Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 57)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 57
Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6
Safe Stop 1 and 2
When Safe Stop 1 or 2 is initiated by a transition of the SS_In input from ON to
OFF, the drive does not initiate the configured Stop Delay [Maximum Stop
Time] until after the optional Stop Monitoring Delay [Safe Stop Monitor Delay]
expires, unless a Stop Category fault occurs during the Stop Monitoring Delay.
When Safe Stop 1 or 2 is initiated by a Stop Category fault, the Stop Delay
[Maximum Stop Time] begins immediately, regardless of whether a Stop
Monitoring Delay [Safe Stop Monitor Delay] is configured.
During a Safe Stop 1 and 2, the drive decelerates at a rate calculated by using the
[Deceleration Reference Speed] and [Maximum Stop Time] parameters. When
Safe Stop 1 or 2 is initiated, the drive decelerates at the calculated rate. Follow
these calculations, depending on the conditions of your application.
Use these formulas if the actual speed of the drive is
≤ the Decel Reference Speed.
Use this formula if the actual speed of the drive is
≥ the Decel Reference Speed.
IMPORTANT Deceleration Reference Speed must be the application’s actual maximum
motor speed. If the actual motor speed is greater than the Deceleration
Reference Speed, then the Actual Stop Time equals the Maximum Stop Time.
EXAMPLE
Safe Decel Rate, rev/s 2 =
(Decel Ref Speed, rpm)/60, s
Max Stop Time, s
Stop Time, s =
Actual Speed, rev/s
Safe Decel Rate, rev/s 2
Max Stop Time, s Stop Time, s =
Safe Decel Rate =
2400/60
10
Deceleration Reference Speed = 2400 rpm
Maximum Stop Time = 10 seconds
Actual Speed (when stop occurs) = 1200 rpm
= 4 rev/s 2
Stop Time =
1200/60
=
4
5 s