Stop categories, Safe torque off with standstill checking – 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
Chapter 6
Safe Stop and Safe Stop with Door Monitoring Modes
Stop Categories
Use the [Stop Category] parameter to configure the type of stop that the system
executes when a Safe Stop is initiated. A Safe Stop can be initiated by a transition
of the SS_In input from ON to OFF or by the occurrence of a Stop Category
fault.
While the drive executes the configured Stop Category, it continues to monitor
the system. If a Stop Category fault is detected, the drive sets the outputs to a
faulted state, but allows for the door control logic to be set to Unlock if the
feedback signals indicate Standstill Speed has been reached.
Safe torque-off, with or without standstill checking, opens the Guard Gate drive
output (status = 0) when the Safe Stop is executed. This is commonly known as
coast-to-stop.
Safe Torque Off with Standstill Checking
This Stop Category lets you access the hazard area immediately after motion is
detected as stopped rather than waiting until a specific time has elapsed.
When Safe Torque Off with Standstill Checking is initiated, motion power is
removed immediately and the configured Stop Delay [Maximum Stop Time]
begins. If the configured Standstill Speed is detected any time after the Safe Stop
has been initiated and before the end of the configured Stop Delay, door control
logic is set to Unlock.
If the Standstill Speed is not detected by the end of the configured Stop Delay, a
Stop Speed fault occurs and the door control logic remains set to Lock until
Standstill Speed is detected.
Figure 12 - Timing Diagram for Safe Torque-off with Standstill Checking
(1) This signal is internal to the drive.
(2) DC_Out output shown configured as Power to Release. See
for more information.
IMPORTANT
After successful SS_Reset, the Logix Designer application must issue an MSF
instruction prior to restarting the machine.
Stop Request
Stop Delay
Safe Torque-off
Active
Door Control
Output Unlock
Standstill Speed
SS_Out Output
Motion Power
(1)
DC_Out Output
(2)
Speed
Time
SS_In Input