Motion State Instructions
32 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Testing 5 When any one of the Run Test request services is sent
to the motion axis while in the Stopped state, that is,
services that require an active power structure to
execute, the axis immediately transitions to the
Starting state, that is, the Power Structure Enabled
status bit is set. Then once the Starting state
conditions are met, the axis transitions to the Testing
state. Like the Running state, in the Testing state,
the drive's power structure is active.
The motion axis remains in this state for the duration
of the requested test procedure and then returns to
the Stopped state. The motion axis can also exit the
Testing state by either a fault or an explicit Axis
Control request.
Stopping 6 When a Disable request is issued to an axis in the
Running or Testing state, the axis immediately
transitions to the Stopping state. In this state, the
axis is in the process of stopping and no longer tracks
command data from the motion planner, that is, the
Tracking Command status bit is cleared.
Once the selected Stopping Mode procedure has
completed, the axis transitions to the Stopped state.
Aborting 7 When a Major Fault occurs in the drive while the axis
is in either the Running or Testing states, the motion
axis immediately transitions to the Aborting state. In
this state, the axis is in the process of stopping and
no longer tracks command data from the motion
planner, that is, the Tracking Command status bit is
cleared. The Aborting state executes the appropriate
stopping action as specified by the drive. As with the
Stopping state, in the Aborting state the power
structure remains active, that is, the Power Structure
Enabled status bit is set, for as long as the stopping
action takes to complete. Once the stopping
procedure is complete the axis transitions to the
Faulted state.
When faults conditions are detected in the controller
that are not visible to the drive, or when the drive
reports a Minor Fault condition, the controller brings
the axis to a stop, either directly via an Axis Control
state change request or motion planner stop, or
indirectly via a fault handler in the user program. If
the Axis State reported by the driv e is Stopping, the
controller sets the CIP Axis State to Aborting based
on the presence of the fault condition.
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