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 7
Safe Limited Speed (SLS) Modes
If the feedback velocity is below the Safe Speed Limit during Safe Limited Speed
monitoring, the Door Control output (DC_Out) is unlocked after the [Safe
Limited Speed Monitor Delay], if configured, has expired.
If the measured velocity exceeds the Safe Speed Limit, an SLS fault occurs and
the configured [Stop Category] is initiated. An optional [Safe Limited Speed
Monitor Delay] can be configured to delay the start of Safe Limited Speed
monitoring.
Safe Limited Speed monitoring is requested by a transition of the Safe Limited
Speed input (SLS_In) from ON to OFF. When the SLS_In input is ON, the
drive does not monitor for Safe Limited Speed and the measured velocity can be
above or below the Safe Speed Limit.
If you configure a [Safe Limited Speed Monitor Delay], the delay begins when
Safe Limited Speed monitoring is requested by the SLS_In transition from ON
to OFF. The drive begins monitoring for Safe Limited Speed when the delay
times out. If system speed is greater than or equal to the configured Safe Speed
Limit during Safe Limited Speed monitoring, an SLS fault occurs and the drive
initiates the configured Stop Category.
Figure 19 - Timing Diagram for Safe Limited Speed (SLS)
ATTENTION: Make sure that an unlocked door does not result in a hazardous
situation.
If a Stop Category is initiated or a fault occurs while the drive is actively
monitoring Safe Limited Speed, door control remains unlocked. The safe state
of the SLS_In input can result in the door being unlocked.
If the Reset Type is configured as Automatic, Safe Limited Speed monitoring is
disabled when the SLS_In input is turned ON and the machine operates at its
normal run speed. Make sure that the SLS_In input cannot transition to ON while
someone is in the hazardous area.
SLS
Request
Safe Speed Limit
Speed
Time
SLS Monitoring
Delay
Safe Limited Speed
Active
SLS Fault
Acceptable Speed Range
SLS Request
Removed