Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual User Manual
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Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 9
Safe Maximum Speed and Direction Monitoring
Max Speed, Max Accel, and
Direction Monitoring
Parameter List
Set these parameters to configure Safe Maximum Speed, Safe Maximum
Acceleration, and Safe Direction Monitoring.
Table 32 - Max Speed, Max Accel, and Direction Monitoring Parameters
Tab
Parameter Name
Description
Values
(Safety Configuration Tool)
Feedback
Primary Feedback
Feedback Polarity
Defines the direction polarity for encoder 1.
Default:
Positive
Options:
Positive
Negative
Feedback
Secondary Feedback
Feedback Polarity
Defines the direction polarity for encoder 2.
Options:
Positive
Negative
Safe Max Speed
Change Safe
Maximum Speed
Configuration
Safe Maximum Speed
Configuration
Enable Maximum Speed Monitoring.
Default:
Maximum Speed Monitoring Not Enabled
Options:
Maximum Speed Monitoring Not Enabled
Maximum Speed Monitoring Enabled
Safe Maximum Speed
Limit
Defines the maximum speed limit that is tolerated if
Safe Maximum Speed (SMS) monitoring is enabled.
Default:
0
Range:
0…65,535 rpm or mm/s
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Safe Maximum Speed
Monitoring Stop
Behavior
Defines the Stop Category that is initiated in the event
of a SMS Speed fault.
Default:
Use Safe Torque-Off with Check for Standstill
Options:
Use Safe Torque-Off with Check for Standstill
Use Configured Stop Type
Safe Max Accel
Change Safe
Maximum
Acceleration
Configuration
Safe Maximum
Acceleration
Configuration
Enable Maximum Acceleration Monitoring.
Default:
Maximum Acceleration Monitoring Not Enabled
Options:
Maximum Acceleration Monitoring Not Enabled
Maximum Acceleration Monitoring Enabled
Safe Maximum
Acceleration Limit
Defines the Safe Maximum Acceleration (SMA) limit,
relative to encoder 1, of the system is being monitored.
Default:
0
Range:
0…65,535 rpm or mm/s
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Safe Maximum
Acceleration
Monitoring Stop
Behavior
Defines the Stop Category that is initiated in the event
of an SMA Acceleration fault.
Default:
Use Safe Torque-Off with Check for Standstill
Options:
Use Safe Torque-Off with Check for Standstill
Use Configured Stop Type
Safe Direction
Change Safe
Direction Monitoring
Configuration
Safe Direction
Monitoring
Configuration
Enable Safe Direction Monitoring.
Default:
Safe Direction Monitoring Not Enabled
Options:
Safe Direction Monitoring Not Enabled
Safe Direction Monitoring Enabled
Monitor Type
Defines the monitor type if Safe Direction Monitoring is
enabled.
Options:
Always
During Safe Limited Speed
Safe Direction
Defines the allowable direction if Safe Direction
Monitoring is enabled.
Default:
Positive
Options:
Positive
Negative
Jitter Tolerance
The position limit in encoder units tolerated in the
wrong direction when Safe Direction Monitoring is
active.
Default:
10
Range:
0…65,535 deg or mm
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter