Slave, safe limited speed status only mode – Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual User Manual
Page 99
Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
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Slave Modes for Multi-axis Cascaded Systems
Chapter 8
Slave, Safe Limited Speed
Status Only Mode
When properly configured for Slave, Safe Limited Speed Status Only mode, the
Safe Speed Monitor Option module performs the same functions as Safe Limited
Speed Status Only mode as described on
. However, the drive 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.
The SLS_Out output of the last drive in a cascaded chain goes high only when all
axes are below the Safe Speed Limit. In Safe Limited Speed Status Only mode,
each subsequent unit does not enable Safe Limited Speed until the previous unit
has reached the Safe Speed Limit.
Door Monitoring and Enabling Switch Monitoring functions are not allowed in
this mode.
Slave, Safe Limited Speed
Status Only Parameter List
To configure the drive for Slave, Safe Limited Speed Status Only monitoring, set
these parameters in addition to the Slave, Safe Stop parameters listed on
and the Slave, Safe Limited Speed parameters listed on
. See
for details on configuring slave drives.
Table 28 - Slave, Safe Limited Speed Status Only Parameters
TIP
Only the middle and last drive in a multi-axis system can be configured for
slave modes.
Tab
Parameter Name
Description
Values
(Safety Configuration Tool)
Safety
Change System
Configuration
System Configuration
Defines whether the drive is a single unit or if it occupies
a first, middle, or last position in a multi-axis cascaded
system.
Options:
Cascaded Middle Unit
Cascaded Last Unit
Operation Mode
Defines the primary operating mode of the speed
monitoring safety functions.
Option:
SafeStop-Safe Limited Speed Status Only
Safe Limited Speed
Change Safe Limited
Speed Configuration
Safe Limited Speed
Hysteresis
Provides hysteresis for SLS_Out output when Safe
Limited Speed monitoring is active.
Default:
0
Range:
10…100% when [Operation Mode] =
SafeStop-SafeLimitedSpeedStatusOnly