Rockwell Automation 2094-EN02D-M01-S0 Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference Manual - Manual (Page 12)

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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Chapter 1
Safety Concept
Safe State The Safe State encompasses all operation that occurs outside of the other
monitoring and stopping behavior defined as part of the drive. While the drive is
in the Safe State, all safety control outputs are in their safe state (de-energized).
When you cycle power, the drive enters the Safe State for self-testing. If the self-
tests pass, the drive remains in the Safe State until a successful safe stop reset
occurs.
If a Safe State fault is detected, the drive goes to the Safe State. This includes
faults related to integrity of hardware or firmware.
For more information on faults, refer to Chapter 5 .
Safety Reaction Time The safety reaction time is the amount of time from a safety-related event as
input to the system until the system is in the Safe State.
The safety reaction time from an input signal condition that triggers a safe stop,
to the initiation of the Safe Stop Type, is 12 ms, max.
Contact Information If
Failure Occurs
If you experience a failure with any safety-certified device, contact your local
Rockwell Automation distributor. With this contact, you can do the following:
• Return the device to Rockwell Automation so the failure is appropriately
logged for the catalog number affected and a record is made of the failure.
• Request a failure analysis (if necessary) to determine the probable cause of
the failure.
Automatic Drive
Replacement (ADR)
You can replace IAM and AM power modules, and the associated control
modules, at any time without any need for configuration or program changes.
IMPORTANT For cascaded systems, the reaction time is multiplied by the number of drives
in the drive system. For example, drive systems with three cascaded drives
(first, middle, and last), have a reaction time of 36 ms, max.