Safe torque-off safety features – Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual User Manual
Page 90
90
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Chapter 4
Kinetix 6200 and Kinetix 6500 Connector Data
Table 46 - Safety Modes of Operation
Refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety
Reference Manual, publicatio
r more information on
configuring and wiring the safety functions.
Safe Torque-off Safety
Features
Kinetix 6200 and Kinetix 6500 control modules with safe torque-off, catalog
numbers 2094-
xx02x-Mxx-S0, incorporate the capability to safely turn off the
power transistors on the inverter board in response to a monitored digital input,
also known as a Category 0 Stop. These drives also support dual-channel outputs
that allow for cascading of the safe torque-off function to additional axes, and a
safety circuit reset input. The 2090-K6CK-D44S0 connector kit and
2090-CS0DSDS-AA
xx cable were designed specifically for this purpose. Refer to
for more information.
Refer to the Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference
Manual, publication
, for more information on configuring and
wiring the safety functions.
Safety Mode
Description
SS Input
SLS Input
ESM Input
LM Inpu
t
(1)
DM
Inpu
t
DC
O
u
tp
ut
Disabled
In this mode, all safety functions are disabled.
–
–
–
–
–
–
Safe Stop
The drive activates the configured Stop Category upon deactivation of the Safe Stop input or the
occurrence of a Stop Category Fault.
√ – – √ – √
Safe Stop with Door Monitoring
In addition to monitoring for Safe Stop, the drive monitors the status of the door.
√ – – √ √ √
Safe Limited Speed
In addition to monitoring for Safe Stop, the drive monitors the feedback velocity and compares it
to a configurable Safe Speed Limit. If the velocity exceeds the limit, the drive initiates the
configured Stop Category.
√ √ – √ – √
Safe Limited Speed with Door Monitoring
In addition to monitoring for Safe Stop and Safe Limited Speed, the drive monitors the status of
the door.
√ √ – √ √ √
Safe Limited Speed with Enabling Switch
Control
In addition to monitoring for Safe Stop and Safe Limited Speed, the drive monitors the status of
the Enabling Switch input.
√ √ √ √ – √
Safe Limited Speed with Door Monitor and
Enabling Switch
In addition to monitoring for Safe Stop and Safe Limited Speed, the drive monitors the status of
the door and the Enabling Switch input.
√ √ √ √ √ √
Safe Limited Speed (status only)
In addition to monitoring for Safe Stop, the drive monitors the feedback velocity and compares it
to a configurable Safe Speed Limit. If the velocity exceeds the limit, the system status is made
available as a safe output intended for a safety programmable logic controller. No stopping action
takes place.
√ √ – √ – √
Slave, Safe Stop
The drive performs the same functions as Safe Stop. However, it regards the Door Monitor input as
a Door Control output from an upstream axis, and performs a logical AND with its internal Door
Control signal to form the cascaded Door Control output.
√ – – – – √
Slave, Safe Limited Speed
The drive performs the same functions as Safe Limited Speed mode. However, it regards the Door
Monitor input as a Door Control output from an upstream axis, and performs a logical AND with its
internal Door Control signal to form the cascaded Door Control output.
√ √ – – – √
Slave, Safe Limited Speed (status only)
The drive performs the same functions as Safe Limited Speed Status Only mode. However, it
regards the Door Monitor input as a Door Control output from an upstream axis, and performs a
logical AND with its internal Door Control signal to form the cascaded Door Control output.
√ √ – – – √
(1) Use of this input is optional.