346 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
2
Axis Shutdown
Status
The AxisShutdownStatus bit attribute is set when the associated axis is currently in the
Shutdown state. As soon as the axis is transitioned from the Shutdown state to another
state, the Shutdown Status bit is cleared.
3
Configuration
Update in Process
The Configuration Update in Process Status Bits attribute provides a method for
monitoring the progress of one or more specific module configuration attribute updates
initiated by either online configuration or an SSV in the user program. As soon as such an
update is initiated, the Logix processor sets the ConfigurationUpdateInProcess bit.
The bit remains set until the Set Attribute List reply comes back from the servo module
indicating that the data update process was successful. Thus the Configuration Update In
Process Status Bits attribute provides a method of waiting until the servo configuration
data update to the connected motion module is complete before starting a dependent
operation.
4 Inhibit Status
The InhibitStatus bit attribute is set when the axis is in the inhibited state. This bit can
also be used to determine when an inhibit/uninhibit operation has been completed (for
example, connections have been shutdown, reconnected and then the reconfiguration
process completed). During the inhibit/uninhibit process this bit will remain in the
previous state and then once it completes it will be updated to the new state.
5 Direct Control Status
When the Direct Control Status bit is set, axis motion is driven by the Direct Velocity
Control and Direct Torque Control functions. In this mode, the Motion Planner
functionality is disabled. So if you attempt to move the axis with a Motion Planner
instruction, for example, MAM, MAJ, and MAG, a ran instruction error occurs.
In Direct Control, you do not have to establish or maintain absolute reference position.
So, when you attempt to execute the MAH and MRP instructions, an instruction error
occurs.
When the Direct Control Status bit is clear, axis motion is controlled by the Motion
Planner. If you attempt to move the axis in this mode with a Direct Control instruction,
for example, an MDS, an instruction error occurs. This bit only applies to CIP Drive axis
types.
The illustration describes the following behavior.
The Direct Control Status bit is set by the Motion Drive Start instruction (MDS) and once
set, can only be cleared by executing an MSO instruction from the Stopped or Stopping
State. Similarly, once the Direct Control Status bit is cleared by the Motion Servo On
instruction (MSO), the bit can only be set again by executing an MDS instruction from the
Stopped or Stopping State.
6 Axis Update Status
The Axis Update bit indicates whether or not this axis instance was updated in last
execution of Motion Task. In general, axis instances are updated in Motion Task according
to their Axis Update Schedule. Thus, a given axis instance may or may not be updated
during Motion Task execution. When inspected as part of an Event Task triggered by
Motion Group Execution, the Axis Update bit can be used to qualify program instructions
based on whether or not the axis was updated by the preceding Motion Task.
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