Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 68)

68 Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 6 Safe Stop and Safe Stop with Door Monitoring Modes
Safe Stop Wiring Example This example illustrates safe stop wiring.
Figure 17 - Master, Safe Stop (First or Single Unit)
(1) SCOM must be at the same potential as the drive common because of the encoder signal.
Safe Stop with Door
Monitoring Mode When properly configured for Safe Stop with Door Monitoring, the drive
monitors the Safe Stop input (SS_In) and initiates the configured Stop Category
upon deactivation of the input as described in
Safe Stop Mode on page 55 .
In addition, the drive verifies through monitoring the Door Monitor input
(DM_In) that the door interlock solenoid controlled by the Door Control
output (DC_Out) is in an expected state. The DM_In input is ON when the
door is closed and OFF when the door is open. If the door is monitored as
opened during Safe Stop monitoring, a Door Monitoring fault occurs and the
drive initiates the configured Stop Category.
You can monitor the door’s status with or without using the Door Control (lock/
unlock) function. When door control logic is set to Lock, the drive puts the
solenoid into the locked state when the machine is not at a safe speed or at
Standstill Speed.
Lock Monitoring
If an Operaton mode that includes Door Monitoring is selected and Lock
Monitoring is enabled, the Lock Monitor input (LM_In) signal must be OFF
any time that the Door Monitor input (DM_In) transitions from ON to OFF.
GND
+24V DC
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
28
27
26
25
24
23
22
21
20
19
18
17
28
27
26
25
24
23
22
21
20
19
18
17
SLS_IN_CH1
SLS_IN_CH0
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
(1)
Kinetix 6200 and Kinetix 6500 Control Module
Safety Connections
IOD (44-pin) Connector
SS
Request
Reset
Safe Stop
to Next Axis
(optional)
IMPORTANT If your application uses Lock Monitoring without Door Monitoring, you must
use some means to make sure that the Lock Monitor is not stuck at Lock
indication.