Chapter 2
Behavior models used in CIP Motion
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Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
one or more specific conditions, such as when the associated feedback device is not
fully configured for operation. Again, once corrected, the axis state automatically
transitions to the Running state.
The Start Inhibited State is classified as an Identity Object Standby state and,
therefore, requires that the associated power structure, if applicable, is disabled.
Stopping State
When a Disable request is issued to the Motion Device Axis Object in the
Starting, Running or the Testing states, the axis immediately transitions to the
Stopping state. In this state, the axis is in the process of stopping and is no longer
tracking command data from the motion planner (Tracking Command status bit
clear). A Disable Request executes the configured Stopping Actions while a
Shutdown Request executes the configured Shutdown Action.
There are many different Stopping Actions supported by the Motion Device Axis
Object. Each of these Stopping Actions executes one of three possible
IEC60204-1 Category Stops or Stopping Sequences (Category Stop 0, 1, and 2).
Most of these Stopping Actions actively decelerate the axis to a stop (Category
Stop 1 and 2). The power structure may remain active (Power Structure Enabled
status bit set) as long as the Stopping Action procedure takes to complete. Once
the selected Stopping Action procedure has completed, the axis transitions to the
Stopped state. When the Stopping Action of "Disable and Coast" is initiated by a
Disable Request or a Shutdown Action, the power structure is immediately
disabled (Power Structure Enabled status bit clear) and the axis coasts to a stop
while in the Stopping state (Category 0 Stop). For all Stopping Sequences, the
device will wait until the axis has reached zero speed, or a timeout occurs (as
defined by the Stopping Time Limit and Coasting Time Limit attributes), before
transitioning to the Stopped state. In some cases, such as when the axis is
stationary, this transition can be immediate. The criteria for zero speed is based on
Velocity Feedback being less than 1% of motor rated speed or by criteria set by
optional Zero Speed and Zero Speed Time attribute values. In the case of a
Frequency Control drive device, the criteria are based on Velocity Reference rather
than Velocity Feedback.
When an Enable Request is given to an axis in the Stopping state with Flying Start
Enabled, the axis will immediately transition to the Starting state.
Aborting State
When a Major Fault occurs in the motion device while the axis is in either the
Starting, Running, Testing, or Stopping states, the motion axis immediately
transitions to the Aborting state. In this state, the axis is in the process of stopping
and is no longer tracking command data from the motion planner (Tracking
Command status bit clear). The Aborting state executes the appropriate stopping
action as specified by the device vendor. When actively stopping the axis in the