Behavior models used in CIP Motion
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 63
During the Initializing state, the device waits for the CIP Motion connections to
the device to be established by the controller using a Forward Open service. Once
the Forward Open service is successfully processed, the device initializes all
attributes to their factory default values, resets all active faults, resets applicable
axis status conditions including the shutdown bit, in preparation for device
attribute configuration.
Once connections are established, the controller sends Set services to the device to
set the Motion Device Axis Object configuration attributes to values stored in the
controller. Any configuration error encountered during this process, such as "value
out of range" or "value not applicable", are handled by the device by erring the Set
service response. When the CIP Motion device is connected to one or more
intelligent motor and feedback components that contain non-volatile
configuration data associated with the component, this data will be read by the
device prior to responding to related Set services from the controller. This allows
the device the opportunity to validate the controller's motor and feedback related
configuration data against the configuration data stored in the motor or feedback
component. Any validation error encountered during this process will be handled
by erring the Set service response with an "Invalid Attribute Value" code (09).
Finally, reading the intelligent component data prior to completing the
configuration process also allows the serial number of the component to be read by
the controller to determine if the component has been replaced. The controller
does not complete the configuration process (Configuration Complete) until all
configuration attributes have been successfully acknowledged.
If the device supports synchronous operation, the controller then synchronizes
with the device using the Group_Sync service. If the device has already been
successfully configured, the CIP Axis State transitions to "Synchronizing" until it
receives a successful Group_Sync service response.
After the device is fully configured and synchronized with the controller, the
controller checks all other axes in the Motion Group to determine if they are also
configured and synchronized. During this time, the CIP Axis State is "Waiting for
Group". As soon as the controller determines that all axes in the Motion Group
are configured and synchronized, Initialization is complete and the CIP Axis State
value is thereafter derived directly from the Axis State value of the device in
accordance to the state model defined in the Motion Device Axis Object.
If a problem is found during this initialization process, for example, a process that
is beyond the scope of a Set service error, the device generates an Initialization
Fault. An Initialization Fault is viewed as an unrecoverable fault, only a power
cycle or a device reset can clear the fault condition.
If the CIP Motion connection is intentionally closed for any reason during
operation using a Forward Close service, the device clears all active faults and
returns to the Initializing State. If the CIP Motion connection is lost for any other
reason during operation, the device generates a Node Fault and transitions to the
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