Motion State Instructions
30 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
The five operating states of a non-CIP axis are:
Operating State Description
Axis Ready This is the normal power-up state of the axis. In this state:
• The servo module drive enable output is inactive.
• Servo action is disabled.
• No servo faults are present.
Direct Drive Control This operating state allows the servo module DAC to directly
control an external drive. In this state:
• The servo module drive enable output is active.
• Position servo action is disabled.
Servo Control This operating state allows the servo module to perform closed
loop motion. In this state:
• The servo module drive enable output is active.
• Servo action is enabled.
• The axis is forced to maintain the commanded servo position.
Axis Faulted In this operating state, a servo fault is present, and the status of
the drive enable output, the action of the servo, and the
condition of the OK contact depend on the faults and fault
actions that are present.
Shutdown This operating state allows the OK relay contacts to open a set of
contacts in the E- string of the drive power supply. In this state:
• The servo module drive enable output is inactive.
• Servo action is disabled.
• The OK contact is open.
The 16 operating states of a CIP axis are:
Operating State
As Shown in the Logix Designer
Programming Application Description
Initializing 0 During the Initializing State, the drive first initializes
all attributes to their factory default values, that is,
resets all active faults. The drive then waits for the
controller to establish connections to it. Once
connections are established, the controller sets
configuration attributes in the drive to values stored
in the controller. If the drive supports synchronous
operation, the controller then synchronizes with the
drive. Once this process has been completed
successfully, the drive and all its associated axis
instances transition to the Pre-charge state. If a
problem is found during the initializing process, an
Initialization Fault is generated. An Initialization
Fault is an unrecoverable fault. You can only clear the
fault can via a power cycle or a drive reset. If the
connection to the drive closes for any reason during
operation, the drive returns to the Initializing State
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