Part 1: Enable the Axis

Part 1 demonstrates how to enable an axis.

Assuming everything is ready for the axis/motor to be enabled (HW enable, STO, the basic drive and axis setup is complete such as motor, feedback, etc.), the status at the bottom of WorkBench will display following:

In Studio 5000, view the Axis1_Routine and note the CIP_Axis_Enable rung - this AOI is used to enable the axis. There is a normally open contact called Ax1_Enable_Toggle before the one-shot. In the Sample project this can be toggled when online to trigger the CIP_Axis_Enable AOI. This convention is followed throughout the Sample project.

To enable the axis:

  1. Right-click on the Ax1_Enable_Toggle normally open contact and select Toggle Bit to trigger the CIP_Axis_Enable AOI.

    The .DN (Done) bit turns ON and the status Axis1_Enabled coil in the following rung turns ON. This is based on the axis’ state machine moving to the Operation Enabled state.

    WorkBench now shows that Axis 1 was successfully enabled.

    In WorkBench's Axis 1 Enable/Disable view, the Software Enable has turned ON (TRUE) and the Power Stage is ON.

The operation Enabled/Disabled status can also be viewed in the status output bits of the CIP_Axis_State_Machine AOI for Axis 1.


  • The CIP_Axis_State_Machine can be viewed under MainProgram → MainRoutine_with_CIP_Axis_State_Machines.

The following axis status bits will be ON when the request to operation enable succeeds:

  • AxisReadyToSwitchOn
  • AxisSwitchedOn
  • AxisOperationEnabled

The Current State of the State Machine for Axis 1 can be viewed as a current state number in the StateMahineCurrentState field or as a string message when the cursor is hovered over the StateMachineCurrentStateDescription tag.

  1. Toggle the Ax1_Enable_Toggle contact OFF before proceeding.