Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 89)

Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 89
Kinetix 6200 and Kinetix 6500 Connector Data Chapter 4
Safe Speed Monitoring
Safety Features Kinetix 6200 and Kinetix 6500 control modules with Safe Speed Monitoring,
catalog number 2094-
xx02x-Mxx-S1, incorporate safe torque-off functionality as
well as safe speed monitoring and door control/monitoring. Speed monitoring
allows for other stop categories such as a controlled stop and disable or even a
controlled stop and hold position.
The table on page 90 summarizes the safety modes of operation supported by the
safe speed monitoring control modules. The table also describes which I/O is
active depending on the operation mode. In addition to the modes listed in the
table, the safe speed monitoring control modules support two additional safety
features.
• Safe Maximum Speed
• Safe Direction Monitoring
You can operate these features independent of the other modes, relying on the
Safe Stop function.
When the Safe Maximum Speed feature is activated through a software
configuration, the feedback velocity is monitored and compared against a user-
programmable limit. If the measured velocity exceeds the limit, the Safe Stop
function is executed.
Safe Direction Monitoring is also activated through software configuration and
monitors the feedback direction and executes the Safe Stop function when
motion in the illegal direction is detected.
When a new safe speed monitoring control module is installed, it is pre-
configured in the Disabled operation mode. When installing a new module, you
must first complete the basic drive configuration by using RSLogix 5000
software. Next, you use the safety configuration tool to configure the safety
functions. As a part of the safety configuration process, you verify that the safety
functions are configured, operate correctly, and you lock the safety circuitry.
Connections for safety functions are made at the IOD connector by using the
2090-K6CK-D44M low-profile connector kit. A customer-supplied 24V power
supply (IOD-17 and IOD-18) is required to support the safety inputs and
outputs.
Table 45 - Safety I/O Power Supply Specifications
Attribute Value
Voltage rating
21.6…28.8V DC (24V nom)
per IEC/EN 60204 and IEC/EN 61558-1
Current rating 0.105 A max