Motion State Instructions
34 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Shutdown 10 When a Shutdown request is issued to the drive or a
Shutdown fault action is executed by the drive, the
targeted axis immediately transitions to the
Shutdown state. The Shutdown state has the same
basic characteristics of the Stopped state except that
it can be configured via the Shutdown Action
attribute to drop the DC Bus power to the drive's
power structure.
Regardless of whether DC Bus power is disconnected,
this state requires an explicit Shutdown Reset
request from the controller to transition to the
Pre-charge state. If the drive is configured to keep DC
Bus power active while in the Shutdown state, then
the motion axis transitions through the Pre-charge
state to the Stopped state.
In the case where a Shutdown fault action is initiated
by the drive in response to an exception condition
that is configured to be a major fault, the drive
executes the Shutdown action. However, the axis
goes to the Faulted state, not the Shutdown state.
Similarly, when the axis is in the Shutdown state and
a major fault condition occurs, the axis transitions to
the Faulted state. A Fault Reset request from the
controller clears the fault and, assuming the original
fault condition has been removed, the axis
transitions to the Shutdown state. A Shutdown Reset
request from the controller, however, both clears the
fault and performs a shutdown reset so, assuming
the original fault condition has been removed, the
axis transitions to the Pre-charge state.
Axis Inhibited 11 If you inhibit the axis, 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 is closed. The Axis
Inhibited state is a controller-only sub state of the
Self-test state
(1)
. The Axis Inhibited condition is
checked during the controller Self-test state as
qualification for transition to the Initializing state. If
currently Axis Inhibited, you must execute an
Un-Inhibit operation to transition to the Initializing
state and restore axis function.
Not Grouped 12 If a CIP Motion axis is created and not associated with
a Motion Group, the axis state is set to the Not
Grouped state. A CIP Motion axis must be assigned to
a Motion Group for the axis 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.
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