Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 138)

138 Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 12 Troubleshooting the Safe Speed Monitoring Drive
If outputs are already in a faulted state due to a previous fault, and a subsequent
Stop Category fault or Fault While Stopping fault occurs, outputs remain in a
faulted state, door control logic can be set to Unlock if feedback signals indicate
that Standstill Speed has been reached, and the drive continues to monitor for
faults.
If a Stop Category fault or Fault While Stopping fault occurs after Standstill
Speed has been reached and the drive has set door control logic to Unlock, the
drive goes to the Safe State.
Status Attributes For diagnostic purposes, you can only view status attributes by accessing the
AxisServoDrive.GuardStatus tag in the Logix Designer application.
Guard Status Attributes
These attributes are stored in the AxisServoDrive.GuardStatus tag. Each bit
corresponds to a different attribute.
ATTENTION: If a fault occurs after Standstill Speed has been reached, door
control logic remains unlocked.
A Safe State fault can set the Door Control output (DC_Out) to OFF.
Table 36 - Guard Status Attributes
Bit
Display Text
Axis 1.
Description
0 GuardOKStatus This bit indicates when there are no faults. It is set (1), when all of the Fault Status bits 1…31 are 0 (no faults). The bit is 0 if any Fault Status
bit from 1…31 indicates a fault (1).
1 GuardConfig
LockedStatus This bit shows the status of the [Safety Lock Status] parameter. A 1 indicates the configuration is locked; a 0 indicates the configuration is
unlocked.
2 GuardGateDrive
OutputSatus This bit shows the status of the drive’s Motion Power command to the drive. A 1 indicates Motion Power is enabled; a 0 indicates Motion
Power is disabled.
3 GuardStopInput
Status This bit displays the logical value, 1 or 0, evaluated for the dual-channel SS_In input.
4 GuardStop
RequestStatus This bit is set to 1 when a safe stop is initiated by either a transition of the SS_In input from ON to OFF or by a Stop Category fault.
This bit is reset to 0 when a successful SS Reset occurs and when the Operation mode is set to Disabled (0).
5 GuardStop
InProgressStatus This bit is set to 1 when a safe stop is initiated by the transition of the SS_In input from ON to OFF with no active fault conditions. It is not set
to 1 when a Safe Stop is initiated by a Stop Category fault.
While set to 1, this bit is reset (0) if Standstill Speed is reached or any fault condition is detected.
6 GuardStop
DecelStatus This bit is set to 1 if the configured Stop Delay [Maximum Stop Time] is active for a Safe Stop 1 or Safe Stop 2 while the drive is executing the
Safe Stop.
This bit is not set during a Category 0 Safe Torque Off Safe Stop.
This bit is reset (0) when Standstill Speed is detected, a Safe State fault occurs, or a SS Reset occurs.
7 GuardStop
StandstillStatus This bit is set to 1 if a successful Safe Stop has been executed and the speed is less than or equal to the Standstill Speed.
This bit is set to 0 by an SS Reset or the occurrence of a Stop Category fault.
It is always 0 when the drive is configured for a Safe Torque Off without Standstill Speed Checking.