Allen-Bradley Kinetix 5500, Reference Manual, Page: 51 / 497

Behavior models used in CIP Motion
Chapter 2
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
51
Executing a MCSR
•
From the Controller Organizer:
Clear the group fault, the Logix Designer application executes an MGSR
Clear the axis fault, the application executes an MASR
•
Downloading the same project a second time
See also
APR Fault Examples on page 47
APR Fault Conditions on page 44
APR Fault Generation on page 45
The Motion Control Axis Behavior Model is based on elements of the S88 and
Pack/ML standard state models. The current state of the Motion Control Axis is
indicated by the CIP Axis State attribute. State transitions can be initiated either
directly using the Axis Control request mechanism or by conditions that occur in
either the controller or motion device during operation.
Review the diagram for the behavior model to see how the axis state maps to
identity object states.
•
Active Control Axis Behavior Model on page 52
•
Feedback Only Axis Behavior Model on page 54
•
CIP Motion Converter Axis Behavior Model on page 56
•
Motor Attributes Model on page 57
Fault Reset State Transition Precedence
When an axis is in the Major Faulted state, the axis may transition to one of several
different states in response to a Fault Reset event. Which state the axis transitions
to is dependent upon other state/status conditions of the axis.
It is possible for more than one state condition to be present at the same time, for
example. Shutdown, Start Inhibited, and so forth. Since the axis state model can
only represent one state at any given time, the state of the axis is determined
according to the following precedence:
1. Major Faulted
2. Shutdown
3. Pre-Charge
Motion Control Axis
Behavior Model