Allen-Bradley ControlLogix - Page 53

Behavior models used in CIP Motion
Chapter 2
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 53
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