Slave, safe limited speed mode, Slave, safe limited speed parameters – Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual User Manual
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96
Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
Chapter 8
Slave Modes for Multi-axis Cascaded Systems
Slave, Safe Limited Speed
Mode
When properly configured for Slave, Safe Limited Speed mode, the drive
performs the same functions as Safe Limited Speed 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. Door Monitoring,
Enabling Switch Monitoring, and Lock Monitoring functions are not allowed in
this mode.
For the door to unlock, all axes must be below safe limited speed.
Slave, Safe Limited Speed
Parameters
To configure the drive for Slave, Safe Limited Speed monitoring, set these
parameters in addition to the Slave, Safe Stop parameters listed on
. See
for details on configuring slave drives.
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.
Default:
SafeStop-Safe Limited Speed
Input
Change Input
Configuration Type
Safe Limited Speed
Configuration for the Safe Limited Speed input
(SLS_In).
Default:
Solid State Device Equivalent 3 s
Safe Limited Speed
Change Safe Limited
Speed Configuration
Safe Limited Speed
Monitor Delay
Defines the Safe Limited Speed Monitoring Delay
between the SLS_In ON to OFF transition and the
initiation of the Safe Limited Speed (SLS) monitoring.
Default:
0
Range:
0…6553.5 s
Safe Speed Limit
Defines the speed limit that is monitored in Safe Limited
Speed (SLS) mode.
Default:
0
(1)
Range:
0…65,535 rpm or mm/s
ratio based on revolutions or millimeters configuration
defined by the [Primary Feedback Units] parameter
(1) You must configure this parameter with a non-zero value in this mode.