Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 81)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 81
Safe Limited Speed (SLS) Modes Chapter 7
Behavior During SLS Monitoring
When Safe Limited Speed monitoring is active, door control logic is set to
Unlock if the ESM_In input is ON and the speed is detected at below the Safe
Speed Limit.
If the ESM_In input is ON, the door can be opened (DM_In transitions from
ON to OFF). However, if the ESM_In input transitions to OFF after the door
has been opened, an ESM Monitoring fault occurs. An ESM Monitoring fault is
a Stop Category fault that initiates the configured [Stop Category].
If the DM_In input transitions from ON to OFF (door is opened), while the
ESM_In input is OFF, a Door Monitoring fault occurs. A Door Monitoring fault
is a Stop Category fault that initiates the configured [Stop Category].
After the DM_In input turns OFF, it could turn back ON again if the door is
closed behind the operator but the ESM_In input is still monitored.
Behavior While SLS Monitoring is Inactive
If Safe Limited Speed monitoring is inactive, the DM_In input must be ON
(door closed) or a Door Monitoring fault occurs and the drive initiates the
configured [Stop Category]. The ESM_In input can be ON or OFF.
Behavior During SLS Monitoring Delay
The status of the ESM_In input does not affect the operation of the system
during a [Safe Limited Speed Monitor Delay]. However, the DM_In input must
be ON (door closed) during the delay or a Door Monitoring fault occurs and the
drive initiates the configured [Stop Category].
ATTENTION: While Safe Limited Speed Monitoring is active, the ESM_In input
is not monitored until the DM_In input is detected as OFF.
Make sure that the ESM_In input is not relied upon for safety until the DM_In
input has transitioned to OFF.