Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual User Manual
Page 147

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
147
Parameter Data
Appendix B
Feedback
Change Feedback
Configuration
Feedback Mode
Selects the number of feedback devices and the type of
discrepancy checking.
Default:
Single Encoder
Options:
Single Encoder
Dual Encoders w/speed and position discrepancy
Dual Encoders w/speed discrepancy
Dual Encoders w/position discrepancy
5V Monitoring
Enable 5V monitoring.
Default:
Voltage not monitored
Options:
Voltage not monitored
Voltage monitored
9V Monitoring
Enable 9V monitoring.
Default:
Voltage not monitored
Options:
Voltage not monitored
Voltage monitored
Feedback
Primary Feedback
Type
Selects the type of feedback for encoder 1.
Default:
Sin/Cos
Options:
Sin/Cos
TTL (incremental)
Cycles
Defines counts (linear) or revolutions (rotary) for
encoder 1.
Default:
1024
Range:
1
…
65,535 pulses/revolution or pulses/mm based on the
[Primary Feedback Units] parameter
Units
Selects millimeters or revolutions for encoder 1.
Default:
Revolutions (per Rev)
Options:
Revolutions (per Rev)
Millimeters (per mm)
Feedback Polarity
Defines the direction polarity for encoder 1.
Default:
Positive
Options:
Positive
Negative
Feedback
Secondary
(1)
Feedback
Cycles
Defines counts (linear) or revolutions (rotary) for
encoder 2.
Range:
1
…
65,535 pulses/revolution or pulses/mm based on the
[Secondary Feedback Units] parameter
Units
Selects millimeters or revolutions for encoder 2.
Options:
Revolutions (per Rev)
Millimeters (per mm)
Feedback Polarity
Defines the direction polarity for encoder 2.
Options:
Positive
Negative
Feedback
Dual Feedback
Velocity Ratio
Defines the ratio of the expected speed of encoder 2
divided by the expected speed of encoder 1.
Not valid when Feedback Mode = Single Encoder.
Range:
0.0001
…
10,000.0
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Velocity Discrepancy
Tolerance
Dual Feedback Speed Discrepancy Tolerance.
Range:
0…6553.5 rpm or mm/s
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Position Discrepancy
Tolerance
Acceptable difference in position between encoder 1
and encoder 2.
Range:
0…65,535 deg or mm
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
Input
Change Input
Configuration Type
Safe Stop
Configuration for Safe Stop input (SS_In).
Default:
Dual Channel Equivalent
Options:
Not Used
Dual Channel Equivalent
Dual Channel Equivalent 3 s
Dual Channel Complementary
Dual Channel Complementary 3 s
Solid State Device Equivalent 3 s
Single Channel
Table 41 - Configurable Parameters and Settings (continued)
Tab
Parameter Name
Description
Values
(Safety Configuration Tool)