Reference Manual Owner's manual

Rockwell Automation Publication 750-RM001F-EN-P - February 2012 107
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 page 91
. However, the safety option
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 safety option 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 safety option for Slave, Safe Limited Speed Status Only
monitoring, set these parameters in addition to the Slave, Safe Stop parameters
listed on page 99
and the Slave, Safe Limited Speed parameters listed on
page 104
. See Multi-axis Connections on page 110 for details on configuring
slave safety options.
TIP
Only the middle and last safety option in a multi-axis system can be configured
for slave modes.
File Group
No. Display Name
Full Name
Description
Values
Read-Write Data Type
HOST GROUPS
General
20 Cascaded Config
Cascaded Configuration
Defines whether the speed monitoring safety option is a single unit or if it occupies a
first, middle, or last position in a multi-axis cascaded system.
Options: 2 = “Multi Mid”
3 = “Multi Last”
RW 8-bit
Integer
21 Safety Mode
Safety Mode
Defines the primary operating mode of the speed monitoring safety functions.
“Slv Spd Stat” (10) - Slave, Safe Limited Speed Status Only
Option: 10 = “Slv Spd Stat” RW 8-bit
Integer
Limited Speed
56 Speed Hysteresis
Speed Hysteresis
Provides hysteresis for SLS_Out output when Safe Limited Speed monitoring is active.
0% when P21 [Safety Mode] = 1, 2, 3, 4, 5, 6, 8, or 9
10…100% when P21 [Safety Mode] = 7 or 10
Units:
Default:
Min/Max:
%
0
0 / 100
RW 8-bit
Integer