Lock monitoring – 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
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About the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Features
Chapter 2
Lock Monitoring
Lock monitoring helps prevent access to the hazard during motion. In many
applications, it is not sufficient for the machine to initiate a stop command once
the door has been opened, because a high inertia machine can take a long time to
stop. Preventing access to the hazard until a safe speed has been detected can be
the safest condition. The lock monitoring feature is used to verify the operation
of the door locking mechanism.
Lock monitoring can be enabled on single units or on the first unit in a multi-axis
system. If the Lock Monitor input (LM_In) indicates that the door is unlocked
when the Door Control output (DC_Out) is in the locked state, or if the Lock
Monitor input indicates locked when the Door Monitor input (DM_In)
transitions from closed to open, the configured Stop Category is initiated.
Safe Maximum Speed, Safe Maximum Acceleration, and Safe
Direction Monitoring
Three additional safety functions, Safe Maximum Speed (SMS), Safe Maximum
Acceleration (SMA) and Safe Direction Monitoring (SDM), operate
independent of the other modes, relying on the Safe Stop function. When you
configure the drive for Safe Maximum Speed, the feedback velocity is monitored
and compared against a user-configurable limit. If the measured velocity is greater
than or equal to the limit, the configured Stop Category is executed.
When Safe Acceleration Monitoring is enabled, the option monitors the
acceleration rate and compares it to a configured Safe Maximum Acceleration
Limit. If acceleration is detected as greater than or equal to the Safe Maximum
Acceleration Limit, an Acceleration fault occurs. If an Acceleration fault is
detected while the option is actively monitoring motion, the configured Stop
Category is initiated.
Safe Direction Monitoring is also activated via option configuration. The option
monitors the feedback direction and executes the configured Stop Category
when motion in the illegal direction is detected.
Refer to