Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 109)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 109
Safe Maximum Speed and Direction Monitoring Chapter 9
Figure 45 - Positive Safe Direction Monitoring Timing Diagram
Figure 46 - Negative Safe Direction Monitoring Timing Diagram
If motion is detected in the incorrect direction while Safe Direction Monitoring
is active, a Direction fault occurs. If a Direction fault is detected while the drive is
monitoring motion, the configured [Stop Category] is initiated and direction
monitoring is not performed during the safe stop. If a Direction fault is first
detected after the initiation of the safe stop, then all outputs go to their faulted
state.
For more information about faults, see Fault Reactions on page 137 .
0
300
Speed
Safe Direction Fault
Time
Safe Direction
0
-300
Speed
Time
Safe Direction
Safe Direction Fault