Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 106)

106 Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 9 Safe Maximum Speed and Direction Monitoring
Safe Maximum Acceleration
(SMA) Monitoring Configure Safe Maximum Acceleration monitoring by setting the [Enable
Maximum Acceleration Monitoring] parameter to Enable. When configured,
Safe Maximum Acceleration Monitoring is active any time the drive
configuration is valid and Operation mode is not set to Disabled.
The resolution accuracy of the acceleration monitoring in
revolutions/second
2
is equal to the speed resolution in:
The resolution accuracy of the acceleration monitoring in
mm/second
2
is equal to the speed resolution in:
When you configure the drive for Safe Maximum Acceleration, the drive
monitors the acceleration rate and compares it to a configured Safe Maximum
Acceleration Limit, [Safe Maximum Acceleration Limit]. If the acceleration is
greater than or equal to the configured [Safe Maximum Acceleration Limit], an
Acceleration fault (Stop Category fault) occurs.
Figure 42 - Safe Max Acceleration Timing Diagram
IMPORTANT Acceleration is measured within the Overspeed Response Time, [Overspeed
Response Time] parameter.
(RPM x 2) ÷ 60
[(Overspeed Response Time - 36)/1000] seconds
(mm/s x 2)
[(Overspeed Response Time - 36)/1000] seconds
Safe Maximum
Acceleration Limit
Acceleration
Time