Rockwell Automation 2094-EN02D-M01-S0 Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference Manual - Manual (Page 27)

Rockwell Automation Publication 2094-RM002B-EN-P - May 2012 27
Chapter
4
Multi-axis Cascaded Systems
Introduction This chapter describes cascaded multi-axis drive operation and provides wiring
examples for cascaded multi-axis drive systems.
Cascaded Configurations For cascaded drives, connect the safety switches to the safety inputs (SS_In) of
only the first 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.
Figure 12 - Cascaded Connections
Topic Page
Cascaded Configurations 27
Safe Stop Wiring Examples 28
Reset
Test_Out_0 (IOD-27)
Test_Out_1 (IOD-28)
First Unit
Axis 1
SS_IN_CH2 (IOD-23)
SS_IN_CH3 (IOD-24)
24VPWR (IOD-14)
24VCOM (IOD-15)
SPWR (IOD-17)
SCOM (IOD-18)
SS_IN_CH1 (IOD-20)
SS_IN_CH0 (IOD-19)
Middle Unit
Axis 2
Last Unit
Axis 3
RESET_REF (IOD-25)
RESET_IN (IOD-26)
SS_IN_CH2
SS_IN_CH3 SS_IN_CH2
SS_IN_CH3
Test_Out_0
Test_Out_1
24VPWR
24VCOM
SPWR
SS_IN_CH1
SS_IN_CH0
RESET_REF
RESET_IN
(IOD-21) SS_OUT_CH0
(IOD-22) SS_IN_CH1
SS_OUT_CH0
SS_IN_CH1
SS_OUT_CH0
SS_IN_CH1
SCOM SCOM
Test_Out_0
Test_Out_1
24VPWR
24VCOM
SPWR
SS_IN_CH1
SS_IN_CH0
RESET_REF
RESET_IN
Dual-channel
Equivalent
Safety Device