Allen-Bradley Micro800 General Instructions Manual page 436

Chapter 17
Motion control instructions
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Motion control axis state diagram
The axis is always in one of the defined states as shown in the following diagram.
Motion control axis state behavior
The following table describes motion control axis states and parameters.
Note
In the ErrorStop and Stopping states, all function blocks (except MC_Reset), can be called although they will not be executed.
MC_Reset generates a transition to the Standstill state. If an error occurs while the state machine is in the Stopping state, a transition to the
ErrorStop state is generated.
Power.Enable = TRUE and there is an error in the axis.
Power.Enable = TRUE and there is no error in the axis
MC_Stop.Done AND NOT MC_Stop.Execute.
When MC_Power is called with Enable = False, the axis goes to the Disabled state for every state including ErrorStop.
If an error occurs while the state machine is in Stopping state, a transition to the ErrorStop state is generated.
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015