Figure 28, Figure 28 - cascaded connections – Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual User Manual
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Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 8
Slave Modes for Multi-axis Cascaded Systems
Figure 28 - Cascaded Connections
The inputs from the safety switches are monitored by the first (master) drive. A
Safe Limited Speed Reset detected by the first drive is cascaded to the subsequent
drives via the SLS_Out to SLS_In chain. Although all units can be configured for
any reset type, we recommend using automatic reset in all slave units to follow the
master units reset type.
Any fault or transition of the SS_In input to OFF is detected by the first drive
and initiates the configured [Stop Category] to all of the drives via the SS_Out to
SS_In chain.
Any fault in a slave drive initiates the configured [Stop Category] only to that
drive and to slave drives further down the chain.
SLS_OUT_CH1 IOD-30
SLS_OUT_CH0 IOD-29
SS_OUT_CH1 IOD-22
SS_OUT_CH0 IOD-21
SLS_OUT_CH1 IOD-30
SLS_OUT_CH0 IOD-29
SS_OUT_CH1 IOD-22
SS_OUT_CH0 IOD-21
SLS_OUT_CH1 IOD-30
SLS_OUT_CH0 IOD-29
SS_OUT_CH1 IOD-22
SS_OUT_CH0 IOD-21
IOD-20 SS_IN_CH1
IOD-19 SS_IN_CH0
IOD-20 SS_IN_CH1
IOD-19 SS_IN_CH0
IOD-20 SS_IN_CH1
IOD-19 SS_IN_CH0
IOD-24 SLS_IN_CH1
IOD-23 SLS_IN_CH0
IOD-24 SLS_IN_CH1
IOD-23 SLS_IN_CH0
IOD-24 SLS_IN_CH1
IOD-23 SLS_IN_CH0
IOD-38 ESM_IN_CH1
IOD-37 ESM_IN_CH0
IOD-38 ESM_IN_CH1
IOD-37 ESM_IN_CH0
IOD-38 ESM_IN_CH1
IOD-37 ESM_IN_CH0
IOD-28 TEST_OUT_CH1
IOD-27 TEST_OUT_CH0
IOD-28 TEST_OUT_CH1
IOD-27 TEST_OUT_CH0
IOD-28 TEST_OUT_CH1
IOD-27 TEST_OUT_CH0
IOD-32 DM_IN_CH1
IOD-31 DM_IN_CH0
IOD-32 DM_IN_CH1
IOD-31 DM_IN_CH0
IOD-32 DM_IN_CH1
IOD-31 DM_IN_CH0
DM_OUT_CH1 IOD-36
DM_OUT_CH0 IOD-35
DM_OUT_CH1 IOD-36
DM_OUT_CH0 IOD-35
DM_OUT_CH1 IOD-36
DM_OUT_CH0 IOD-35
IOD-34 LM_IN_CH1
IOD-33 LM_IN_CH0
IOD-25 RESET_REF
IOD-26 RESET_IN
IOD-26 RESET_IN
IOD-26 RESET_IN
IOD-18
IOD-18
IOD-18
IOD-17
IOD-17
IOD-17
12
22
34
11
21
33
A1
A2
42
41
52
51
Safe Stop Input
Safe Limited Speed Input
Enabling Switch Monitor Input
Manual Reset
First Axis
Feedback
Second Axis
Feedback
Third Axis
Feedback
Middle Axis
(Slave)
Axis 2
First Axis
(Master)
Axis 1
To Door
Control
Solenoid
(3)
Auto Reset
(1)
Last Axis
(Slave)
Axis 3
Lock Monitor Input
(2)
Door Monitor Input
TLS3-GD2
440G-T27260
Power to Release
24V DC
Common
24V DC
(1) Automatic reset is selected for middle and last cascaded units if a single reset input to the master unit is used. A single reset by the first unit resets all following units in the cascaded system. If a
fault occurs after the first axis in the cascaded chain, only the subsequent axes enter the safe state. Reset is accomplished either manual or manual monitored by applying IOD-25 RESET_Ref to
IOD-26 RESET_In. To reset all axes, you must cycle the SS_Input on the first axis.
(2) The Enabling Switch Monitor Input and Lock Monitor Input are connected to only the master axis.
(3) The Cascaded Last Unit DC output is conected to the door control solenoid to indicate that the door monitor output is terminated and encompasses the master, middle, and last units in the chain.
Auto Reset
(1)
IMPORTANT
Safe Stop monitoring is not initiated for non-faulted units earlier in the
cascaded chain.
IMPORTANT
The safety reaction time for a cascaded system includes the sum of the
reaction times of each drive in the chain.