault | Major faulted | |
Any State | Connection close | Initializing | |
Any State | Connection loss | Major faulted |
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 of a Feedback Only axis or CIP Motion Encoder.
Current State | Event | Conditions | Next State | Axis Test Mode Support (Test Mode Configuration) |
|---|---|---|---|---|
Off | Power Up | Initializing | Controller Loop Back: V35 | |
Initializing | Initialization Complete | Running | Controller Loop Back: V35 | |
Running | Shutdown | Shutdown = 1 | Shutdown | Controller Loop Back: V35 |
Shutdown | Shutdown Reset | Shutdown = 0 | Running | Controller Loop Back: V35 |
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