Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 54)

54 Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 5 General Device and Feedback Monitoring Configuration
Feedback Parameter List To define the type of feedback used by the drive, set these parameters.
Table 19 - Feedback Parameters
TIP Secondary feedback parameter settings are not required when the [Feedback
Mode] parameter setting is single encoder.
Tab Parameter Name Description
Values
(Safety Configuration Tool)
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 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