Behavior models used in CIP Motion
70 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
The Shutdown State is classified as an Identity Object Standby state and,
therefore, requires that the associated power structure, if applicable, is disabled.
No Device State
If the CIP Motion axis instance in the controller is created, but not currently
associated with a CIP Motion device, the axis state indicates the No Device state.
A CIP Motion axis will be associated with a physical CIP Motion device to
function. This condition is checked during the controller Self Test state as
qualification for transition to the Initializing state. For this reason the No Device
state is considered a controller only sub-state of the Self Test state.
Not Grouped State
If a CIP Motion axis instance is created and not associated with a Motion Group,
the axis state is set to the Not Grouped state. A CIP Motion axis will be assigned
to a Motion Group in order for the axis instance to be updated by the periodic
Motion Task and carry out its function. This condition is checked during the
controller Self Test state as qualification for transition to the Initializing state. For
this reason, the Not Grouped state is considered a controller only sub-state of the
Self Test state.
Axis Inhibited State
If you Inhibit the axis instance for any reason, the associated instance in the CIP
Motion connection is eliminated and the axis state transitions to the Axis
Inhibited state. If this is the only instance supported by the CIP Motion
connection, the connection itself will be closed. The Axis Inhibited state is a
controller only sub state of the Self Test state. The Axis Inhibited condition is
checked during the controller Self Test state as qualification for transition to the
Initializing state. If currently Axis Inhibited, an Un-Inhibit operation will be
performed by you to transition to the Initializing state and restore axis function.
Configuring State
Once a CIP Motion I/O connection has been made to the device, the controller
begins to send configuration data using the connection's service channel. At this
time the axis state transitions from Unconnected to Configuring. The axis state
will remain in the Configuring state until the values of all applicable configuration
attributes in the device have been set for this axis instance, or until a configuration
fault occurs, in which case the axis state transitions to the Faulted state.
Synchronizing State
If the device has not been synchronized to the controller by the time the controller
has completed the axis configuration process, the axis state transitions to the
Synchronizing state. The axis state will remain in the Synchronizing state until the
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