Reference Manual Owner's manual

110 Rockwell Automation Publication 750-RM001F-EN-P - February 2012
Chapter 8 Slave Modes for Multi-axis Cascaded Systems
Multi-axis Connections
When configuring a multi-axis system, you need to consider the location of each
safety option in the system. The type of cascaded connections that can be made
are dependent upon the Safety mode configurations of the master and slave safety
options and their positions in the system.
Middle and last units in the cascaded chain may be configured for Automatic
reset. A single reset by the first unit also resets all following units in the chain. If a
fault occurs after the first axis in the cascaded chain, only the subsequent axis
enters the safe state. To reset all axes, you must cycle the SS_In input on the first
axis.
For slave units in a multi-axis system, the SS_In, SLS_In, and DM_In input
signal types (if used) must be configured for output switching signal devices
(OSSD) because the output from the previous unit is also configured for OSSD.
For middle or last units in multi-axis systems, 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.
For information on door control in the master unit, see Door Control
on
page 67
.
Typical Safety Mode Combinations Cascaded Connections Allowed
Master Safety Option First Slave Safety Option
(1)
(Second Safety Option 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) P20 [Cascaded Config] parameter equals Cascaded Middle Unit (Multi Mid).
(2) DC_Out to DM_In connections are required only for systems implementing door control or systems monitoring cascaded stopped status.