Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 147)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 147
Parameter Data Appendix B
Feedback
Change Feedback
Configuration Feedback Mode Selects the number of feedback devices and the type of
discrepancy checking. Default: Single Encoder
Options: Single Encoder
Dual Encoders w/speed and position discrepancy
Dual Encoders w/speed discrepancy
Dual Encoders w/position discrepancy
5V Monitoring Enable 5V monitoring. Default: Voltage not monitored
Options: Voltage not monitored
Voltage monitored
9V Monitoring Enable 9V monitoring. Default: Voltage not monitored
Options: Voltage not monitored
Voltage monitored
Feedback
Primary Feedback Type Selects the type of feedback for encoder 1. Default: Sin/Cos
Options: Sin/Cos
TTL (incremental)
Cycles Defines counts (linear) or revolutions (rotary) for
encoder 1. Default: 1024
Range: 1 … 65,535 pulses/revolution or pulses/mm based on the
[Primary Feedback Units] parameter
Units Selects millimeters or revolutions for encoder 1. Default: Revolutions (per Rev)
Options: Revolutions (per Rev)
Millimeters (per mm)
Feedback Polarity Defines the direction polarity for encoder 1. Default: Positive
Options: Positive
Negative
Feedback
Secondary
(1)
Feedback
Cycles Defines counts (linear) or revolutions (rotary) for
encoder 2. Range: 1 … 65,535 pulses/revolution or pulses/mm based on the
[Secondary Feedback Units] parameter
Units Selects millimeters or revolutions for encoder 2. Options: Revolutions (per Rev)
Millimeters (per mm)
Feedback Polarity Defines the direction polarity for encoder 2. Options: Positive
Negative
Feedback
Dual Feedback Velocity Ratio Defines the ratio of the expected speed of encoder 2
divided by the expected speed of encoder 1.
Not valid when Feedback Mode = Single Encoder. Range: 0.0001 … 10,000.0
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Velocity Discrepancy
Tolerance Dual Feedback Speed Discrepancy Tolerance. Range: 0…6553.5 rpm or mm/s
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Position Discrepancy
Tolerance Acceptable difference in position between encoder 1
and encoder 2. Range: 0…65,535 deg or mm
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Input
Change Input
Configuration Type Safe Stop Configuration for Safe Stop input (SS_In). Default: Dual Channel Equivalent
Options: Not Used
Dual Channel Equivalent
Dual Channel Equivalent 3 s
Dual Channel Complementary
Dual Channel Complementary 3 s
Solid State Device Equivalent 3 s
Single Channel
Table 41 - Configurable Parameters and Settings (continued)
Tab Parameter Name Description
Values
(Safety Configuration Tool)