Allen-Bradley ControlLogix Reference Manual page 69

Behavior models used in CIP Motion
Fault
Group Faults
Configuration Faults
Shutdown State
When a Shutdown request is issued to the device or a Shutdown fault action is
executed by the device, the targeted axis transitions to the Shutdown state. In the
case of a Shutdown request, the axis immediately transitions from whatever state it
is currently in to the Shutdown state. The Shutdown state has the same basic
characteristics of the Stopped state except that it can be configured using the
Shutdown Action attribute to drop the DC Bus power to the device's power
structure. This is generally done by opening an AC Contactor Enable output
provided by the drive that controls power to the converter. Regardless of whether
or not DC Bus power is disconnected, this state requires an explicit Shutdown
Reset request from the controller to transition to the Pre-Charge state. If the
device is configured to keep the DC Bus power active while in the Shutdown state
then the motion axis transitions through the Pre-Charge state to the Stopped
state. The Shutdown state offers an extra level of safety against unexpected
motion.
In the case where a Shutdown fault action is initiated by the drive in response to
an exception condition that is configured to be a Major Fault, the device executes
the Shutdown action, but the axis goes to the Faulted state, not the Shutdown
state. Similarly, when the axis is in the Shutdown state and a major fault condition
occurs, the axis transitions to the Faulted state. In other words, the major fault
condition has precedence over the shutdown condition and the shutdown
condition can be considered a sub-state. In either of these cases a Fault Reset
request from the controller clears the fault and, assuming the original fault
condition has been removed, the axis then transitions to the Shutdown state. A
Shutdown Reset request from the controller, however, both clears the fault and
performs a shutdown reset so, assuming the original fault condition has been
removed, the axis transitions to the Pre-Charge state as described above.
In addition to the Shutdown action functionality, the Shutdown state can also be
used by the controller to disable any slave gearing or camming motion planner
functions that reference this device axis as a master axis. For this reason, the
Shutdown state is supported in the case of a Feedback Only Control Mode where
the axis instance is simply associated with a feedback device.
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Source
These faults are related to the motion group object function and affect all axes
associated with the motion group. These faults can occur at any time during device
operation. Group Fault conditions are detected by controller and are generally
associated with the time synchronization function that is common to all axes in the
motion group. The device power structure, if applicable, of every axis associated with
the motion group is disabled when there is a Group Fault present with the controller
initiating shutdown fault actions.
A configuration fault is generated anytime there is an error in sending configuration
data to the motion device. Specifically, if the motion device responds to a Set Attribute
service with an error, the error condition is reflected as a Configuration Fault along with
the Attribute Error Code and Attribute ID. The device power structure, if applicable, is
disabled when there is a Configuration Fault present.
Chapter 2
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