Motion State Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 31
Pre-Charge 1 The drive is waiting for the DC Bus to fully charge,
that is, the DC Bus Up status bit is cleared. Once the
DC Bus reaches an operational voltage level, that is,
DC Bus Up status bit is set, the axis transitions to the
Stopped state.
The drive's power structure is always disabled in this
state, that is, the Power Structure Enabled status bit
is cleared. Any attempt to enable the drive via the
Axis Control mechanism while in this state is
reported back to the controller as an error in the
Response Status and the axis remains in the
Pre-charge state.
Stopped 2 In the Stopped state, the drive's inverter power
structure should either be disabled and free of
torque, that is, the Power Structure Enabled status
bit is cleared, or held in a static condition via an
active control loop, that is, Power Structure Enabled
status bit is set. The drive cannot initiate motion in
the Stopped state nor can the drive respond to a
planner generated command reference, that is, the
Tracking Command status bit is cleared.
In general, the axis should be at rest. However, if you
apply an external force or torque to the load, a brake
may be needed to maintain the rest condition. In the
Stopped state, main power is applied to the drive
and the DC Bus are at an operational voltage level. If
there are any Start Inhibited conditions detected
while in this state, the axis transitions to the Start
Inhibited state. If an Enable request or one of the Run
Test service requests is applied to an axis in the
Stopped state, the motion axis transitions to the
Starting state.
Starting 3 When an Enable request is given to an axis in the
Stopped or Stopping state while it is performing a
Flying Start, the axis immediately transitions to the
Starting state. In this state, the drive checks the
following conditions before transitioning to the
Running state.
• Brake Release delay time
• Induction Motor flux level
The drive control and power structures are activated
during the Starting state, that is, the Power Structure
Enabled status bit is set. But the command reference
is set to a local static value and does not track the
command reference derived from the motion
planner, that is, the Tracking Command status bit is
cleared. If all the starting conditions are met, the axis
state transitions to either the Running state or the
Testing state.
Running 4 The drive's power structure is active, that is, the
Power Structure Enabled status bit is set.
Additionally, the selected Control Mode is enabled
and actively tracking command data from the
controller-based or drive-based motion planner
output to affect axis motion, that is, the Tracking
Command status bit is set.
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