Motion State Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 33
Faulted 8 The faulted state is identical to the Stopped state or
the Shutdown state with the exception that there are
one or more faults active. Faults are latched
conditions. Therefore, a Fault Reset is required to
clear the faults and, assuming the original fault
condition has been removed, the axis transitions to
the Axis State of the drive.
There are many different sources of faults:
• CIP Initialization Faults - Faults that occur when
the drive transitions out of the Initializing state.
These faults can apply to a specific axis or the
entire drive.
• CIP Axis Faults - Faults that apply to a specific axis
and are the direct result of Axis Exceptions
configured to generate a Fault response. Axis
exceptions are run-time conditions that are
related to Motor, Inverter, Converter, Bus
Regulator, and Feedback components.
• Safety Fault: Faults that apply to a specific axis
and are generated by a fault condition detected
in the drive’s safety monitor functionality. A
Safety Fault always results in the axis
transitioning to the Stopped state.
• Motion Fault: Faults generally associated with
fault conditions generated by the motion planner
function. These faults can include conditions
related to the input, for example, actual position,
or output, for example, command position,
signals.
• Module Fault: Faults that apply to the entire drive
and affect all axes associated with that drive.
Module faults include all node faults reported by
the drive and also communication fault
conditions detected on the controller side of the
motion connection.
• Group Fault: Faults related to the motion group
object function and affect all axes associated with
the motion group. Group Fault conditions are
detected by controller and are associated with
the time synchronization function common to all
axes in the motion group.
• Configuration Fault: Fault generated anytime
there is an error when sending configuration data
to the drive.
Start Inhibited 9 This state is the same as the Stopped state with the
exception that the axis has one or more 'start inhibit'
conditions that prevent it from successfully
transitioning to the Starting state. Once corrected,
the axis state automatically transitions back to the
Stopped state.
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