Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 208)

208 Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013
Appendix A Logic Program Overview
Machine Module
The machine module contains the high level control for the entire machine. The machine module was built
around a simple state machine that you can customize to fit most applications. The machine module broadcasts
out commands and receives feedback information from each of the application and device modules. Based on the
feedback information, the machine will react accordingly.
In addition, the machine module provides a high level interface with the HMI, accepting commands like Start,
Stop, and Clear Faults. It provides status info to the HMI terminal like current state of the machine (for example,
RUNNING versus STOPPED).
Machine States
By default, the machine program module operates based on this overall state diagram.
Machine State Diagram
The machine module uses the Transitional States to move between Permanent States. Typically, the machine
only remains on a Transitional State for brief period of time. If the machine module detects an error during a
Transitional State or if the application or device modules fail to transition within an allotted time (10 seconds by
default), the machine module issues an ABORT command. The fail safe transition timer makes sure the overall
machine does not become stuck in a Transitional State. It also helps to provide diagnostic information to
determine which module is not transitioning properly.
RESETTING
STOPPING
STARTING RUNNING
START
The machine can go from any state in the shaded box to STOPPING.
IDLE
(enabled)
STOPPED
(disabled)
RESET
STOP
ABORT
ABORTING
ABORTED
CLEAR
CLEARING
The machine can go from any state
in the solid box to ABORTING.
Transitional State Permanent State
Machine
Command