Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 104)

104 Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 9 Safe Maximum Speed and Direction Monitoring
You define the Stop Category initiated by the drive in the event of an SMS Speed
fault by using the [Safe Maximum Speed Monitoring Stop Behavior] parameter.
Table 29 - SMS Monitoring Stop Behavior
If an SMS Speed fault is detected during a Stop Monitoring Delay, [Safe Stop
Monitor Delay], the delay ends immediately and the configured Stop Delay
[Maximum Stop Time] begins.
Figure 39 - SMS Speed Fault During Stop Monitoring Delay
If an SMS Speed fault is detected during the Stop Delay [Max Stop Time], and
the [Safe Maximum Speed Monitoring Stop Behavior] parameter equals Use
Configured Stop Type, and the feedback signals indicate less than maximum
frequency
(1)
for your encoder type, the fault is reported, but no further action is
taken. Deceleration monitoring performs the safety function during the Stop
Delay [Maximum Stop Time]. That is, if an SMS Speed fault occurs during the
Stop Delay [Maximum Stop Time], the fault is ignored and the stopping action
continues.
Figure 40 - SMS Speed Fault When [Safe Maximum Speed Monitoring Stop Behavior] Set to
’Use Configured Stop Type’
[Safe Maximum Speed Monitoring
Stop Behavior] Parameter
Description
Use Safe Torque Off with Check for
Standstill The drive initiates Safe Torque Off with Check for Standstill any time an
SMS Speed fault is detected while the drive is monitoring motion.
Use Configured Stop Type The drive initiates the configured [Stop Category] parameter any time an
SMS Speed fault is detected while the drive is monitoring motion.
Configured Stop
Monitoring Delay
Stop Delay Begins Immediately
SMS Speed Fault
Standstill Speed
Speed
Time
Safe Max Speed
Limit
Deceleration
Tolerance
(1) 100 kHz for Sin/Cos or 200 kHz for Incremental
Stop Request
Stop Delay
SMS Speed Fault
Standstill Speed
Speed
Time
Safe Max Speed
Limit Deceleration
Tolerance
Stop Monitoring
Delay