Chapter 4
CIP Axis Attributes
372
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Enumeration
Name
Description
4
Stop Drive
The Stop Drive action results in the controller both setting the
associated bit in the Motion Fault Status word, abruptly stopping
the motion planner, and bringing the axis to a stop by disabling the
axis. The method used to decelerate the axis when there is a drive
associated with the axis is the best available stopping method for
the specific fault condition and is drive dependent.
5
Shutdown
Shutdown forces the axis into the Shutdown state, abruptly stops
the motion planner, disables any gearing or camming operation
that specifies this axis as a master axis, and immediately disables
the associated drive's power structure. If configured to do so by the
Shutdown Action attribute, the drive device may also open a
contactor to drop DC Bus power to the drive's power structure. An
explicit Shutdown Reset is required to restore the drive to an
operational state.
6...254
Reserved
255
Unsupported
The Unsupported Exception Action is the value assigned to
Exceptions that are not supported in the implementation. Trying to
assign an Exception Action other than Unsupported to an exception
that is not supported results in an error.
Soft Travel Limit Checking
Usage
Access
Data Type
Default
Min
Max
Semantics of Values
Required - E Set/ SSV
BOOL
0
0
1
0 = No
1 = Yes
This is a Boolean value that determines if the system should check for software
overtravel condition based on current settings for Soft Travel Limit - Positive, and
Soft Travel Limit - Negative.
When the Soft Overtravel Checking Boolean is set to true the motion planner
checks the current Actual Position of the axis and issues an exception condition if
the Soft Travel Limits in either direction are exceeded. The travel limits are
determined by the configured values for the Maximum Positive Travel and
Maximum Negative Travel attributes. Soft Travel Limit checking is not a
substitute, but rather a supplement, for hardware overtravel fault protection that
uses hardware limit switches to directly stop axis motion at the drive and
deactivate power to the system.
If the Soft Travel Limit Checking value is set to false (default), then no software
travel limit checking is done by the planner. Note that software travel limit
checking is only valid when the Rotary attribute Boolean value is set to false, for
example, when configured for non-cyclic operation.
Soft Travel Limit Checking has no impact until the Axis Homed Status bit is set
in the Motion Status Bits attribute; there is no point in checking absolute position
of the axis if an absolute position reference frame has not been established for the
machine.