Allen-Bradley Kinetix 5500, Справочное руководство

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Chapter 2
Behavior models used in CIP Motion
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Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Major Faulted state. In either case the device will wait for the CIP Motion
connections to the device to be re-established by the controller using a Forward
Open service. Once re-established the controller's CIP Axis State will transition
through the various Initialization sub-states.
The Initializing State is classified as an Identity Object Standby state and,
therefore, requires that the associated power structure, if applicable, is disabled.
Pre-Charge State
During the Pre-Charge state, when applicable, the device is waiting for the DC
Bus to fully charge (DC Bus Up status bit is clear). Once the DC Bus reaches an
operational voltage level (DC Bus Up status bit is set), the axis either transitions to
the Stopped state (drive axis) or to the Running state (converter axis). The device's
power structure is always disabled in this state (Power Structure Enabled status bit
clear). Any attempt for the controller to enable the device using the Axis Control
mechanism while it is in the Pre-Charge state is reported back to the controller as
an error in the Response Status and the axis remains in the Pre-Charge state.
The Pre-Charge State is classified as an Identity Object Standby state and,
therefore, requires that the associated power structure, if applicable, is disabled.
Stopped State
In the Stopped state the device's inverter power structure will either be disabled
and free of torque (Power Structure Enabled status bit clear) or held in a static
condition using an active control loop (Power Structure Enabled status bit set).
No motion can be initiated by the device in the Stopped State nor can the device
respond to a planner generated command reference (Tracking Command status
bit clear). In general, the axis will be at rest, but if an external force or torque is
applied to the load, a brake may be needed to maintain the rest condition. In the
Stopped state, main power is applied to the device and the DC Bus is at an
operational voltage level. If there are any Start Inhibit conditions detected while in
this state, the axis transitions to the Start Inhibited state. If an Enable request or
one of the Run Test service requests is applied to an axis in the Stopped state, the
motion axis transitions to the Starting state.
Starting State
When an Enable request is given to an axis in the Stopped, or Stopping state when
performing a Flying Start, the axis immediately transitions to the Starting state. In
this state, the device checks various conditions before transitioning to the Running
state. These conditions can include Brake Release delay time and Induction Motor
flux level. The device control and power structures are activated during the
Starting state (Power Structure Enabled status bit set) but the command reference
is set to a local static value and will not track the command reference derived from
the motion planner (Tracking Command status bit clear). If all the starting