Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 75)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 75
Safe Limited Speed (SLS) Modes Chapter 7
Safe Limited Speed Wiring
Example This example illustrates wiring for safe limited speed.
Figure 20 - Master, Safe Limited Speed (First or Single Unit)
Safe Limited Speed with
Door Monitoring Mode When properly configured for Safe Limited Speed with Door Monitoring, the
drive performs Safe Limited Speed (SLS) monitoring functions as described in
Safe Limited Speed (SLS) Mode on page 71 in addition to the Safe Stop
functions as described in Safe Stop Mode on page 55 .
In addition, the drive verifies through monitoring the Door Monitor input
(DM_In) that the drive controlled by the Door Control output (DC_Out) is in
the expected state. If the door is monitored as opened when it should be closed,
the drive initiates the configured Stop Category.
The Door Monitor input (DM_In) is ON when the door is closed and OFF
when the door is open. The DM_In input must be ON (door closed) whenever
Safe Limited Speed monitoring is inactive (SLS_In is ON, meaning the circuit is
closed). The DM_In input must also be ON (door closed) during a Safe Limited
Speed Monitor Delay. A Door Monitor fault is a Stop Category fault that
initiates the configured Stop Category.
GND
+24V DC
IOD Connector
27
28
27
28
27
28
27
28
27
28
27
28
27
28
27
28
TEST_OUT_0
TEST_OUT_1
TEST_OUT_0
TEST_OUT_1
TEST_OUT_0
TEST_OUT_1
TEST_OUT_0
TEST_OUT_1
SLS_OUT_CH0
SLS_OUT_CH1
DM_IN_CH0
DM_IN_CH1
LM_IN_CH0
LM_IN_CH1
DC_OUT_CH0
DC_OUT_CH1
ESM_IN_CH0
ESM_IN_CH1
29
30
31
32
33
34
35
36
37
38
29
30
31
32
33
34
35
36
37
38
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
Kinetix 6200 and Kinetix 6500 Control Module
Safety Connections
IOD (44-pin) Connector
SLS
Request
SS
Request
Reset
Safe Stop
to Next Axis
(optional)