Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 137)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 137
Troubleshooting the Safe Speed Monitoring Drive Chapter 12
Fault Reactions When a fault occurs, the type of fault and the status of the system determine the
resulting state of the system.
Safe State Faults
If a Safe State fault occurs in any operational state including the Disabled state,
the drive goes to the Safe State. In the Safe State, all safety outputs are in their safe
states.
Stop Category Faults and Fault While Stopping Faults
If a Stop Category fault or Fault While Stopping fault occurs while the drive is
monitoring motion, the drive initiates the configured Stop Category.
The type of fault detected determines the drive’s response when the fault occurs
while the drive is executing the configured Stop Category.
Type of Fault Detected Response
Fault While Stopping Faults:
• Deceleration fault
• Stop Speed fault Outputs are placed in a faulted
state, but door control logic can
be set to Unlock if feedback
signals indicate that Standstill
Speed has been reached. The
drive continues to monitor for
faults.
These Stop Category Faults:
• SMS Speed fault when the [Safe Maximum Speed Monitoring Stop Behavior] is
configured for Use Safe Torque Off with Check for Standstill
• Acceleration fault when the [Safe Maximum Acceleration Monitoring Stop
Behavior] is configured for Use Safe Torque Off with Check for Standstill
• Direction fault, if the fault occurred while a safe stop was in progress.
These Stop Category faults:
• SLS Speed fault
• Direction fault, if the fault was detected before the safe stop was initiated. In
this case, the drive does not perform Direction Monitoring while executing the
configured Stop Category.
• Door Monitoring fault
• ESM Monitoring fault
• Lock Monitoring fault
• SMS Speed fault when the [Safe Maximum Speed Monitoring Stop Behavior] is
configured for Use Configured Stop Category
• Acceleration fault when the [Safe Maximum Acceleration Monitoring Stop
Behavior] is configured for Use Configured Stop Category
The drive continues to execute
the configured Stop Category and
monitor for faults.