Allen-Bradley Kinetix 5500, Reference Manual, Page: 56 / 497

Chapter 2
Behavior models used in CIP Motion
56
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Exceptions on page 41
CIP Axis Status Attributes on page 236
When the Motion Device Axis Object is associated with a CIP Motion
Converter, the Active Control state diagram reduces to the following diagram.
Shaded regions show mapping of Axis States to corresponding Identity Object
states. State transitions terminating on shaded boxes can transition to any axis
state within the box.
Tip:
*Specific Standby state after a fault reset is determined by applying Fault Reset State
Transition Precedence rules.
Valid transitions for the Axis State Model of a CIP Motion Converter axis are
explicitly defined in the following table:
Current State Event Conditions Next State
Off Power Up Self Test
Self Test Self Test Complete Initializing
Initializing Initialization Fault Major Faulted
Initializing Initialization Complete Pre-Charge
Shutdown Major Fault Major Faulted
Shutdown Shutdown Reset Pre-Charge
Start Inhibited Shutdown Shutdown
Start Inhibited Major Fault Major Faulted
Start Inhibited Inhibits Cleared Pre-Charge
Pre-Charge Start Inhibit Start Inhibited
Pre-Charge Shutdown Shutdown
Pre-Charge Major Fault Major Faulted
Pre-Charge Bus Up Running
Major Faulted Fault Reset Shutdown = 1 Shutdown
Major Faulted Fault Reset Shutdown = 0 Pre-Charge
Major Faulted Reconnection Initializing
Running Not Bus Up Pre-Charge
CIP Motion Converter Axis
Behavior Model