Reference Manual Owner's manual

Rockwell Automation Publication 750-RM001F-EN-P - February 2012 99
Slave Modes for Multi-axis Cascaded Systems Chapter 8
Slave, Safe Stop Parameter
List
To configure the safety option for a Slave, Safe Stop mode, set these parameters.
See Multi-axis Connections
on page 110 for details on configuring slave safety
options.
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.
Option: 8 = “Slv Safe Stp” RW 8-bit
Integer
Stop
44 Safe Stop Input
Safe Stop Input
Configuration for Safe Stop input (SS_In).
“2 OSSD 3s” (5) – Dual-channel SS equivalent 3 s
Options 5 = “2 OSSD 3s” RW 8-bit
Integer
45 Safe Stop Type
Safe Stop Type
Safe operating stop type selection. This defines the type of Safe Stop that is performed if
the Safe Stop function is initiated by a stop type condition.
Default:
Options:
0 = “Torque Off”
0 = “Torque Off”
1 = “Safe Stop 1”
2 = “Safe Stop 2”
3 = “Torque Off NoCk”
RW 8-bit
Integer
46 Stop Mon Delay
Stop Monitoring Delay
Defines the monitoring delay between the request and the Max Stop Time when the
request for a Safe Stop 1 or a Safe Stop 2 is initiated by an SS_In input ON to OFF
transition.
If the Safe Stop Type is Safe Torque Off With or Without Standstill Speed Checking, the
Stop Monitor Delay must be 0 or a Invalid Configuration Fault occurs.
Units:
Default:
Min/Max:
Secs
0
0 / 6553.5
RW 16-bit
Integer
47 Max Stop Time
Maximum Stop Time
Defines the maximum stop delay time that is used when the Safe Stop function is
initiated by a stop type condition.
Units:
Default:
Min/Max:
Secs
0
0 / 6553.5
RW 16-bit
Integer
48 Standstill Speed
Standstill Speed
Defines the speed limit that is used to declare motion as stopped.
Units are based on rotary or linear configuration defined by P29 [Fbk 1 Units].
Not valid for Safe Torque Off without Standstill Checking.
Units:
Default:
Min/Max:
RPM
mm/s
0.001
0.001/ 65.535 RPM
000/ 65.535 mm/s
RW 16-bit
Integer
49 Standstill Pos
Standstill Position
Defines the position limit window in encoder 1 degrees or mm that will be tolerated
after a safe stop condition has been detected.
Degrees (360° = 1 revolution) or mm based on rotary or linear configuration defined by
P29 [Fbk 1 Units].
Not valid for Safe Torque Off without Standstill Checking.
Units:
Default:
Min/Max:
Deg
mm
10
0 / 65,535 deg
0 / 65.535 mm
RW 16-bit
Integer
50 Decel Ref Speed
Deceleration Reference Speed
Determines deceleration rate to monitor for Safe Stop 1 or Safe Stop 2.
Units are based on rotary or linear configuration defined by encoder 1 feedback
configuration, P29 [Fbk 1 Units].
Units:
Default:
Min/Max:
RPM
mm/s
0
0 / 65,535 RPM
0 / 65,535 mm/s
RW 16-bit
Integer
51 Stop Decel Tol
Stop Deceleration Tolerance
This is the acceptable tolerance above the deceleration rate set by the Decel Ref Speed
parameter.
Units:
Default:
Min/Max:
%
0
0 / 100
RW 8-bit
Integer