Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 89)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 89
Chapter
8
Slave Modes for Multi-axis Cascaded Systems
This chapter describes the slave modes of safety operation and wiring examples of
cascaded multi-axis configurations.
Cascaded Configurations Use the [System Configuration] parameter to define the drive’s position in the
system as Single Unit, Cascaded First Unit, Cascaded Middle Unit, or Cascaded
Last Unit. Only the middle or last drive in a multi-axis system can be configured
for slave modes.
For cascaded drives, connect the safety switches to the safety inputs (SS_In,
SLS_In, DM_In, ESM_In, and LM_In) of only the first (master) axis. Each
feedback for Safe Stop functions are connected to their respective axis. The
inputs are cascaded from one drive to the next by connecting the outputs from
the previous drive to the inputs of the next drive.
Topic Page
Cascaded Configurations 89
Slave, Safe Stop Mode 91
Slave, Safe Stop Parameter List 91
Slave, Safe Stop Wiring Examples 93
Slave, Safe Limited Speed Mode 96
Slave, Safe Limited Speed Parameters 96
Slave, Safe Limited Speed Wiring Examples 97
Slave, Safe Limited Speed Status Only Mode 99
Slave, Safe Limited Speed Status Only Parameter List 99
Slave, Safe Limited Speed Status Only Wiring Examples 100
Multi-axis Connections 101