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 9

Safe Maximum Speed and Direction Monitoring

You define the Stop Category initiated by the drive in the event of an SMS Speed
fault by using the [Safe Maximum Speed Monitoring Stop Behavior] parameter.

Table 29 - SMS Monitoring Stop Behavior

If an SMS Speed fault is detected during a Stop Monitoring Delay, [Safe Stop
Monitor Delay], the delay ends immediately and the configured Stop Delay
[Maximum Stop Time] begins.

Figure 39 - SMS Speed Fault During Stop Monitoring Delay

If an SMS Speed fault is detected during the Stop Delay [Max Stop Time], and
the [Safe Maximum Speed Monitoring Stop Behavior] parameter equals Use
Configured Stop Type, and the feedback signals indicate less than maximum
frequency

(1)

for your encoder type, the fault is reported, but no further action is

taken. Deceleration monitoring performs the safety function during the Stop
Delay [Maximum Stop Time]. That is, if an SMS Speed fault occurs during the
Stop Delay [Maximum Stop Time], the fault is ignored and the stopping action
continues.

Figure 40 - SMS Speed Fault When [Safe Maximum Speed Monitoring Stop Behavior] Set to
’Use Configured Stop Type’

[Safe Maximum Speed Monitoring
Stop Behavior] Parameter

Description

Use Safe Torque Off with Check for
Standstill

The drive initiates Safe Torque Off with Check for Standstill any time an
SMS Speed fault is detected while the drive is monitoring motion.

Use Configured Stop Type

The drive initiates the configured [Stop Category] parameter any time an
SMS Speed fault is detected while the drive is monitoring motion.

Configured Stop

Monitoring Delay

Stop Delay Begins Immediately

SMS Speed Fault

Standstill Speed

Speed

Time

Safe Max Speed

Limit

Deceleration
Tolerance

(1) 100 kHz for Sin/Cos or 200 kHz for Incremental

Stop Request

Stop Delay