Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 102)

102 Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 8 Slave Modes for Multi-axis Cascaded Systems
For middle or last units in multi-axis systems, 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.
For information on door control in the master unit, see Door Control on
page 64 .
Figure 36 - Multi-axis Connections
This table shows the supported Operation modes for slave drives (
n+1) cascaded
from slaves (
n).
Figure 37 - Slave Drive Operation Modes
Typical Operation Mode Combinations Cascaded Connections Allowed
Master Drive
First Slave Drive (1)
(Second Drive in System)
SS_Out to
SS_In SLS_Out to
SLS_In DC_Out to
DM_In
(2)
Safe Stop Slave - Safe Stop Yes – Yes
Safe Stop with Door Monitoring Slave - Safe Stop Yes – Yes
Safe Limited Speed Slave - Safe Stop Yes – Yes
Slave - Safe Limited Speed Yes Yes Yes
Safe Limited Speed with Door Monitoring Slave - Safe Stop Yes – Yes
Slave - Safe Limited Speed Yes Yes Yes
Safe Limited Speed with Enabling Switch Monitoring Slave - Safe Stop Yes – Yes
Slave - Safe Limited Speed Yes Yes Yes
Safe Limited Speed with Door Monitoring and Enabling
Switch Monitoring Slave - Safe Stop Yes – Yes
Slave - Safe Limited Speed Yes Yes Yes
Safe Limited Speed Status Only Slave - Safe Stop Yes – Yes
Slave - Safe Limited Speed Status Only Yes Yes –
(1) [System Configuration] parameter equals Cascaded Middle Unit.
(2) DC_Out to DM_In connections are required only for systems implementing door control or systems monitoring cascaded stopped status.
Supported Operation Mode Combinations Cascaded Connections Allowed
Slave Drive (n) Slave Drive (n+1)
SS_Out to
SS_In
SLS_Out to
SLS_In
DC_Out to
DM_In
(1)
Slave - Safe Stop Slave - Safe Stop Yes — Yes
Slave - Safe Limited Speed Slave - Safe Stop Yes — Yes
Slave - Safe Limited Speed Yes Yes Yes
Slave - Safe Limited Speed Status Only Slave - Safe Stop Yes — Yes
Slave - Safe Limited Speed Status Only Yes Yes Yes
(1) DC_Out to DM_In connections are required only for systems implementing door control.