Rockwell Automation IASIMP Computer Numerical Control (CNC) Machining Accelerator Toolkit Quick Start User Manual
Page 235
Rockwell Automation Publication IASIMP-QS034A-EN-P - October 2012
235
Logic Program Overview
Appendix A
You can fully customize the state machine, letting you change the relationship between states and the state names,
and add or remove states if needed. Refer to
for information on how to customize the state machine.
Table 14 - Default Machine States
Table 15 - Default Machine Commands
Machine State
State Type
Description
ABORTING
Transitional
Broadcasts the ABORT command until confirmation that all of the application and device modules
are aborted. The ABORTING state is triggered based on feedback from the modules.
Default ABORT conditions that place the machine in the ABORTTING state includes the following:
• Powerup detected (for example, controller first scan)
• Modules not ready while the machine is in STARTING and/or RUNNING states
• Modules detected a fault condition
• Modules failed to RESET
• Modules failed to START
• Modules failed to STOP
• Modules failed to CLEAR
ABORTED
Permanent
All application and device modules are aborted (for example, stopped and disabled). Typically, this
state indicates a fault condition.
CLEARING
Transitional
Broadcasts the CLEAR command until confirmation that all of the application and device modules are
ok (for example, all active drive and/or modules have been cleared) within the allotted time.
Otherwise, an ABORT condition is generated.
Once all of the modules are ok, the machine is placed into the STOPPED state.
RESETTING
Transitional
Broadcasts the RESET command until confirmation that all of the application and device modules are
reset within the allotted time. Otherwise, an ABORT condition is generated.
IDLE
Permanent
All application and device modules are reset or ready to run (for example, enabled or homed).
Typically, this state that the machine is ready to run and awaits a START command.
STARTING
Transitional
Broadcasts the RESET command until confirmation that all of the application modules are running
within the allotted time. Otherwise, an ABORT condition is generated.
RUNNING
Permanent
All application modules are running.
STOPPING
Transitional
Broadcasts the STOP command until confirmation that all of the application modules are stopped
within the allotted time. Otherwise, an ABORT condition is generated.
STOPPED
Permanent
All application modules are stopped and all modules (application and/or device) are ready.
Machine Command
Application Module Response
Device Module Response
ABORT
Halts the application RUN sequence (if active) and initiates the
STOP sequence. The STOP sequence attempts to stop and
disable all active drives.
Halts the device module RESET sequence (if active) and
initiates the device module ABORT sequence. The ABORT
sequence makes sure the drives contained within the
module are stopped and disabled.
The ABORT sequence can also be used to make sure other
devices are placed into a desired state.
CLEAR
Attempts to clear any active faults that exist in the modules.
Attempts to clear any active faults that exist in either the
module and/or drive.
RESET
Initiates the application RESET sequence, which prepares the
application and/or devices to run. Use this for the coordinated
reset of multiple modules.
Initiates the device module RESET sequence, which prepares
the device module to run.
START
Initiates the application RUN sequence. Customize the RUN
sequence to fit the needs of your application.
Ignored
(1)
(1) By default, these commands are ignored by the module. However, you can change the relationship of each module to best fit the needs of the application.
STOP
Halts the application RUN sequence (if active) and initiates the
STOP sequence. The STOP sequence attempts to stop and
disable all active drives.
Halts the device module RESET sequence.