Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 55)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 55
Chapter
6
Safe Stop and Safe Stop with
Door Monitoring Modes
This chapter describes the Safe Stop modes of safety operation and provides a list
of configuration parameters as well as wiring examples for each Safe Stop mode.
Safe Stop Mode When properly configured for Safe Stop, the drive monitors the Safe Stop input
(SS_In) and initiates the configured Stop Category upon deactivation of the
input. The Stop Category is configurable as either Safe Torque Off with or
without Standstill Checking, Safe Stop 1, or Safe Stop 2. The drive recognizes
motion as stopped when encoder 1 feedback signals indicate the system has
reached the configured Standstill Speed. Once Standstill Speed has been reached,
the Door Control output (DC_Out) is set to Unlock.
In addition to setting the Standstill Speed, you configure the Stop Delay
[Maximum Stop Time], the period where deceleration occurs after a Safe Stop is
initiated, and an optional Stop Monitoring Delay [Safe Stop Monitor Delay] that
is a delay between the action that requests the Safe Stop and the initiation of the
configured Stop Category. A [Safe Stop Monitor Delay] can be configured only
for Safe Stop 1 or Safe Stop 2.
When properly configured for Safe Stop mode, the drive also monitors for faults
and initiates the appropriate reaction. If the fault is a Safe State fault, the drive
enters the Safe State. If the fault is a Stop Category fault, the drive initiates the
configured Stop Category.
Topic Page
Safe Stop Mode 55
Safe Stop Parameter List 66
Safe Stop Wiring Example 68
Safe Stop with Door Monitoring Mode 68
Safe Stop with Door Monitoring Parameter List 69
Safe Stop with Door Monitoring Wiring Example 69