Allen-Bradley Kinetix 6200 User Manual

Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 89
Connector Data and Feature Descriptions Chapter 4
Table 50 - Safety Modes of Operation
Refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety
Reference Manual, publication 2094-RM001
, for more information on
configuring and wiring the safety functions.
Safe Torque Off Safety
Features
Kinetix 6200 and Kinetix 6500 control modules with Safe Torque Off, catalog
numbers 2094-xx02x-Mxx-S0, incorporate the capability to safely turn off the
power transistors on the inverter board in response to a monitored digital
input, also known as a Category 0 Stop. These drives also support dual-channel
outputs that allow for cascading of the Safe Torque Off function to additional
axes, and a safety circuit reset input. The 2090-K6CK-D44S0 connector kit
and 2090-CS0DSDS-AAxx cable were designed specifically for this purpose.
Refer to Figure 71 on page 128
for more information.
Refer to the Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference
Manual, publication 2094-RM002
, for more information on configuring and
wiring the safety functions.
Safety Mode Description
SS Input SLS Input ESM Input LM Input
(1)
DM Input DC Output
Disabled In this mode, all safety functions are disabled. ––––––
Safe Stop
The drive activates the configured Stop Category upon deactivation of the Safe Stop input or the
occurrence of a Stop Category Fault.
X––X –X
Safe Stop with Door Monitoring In addition to monitoring for Safe Stop, the drive monitors the status of the door. X – – X X X
Safe Limited Speed
In addition to monitoring for Safe Stop, the drive monitors the feedback velocity and compares it
to a configurable Safe Speed Limit. If the velocity exceeds the limit, the drive initiates the
configured Stop Category.
XX –X–X
Safe Limited Speed with Door Monitoring
In addition to monitoring for Safe Stop and Safe Limited Speed, the drive monitors the status of
the door.
XX–XXX
Safe Limited Speed with Enabling Switch
Control
In addition to monitoring for Safe Stop and Safe Limited Speed, the drive monitors the status of
the Enabling Switch input.
XXXX–X
Safe Limited Speed with Door Monitor and
Enabling Switch
In addition to monitoring for Safe Stop and Safe Limited Speed, the drive monitors the status of
the door and the Enabling Switch input.
XXXXXX
Safe Limited Speed (status only)
In addition to monitoring for Safe Stop, the drive monitors the feedback velocity and compares it
to a configurable Safe Speed Limit. If the velocity exceeds the limit, the system status is made
available as a safe output intended for a safety programmable logic controller. No stopping action
takes place.
XX –X–X
Slave, Safe Stop
The drive performs the same functions as Safe Stop. However, it regards the Door Monitor input as
a Door Control output from an upstream axis, and performs a logical AND with its internal Door
Control signal to form the cascaded Door Control output.
X––––X
Slave, Safe Limited Speed
The drive performs the same functions as Safe Limited Speed mode. However, it regards the Door
Monitor input as a Door Control output from an upstream axis, and performs a logical AND with its
internal Door Control signal to form the cascaded Door Control output.
XX –––X
Slave, Safe Limited Speed (status only)
The drive performs the same functions as Safe Limited Speed Status Only mode. However, it
regards the Door Monitor input as a Door Control output from an upstream axis, and performs a
logical AND with its internal Door Control signal to form the cascaded Door Control output.
XX –––X
(1) Use of this input is optional.

Allen-Bradley Kinetix 6200 Specifications

General

Brand	Allen-Bradley
Model	Kinetix 6200
Category	Servo Drives
Language	English