Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 22)

22 Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 2 About the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Features
Operation Modes
You can configure the drive to operate in one of 11 user-selectable operation
modes, based on combinations of the safety functions listed on the previous page.
Disabled Mode
In Disabled mode, all safety functions are disabled. Input, output, or speed
monitoring diagnostics do not take place and all outputs are in their safe state.
Motion power is enabled for drive commissioning in this mode.
Operation Mode Page
Disabled – In this mode, all safety functions are disabled. 22
Safe Stop – The drive activates the configured Stop Category upon deactivation of the Safe Stop input or the
occurrence of a Stop Category fault.
55
Safe Stop with Door Monitoring – In addition to monitoring for Safe Stop, the drive monitors the status of
the door.
68
Safe Limited Speed – In addition to monitoring for Safe Stop, the drive monitors the feedback velocity and
compares it to a configurable Safe Speed Limit. If the velocity exceeds the limit, the drive initiates the
configured Stop Category.
71
Safe Limited Speed with Door Monitoring – In addition to monitoring for Safe Stop and Safe Limited Speed,
the drive monitors the status of the door.
75
Safe Limited Speed with Enabling Switch Control – In addition to monitoring for Safe Stop and Safe Limited
Speed, the drive monitors the status of the Enabling Switch input.
78
Safe Limited Speed with Door Monitor and Enabling Switch – In addition to monitoring for Safe Stop and
Safe Limited Speed, the drive monitors the status of the door and the Enabling Switch input.
79
Safe Limited Speed (status only) – In addition to monitoring for Safe Stop, the drive monitors the feedback
velocity and compares it to a configurable Safe Speed Limit. If the velocity exceeds the limit, the system
status is made available as a safe output intended for a safety programmable logic controller. No stopping
action takes place.
84
Slave, Safe Stop – The drive performs the same functions as Safe Stop. However, it regards the Door Monitor
input as a Door Control output from an upstream axis, and performs a logical AND with its internal Door
Control signal to form the cascaded Door Control output.
91
Slave, Safe Limited Speed – The drive performs the same functions as Safe Limited Speed mode. However, it
regards the Door Monitor input as a Door Control output from an upstream axis, and performs a logical AND
with its internal Door Control signal to form the cascaded Door Control output.
96
Slave, Safe Limited Speed (status only) – The drive performs the same functions as Safe Limited Speed
Status Only mode. However, it regards the Door Monitor input as a Door Control output from an upstream
axis, and performs a logical AND with its internal Door Control signal to form the cascaded Door Control
output.
99
IMPORTANT The drive monitors motion for Safe Stop in every mode except Disabled.