Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 61)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 61
Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6
Standstill Speed and Position Tolerance
For Stop Categories that include Standstill Checking, you set the Standstill
Speed and Standstill Position Tolerance.
Standstill Speed is used to declare motion as stopped. The system is at standstill
when the speed detected is less than or equal to the configured Standstill Speed.
The [Standstill Speed] parameter defines the speed limit before the drive
determines standstill has been reached and the door control logic is set to
Unlock.
The [Standstill Position Window] parameter defines the position limit in
encoder 1 units that is tolerated after standstill has been reached. If the position
changes by more than the amount specified by the Standstill Position Tolerance,
after standstill has been reached and the door is unlocked, a Motion After
Stopped fault occurs. This type of fault results in the drive entering the safe state.
IMPORTANT The [Standstill Speed] and [Standstill Position Window] parameters are not
used for Safe Torque Off without Standstill Checking configurations. Set these
parameters to zero.
IMPORTANT Standstill detection relies on the encoder 1 signal. The encoder 2 signal is
used for fault diagnostics.