Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual User Manual
Page 109

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
109
Safe Maximum Speed and Direction Monitoring
Chapter 9
Figure 45 - Positive Safe Direction Monitoring Timing Diagram
Figure 46 - Negative Safe Direction Monitoring Timing Diagram
If motion is detected in the incorrect direction while Safe Direction Monitoring
is active, a Direction fault occurs. If a Direction fault is detected while the drive is
monitoring motion, the configured [Stop Category] is initiated and direction
monitoring is not performed during the safe stop. If a Direction fault is first
detected after the initiation of the safe stop, then all outputs go to their faulted
state.
For more information about faults, see
on
.
0
300
Speed
Safe Direction Fault
Time
Safe Direction
0
-300
Speed
Time
Safe Direction
Safe Direction Fault