Guard IO DeviceNet Safety Modules User Manual - 1791ds-Um001 - En-P
Guard IO DeviceNet Safety Modules User Manual - 1791ds-Um001 - En-P
Guard IO DeviceNet Safety Modules User Manual - 1791ds-Um001 - En-P
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Rockwell Software, Rockwell Automation, GuardLogix, SmartGuard, RSNetWorx, RSLogix, Logix 5000, Studio 5000, Guard I/O, CompactBlock, and TechConnect are trademarks of Rockwell Automation,
Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Summary of Changes
This manual contains new and updated information. Changes throughout this
revision are marked by change bars, as shown to the right of this paragraph.
Page
Additional Resources
10
Programming Requirements
19
Safety Data
161
Summary of Changes
Notes:
Table of Contents
Preface
Chapter 1
About the Modules
13
14
14
17
17
19
19
19
21
Chapter 2
Understand the Operation of Safety
Functions
25
26
26
26
26
27
29
30
30
31
33
33
34
36
36
37
37
38
38
39
39
40
40
41
41
41
Table of Contents
Chapter 3
Install and Connect Your Modules
43
44
45
46
46
Chapter 4
Wiring Examples
Input Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency Stop Switch Dual-channel Inputs with Manual Reset .
Two-hand Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mode Select Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Light Curtain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reset Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Source Output Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Redundant Safety Contactors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bipolar Output Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dual-load Bipolar Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relay Output Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relay Outputs with Dual-channel Mode and External Device
Monitoring Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interlock String. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test Output Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Muting Lamp Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
48
49
50
51
52
53
53
54
55
55
56
57
57
58
59
59
60
Chapter 5
Configure Modules with the Logix
Designer Application
61
62
64
70
71
73
73
74
76
77
79
Table of Contents
Chapter 6
Configure Modules in
RSNetWorx for DeviceNet Software
Chapter 7
Considerations When Replacing
Guard
I/O Modules
115
116
117
117
121
121
126
Chapter 8
Interpret Status Indicators
Module Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Module Status and Network Status Indicators Combination. . . . . . . .
1791DS-IB12, 1791DS-IB8XOB8, and 1791DS-IB4XOW4
Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1732DS-IB8XOBV4, 1732DS-IB8, 1791DS-IB8XOBV4, and
1791DS-IB16 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
129
130
131
133
Appendix A
Get Point Status from Modules by
Using Explicit Messaging
137
138
142
145
148
Table of Contents
148
152
155
157
158
Appendix B
Safety Data
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Appendix C
Configuration Reference Information Understanding Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Allocate Remote I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
I/O Data Supported by Each Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Index
Preface
Read and understand this manual before using the described products. Consult
your Rockwell Automation representative if you have any questions or
comments. This manual describes how to use the Guard I/O modules.
This manual is intended for users of ArmorBlock and CompactBlock Guard I/O
modules. Hereafter, in this manual we refer to the modules as Guard I/O
modules.
The Studio 5000 environment is the foundation for the future of Rockwell
Automation engineering design tools and capabilities. This environment is the
one place for design engineers to develop all of the elements of their control
system.
Preface
Additional Resources
Refer to the following as needed for additional help when setting up and using
your modules. For specifications refer to the relevant installation instructions.
You can view or download publications at
http://www.rockwellautomation.com/literature. To order paper copies of
technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.
Resource
Description
10
Provides detailed specifications and information related to installation of these Guard I/O
modules: 1791DS-IB12, 1791DS-IB8XOB8, and 1791DS-IB4XOW4.
Provides information on how to install, configure, program, and use GuardLogix 5570
controllers in Studio 5000 Logix Designer projects.
Provides information on safety application requirements for GuardLogix 5560 and 5570
controllers in RSLogix 5000 projects.
Provides information on how to install, configure, program, and use GuardLogix 5560 and
5570 controllers in RSLogix 5000 projects.
Explains how the GuardPLC control system can be used in safety applications.
Describes the required media components and how to plan for and install these required
components.
ODVA Planning and Installation Manual, publication 00027, available from the
EtherNet/IP Library at ODVA.org
Describes the required media components and how to plan for and install these required
components.
Preface
Terminology
Term
Meaning
Bus off
Indicates a status of very high error-count occurrence on a communication cable. A bus off error is detected when the internal error counter counts more
errors than the predetermined threshold value. (The error counter returns to zero when the master is started or restarted.)
Connection
Logical communication channel for communication between nodes. Connections are maintained and controlled between masters and slaves.
CRTL
DeviceNet safety
EDS
Acronym for electronic data sheet, a template that RSNetWorx for DeviceNet software uses to display the configuration parameters, I/O data profile, and
connection-type support for a given DeviceNet safety module. These are text files used by RSNetWorx for DeviceNet software to identify products and
commission them on a network.
L-
MTBF
Acronym for mean time between failure, the average time between failure occurrences.
ODVA
Acronym for Open DeviceNet Vendor Association, a nonprofit association of vendors established for the promotion of DeviceNet networks.
PFD
Acronym for probability of failure on demand, the average probability of a system to fail to perform its design function on demand.
PFH
Acronym for probability of failure per hour, the probability of a system to have a dangerous failure occur per hour.
Proof test
Periodic test performed to detect failures in a safety-related system so that, if necessary, the system can be restored to an as-new condition or as close as
practical to this condition.
S+
SNN
Acronym for safety network number, which uniquely identifies a network across all networks in the safety system. You are responsible for assigning a
unique number for each safety network or safety sub-net within a system.
Standard
11
Preface
Notes:
12
Chapter
Topic
Page
14
14
17
17
19
19
21
This chapter includes important overview information and precautions for using
Guard I/O modules that implement the DeviceNet safety protocol. Also
included is an overview of how these Guard I/O modules are used within a safety
system.
Always observe the following guidelines when using a module, noting that in this
manual we use safety administrator to mean a person qualified, authorized, and
responsible to secure safety in the design, installation, operation, maintenance,
and disposal of the machine.
Thoroughly read and understand this manual before installing and
operating the module.
Keep this manual in a safe place where personnel can refer to it when
necessary.
Use the module properly according to the installation environment,
performance, and functions of the machine.
Verify that a safety administrator conducts a risk assessment on the
machine and determines module suitability before installation.
Verify for CE LVD compliance, the external power supply that provides
power to the modules is safety extra-low voltage (SELV) rated. Some
Rockwell Automation Bulletin 1606 power supplies are SELV-compliant.
Verify this in the Bulletin 1606 Installation Instructions.
Verify that the Guard I/O firmware version is correct prior to commissioning the
safety system, noting that firmware information related to safety controllers is
available at http://www.rockwellautomation.com/products/certification/safety.
13
Chapter 1
14
Chapter 1
15
Chapter 1
L2 L3
F4
F5
MA
MB
F3
F1
TR1
F6
F7
F8
F2
MA
F1F8 - Fuses
MA, MB - Electromagnetic Switches
TR1 - Insulated Transformer
MB
Load
III
Over-voltage Category
II
44151
16
Chapter 1
The Guard I/O modules implement the CIP-safety protocol extensions over
DeviceNet networks and provide various features for a safety system.
Use the modules to construct a safety-control network system that meets the
requirements up to Safety Integrity Level 3 (SIL 3) as defined in IEC 61508,
Functional Safety of Electrical, Electronic, and Programmable Electronic Safetyrelated Systems, and the requirements for Safety Category 4 of the EN 954-1
standard, Safety of machinery - Safety related parts of control systems. All
1791DS modules can be mounted vertically or horizontally.
Remote I/O communication for safety I/O data are performed through safety
connections supporting CIP safety over a DeviceNet network. Data processing is
performed in the safety controller.
The status and fault diagnostics of Guard I/O modules are monitored by a safety
controller through a safety connection using a new or existing DeviceNet
network.
17
Chapter 1
18
Chapter 1
Programming Requirements
Cat. No.
1732DS-IB8,
1732DS-IB8XOBV4,
1791DS-IB12,
1791DS-IB8XOB8,
1791DS-IB4XOW4,
1791DS-IB8XOBV4,
1791DS-IB16
21
17
2.51
See the table for a listing of the types of Guard I/O modules.
Description
Safety Outputs
Solid State
Relays
1732DS-IB8
Meets IP64/65/ 8
67
8
1732DS-IB8XOBV4
4 bipolar
pairs
1791DS-IB12
Meets IP20
12
1791DS-IB8XOB8
1791DS-IB4XOW4
1791DS-IB8XOBV4
4 bipolar
pairs
1791DS-IB16
16
16
19
Chapter 1
GuardLogix Controller
Guard PLC Controller
SmartGuard 600
Controller
DeviceNet
Scanner
Interface
Logix Controller
DeviceNet Network
CompactBlock
Guard I/O Module
RSNetWorx,
Studio 5000, and
RSLogixGuard Plus Software
ArmorBlock Guard I/O
Module
44196
Safety Communication
Standard Communication
Safety controllers control the safety outputs. Safety or standard PLC controllers
can control the standard outputs.
20
Chapter 1
See the figures for module identification. For pin-out information, refer to the
relevant installation instructions.
Figure 3 - 1791DS-IB4XOW4 Module Identification
Status Indicators
Safety Relay
Communication
Connector
I/O Connections
44195
IN
PWR
MS NS LOCK
0 1 2 3 4 5 6 7
OUT
PWR
1791DS-IB8XOB8
0 1 2 3 4 5 6 7
CompactBlock
8 Inputs - 8 Outputs 24VDC
Communication
Connector
44091
I/O Connections
MS NS LOCK
IN
PWR
0 1 2 3 4 5 6 7
8 9 10
11
CompactBlock
12 Inputs 24VDC
1791DS-IB12
Communication
Connector
44091
I/O Connections
21
Chapter 1
0
8
6
2
X10
Status Indicators
4
4 NODE 6
X1
ADR
Communication Connector
44224
Communication
Connector
44123
I/O
Power
Inputs
Status Indicators
FE
Node Address
Switches
Communication
Connector
44122
Inputs
Status Indicators
FE
I/O Power
22
Chapter 1
FE
I8
I9
T8
T9
I10
I11
T10
T11M
2
X10
I13
T12
I4
I5
T4
T13
I14
I15
T 14
T15M
I6
I7
T6
T7M
0
6
I12
1791DSIB16
NC NC
Status Indicators
4
4 NODE 6
X1
ADR
16 INPUTS
24 Vdc
FE
I0
I1
Communication Connector
T0
T1
I2
I3
T2
T3M
T5
44118
23
Chapter 1
Notes:
24
Chapter
Topic
Page
25
Self-diagnostic Functions
26
Configuration Lock
26
26
Safety Inputs
26
34
Safety Outputs
36
Controlling Devices
38
Safety Precautions
38
39
EC Directives
41
Read this chapter for information related to the safety functions of the modules.
Also included is a brief overview on international standards and directives that
you should be familiar with.
The following status is the safety state of the Guard I/O modules:
Safety outputs: off
Safety input data to network: off
Figure 10 - Safety Status
DeviceNet Network
Inputs to Network
Safety
Status
Output Off
Input
44076
25
Chapter 2
The module is designed for use in applications where the safety state is the off
state.
Self-diagnostic Functions
Configuration Lock
After configuration data has been downloaded and verified, the configuration
data within the module can be protected by using RSNetWorx for DeviceNet
software.
For GuardLogix systems, this status indicator is not used. Reference information
about safety signatures in the GuardLogix Controller Systems Safety Reference
Manual, publication 1756-RM093 or the GuardLogix 5570 Controller System
Safety Reference Manual, publication 1756-RM099.
In addition to I/O data, the module provides status data for monitoring the I/O
circuits. The status data includes the following data, which can be read by the
controllers. Note that 1 = ON/Normal and 0 = OFF/Fault/Alarm.
Individual Point Input Status
Combined Input Status
Individual Point Output Status
Combined Output Status
Individual Test Output Status
Individual Output Readback (actual ON/OFF state of the outputs)
Status data indicates whether each safety input, safety output, or test output is
normal (normal status: ON, faulted status: OFF). For fatal errors,
communication connections may be broken, so the status data cannot be read.
Status bits are OFF in the GuardLogix data table when the connection is lost.
Combined status is provided by an AND of the status of all safety inputs or all
safety outputs. When all inputs or outputs are normal the respective combined
status is ON. When one or more of them has an error, the respective combined
status is OFF. This is known as the combined safety input status or combinedsafety output status.
Safety Inputs
26
Read this section for information about safety inputs and their associated test
outputs. A safety input may be used with test outputs. Safety inputs are used to
monitor safety input devices.
Chapter 2
Safety Input
Terminal
External Contact
44078
24V
Cat. No.
1732DS-IB8
500 s
600 ms
1732DS-IB8XOBV4
500 s
600 ms
1791DS-IB12
700 s
648 ms
1791DS-IB8XOB8
700 s
648 ms
1791DS-IB4XOW4
700 s
648 ms
1791DS-IB8XOBV4
500 s
600 ms
1791DS-IB16
500 s
600 ms
OUT
X
Off
27
Chapter 2
When the external input contact is closed, a test pulse is output from the test
output terminal to diagnose the field wiring and input circuitry. Using this
function, short-circuits between input signal lines and the power supply (positive
side), and short-circuits between input signal lines can be detected.
Figure 13 - Short-circuit Between Input Signal Lines
24V
G
24V
0V
T0
External Contact
IN0
T1
External Contact
IN1
44079
28
Chapter 2
T0
24V
0V
ON
External Device
OFF
Input Terminal 0
ON
OFF
Safety Input 0
Remote
I/O
Data
ON
OFF
Safety Input
Status 0
ON
OFF
24V
Fault Detection
T0
0V
ON
External Device
OFF
Input Terminal 0
ON
OFF
ON
Fault Detected
Safety Input 0
OFF
Remote
I/O
Data
Safety Input
Status 0
ON
OFF
29
Chapter 2
The dual-channel function is used with two consecutive inputs that are
paired together, starting at an even input number, such as inputs 0 and 1, 2
and 3, and so on.
IMPORTANT
Do not set the discrepancy time longer than necessary. The purpose of the
discrepancy time is to allow for normal differences between contact
switching when demands are placed on safety inputs. For this testing to
operate correctly, only a single demand on the safety input is expected
during the discrepancy time. If the discrepancy time is set too high, and
multiple demands occur during this time, then both safety input channels
will fault.
This table shows the relation between input terminal states and controller input
data and status.
Table 1 - Terminal Input Status and Controller I/O Data
Dual-channel Mode
Dual-channels, Equivalent
Dual-channels,
Complementary
Input Terminal
IN0
IN1
Safety
Input 1 Status
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
OFF
ON
OFF
ON
ON
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
OFF
OFF
ON
ON
ON
OFF
ON
ON
OFF
OFF
ON
OFF
ON
ON
OFF
Dual-channels, Equivalent
In Equivalent mode, both inputs of a pair should typically be in the same
(equivalent) state. When a transition occurs in one channel of the pair prior to
the transition of the second channel of the pair, a discrepancy occurs. If the
second channel transitions to the appropriate state prior to the discrepancy time
elapsing, the inputs are considered equivalent. If the second transition does not
occur before the discrepancy time elapses, the channels will fault. In the fault state
the input and status for both channels are set low (off ). When configured as an
30
Chapter 2
equivalent dual pair, the data bits for both channels will always be sent to the
controller as equivalent, both high or both low.
Figure 15 - Equivalent, Normal Operation and Fault Detection (not to scale)
Normal Operation
IN0
ON
OFF
ON
IN1
OFF
Discrepancy Time
Safety Input 0
ON
OFF
Remote
I/O
Data
Safety Input 1
ON
OFF
ON
Safety Input
Status 0, 1
Fault Detection
OFF
ON
IN0
OFF
ON
IN1
OFF
Discrepancy Time
Safety Input 0
ON
OFF
Remote
I/O
Data
ON
Safety Input 1
OFF
Safety Input
Status 0, 1
ON
Fault Detected
OFF
Dual-channels, Complementary
In Complementary mode, the inputs of a pair should typically be in the opposite
(complementary) state. When a transition occurs in one channel of the pair prior
to the transition of the second channel of the pair, a discrepancy occurs. If the
second channel transitions to the appropriate state prior to the discrepancy time
elapsing, the inputs are considered complementary.
If the second transition does not occur before the discrepancy time elapses, the
channels will fault. The fault state of complementary inputs is the evennumbered input turned off and the odd-numbered input turned on. Note that if
faulted, both channel status bits are set low. When configured as a
31
Chapter 2
complementary dual-channel pair, the data bits for both channels will always be
sent to the controller in complementary, or opposite states.
Figure 16 - Complementary, Normal Operation and Fault Detection (not to scale)
Normal
Operation
IN0
ON
OFF
ON
IN1
OFF
Safety Input 0
ON
Discrepancy Time
OFF
Remote
I/O
Data
Safety Input 1
ON
OFF
ON
Safety Input
Status 0, 1
OFF
ON
Fault Detection
IN0
OFF
ON
IN1
OFF
Safety Input 0
Discrepancy Time
ON
OFF
Remote
I/O
Data
ON
Safety Input 1
OFF
Safety Input
Status 0, 1
32
ON
OFF
Fault Detected
Chapter 2
Input Delays
On-delay - An input signal is treated as Logic 0 during the on-delay time (0126
ms, in increments of 6 ms) after the input contacts rising edge. The input turns
on only if the input contact remains on after the on-delay time has elapsed. This
helps prevent rapid changes of the input data due to contact bounce.
Figure 17 - On-delay
Input Signal
Signal
Input
ON
ON
OFF
OFF
Remote I/O
Remote
I/O Data
Data
Safety
Safety Input
Input
ON
ON
OFF
OFF
44094
On-delay
ON-delay
Off-delay - An input signal is treated as Logic 1 during the off-delay time (0126
ms, in increments of 6 ms) after the input contacts falling edge. The input turns
off only if the input contact remains off after the off delay time has elapsed. This
helps prevent rapid changes of the input data due to contact bounce.
Figure 18 - Off-delay
Input
InputSignal
Signal
ON
OFF
OFF
ON
ON
OFF
OFF
Off-delay
OFF-delay
44095
33
Chapter 2
When test outputs are used as muting outputs, typically for a muting lamp, a
circuit test is used to diagnose whether the circuit and lamp are operational. The
muting circuit test is run every 3 seconds, regardless of whether the circuit is logic
HI or LO. This could cause your muting output to flicker during normal
operation when it is logic LO.
The muting circuit test must fail twice in succession when the muting circuit is
logically HI, before a fault is declared. The results of the muting circuit test do
not affect the muting status when the circuit is logically LO.
A muting circuit fault will cause the muting status bit to go LO.
A muting circuit fault is declared 36 seconds after the fault occurs if the muting
circuit is logically HI for at least 6 seconds, because of the 3-second test interval
and that the muting circuit test must fail twice in successession. If the muting
circuit is logically HI for less than 6 seconds during a machine cycle, then the
asynchronous test and program scans could cause the fault detection to be
delayed for several machine cycles.
There is a difference in the operation of the muting status between some of the
DeviceNet safety I/O modules. This table shows the operation of the muting
status of all modules.
Cat. No.
Lamp
Circuit
Description
1791DS-IB16(1)
HI
Good
Bad
1791DS-IB8XOBV4(1)
1732DS-IB8(1)
1732DS-IB8XOBV4(1)
1791DS-IB12
HI
Good
Bad
Good
Bad
1791DS-IB8XOB8
1791DS-IB4XOW4
Good
Bad
(1) This modules muting status bit goes LO when a fault occurs or when the circuit is logically LO.
Chapter 2
In this code, the actual muting status bit is used in the first rung, and
the DN bit of the timer is used in the muting status parameter of the
instruction. The actual test output data bit is used in both the first and
last rungs.
35
Chapter 2
Safety Outputs
1732DS-IB8
Not applicable
Not applicable
1732DS-IB8XOBV4
700 s
600 ms
1791DS-IB12
Not applicable
Not applicable
1791DS-IB8XOB8
470 s
648 ms
1791DS-IB4XOW4
Not applicable
Not applicable
1791DS-IB8XOBV4
700 s
600 ms
1791DS-IB16
Not applicable
Not applicable
OUT
X
Off
44096
IMPORTANT
36
Chapter 2
Dual-channel Setting
When the data of both channels is in the on state, and neither channel has a fault,
the outputs are turned on. The status is normal. If a fault is detected on one
channel, the safety output data and individual safety output status turn off for
both channels.
Figure 20 - Dual-channel Setting (not to scale)
Normal Operation
OUT0
ON
OFF
ON
OUT1
OFF
Remote
I/O
Data
Safety Output
Status 0, 1
ON
OFF
ON
Fault Detection
OUT0
OUT1
OFF
ON
OFF
Remote
I/O
Data
Safety Output
Status 0, 1
ON
Error
Detected
OFF
37
Chapter 2
Controlling Devices
Requirement
Use approved devices with direct opening mechanisms complying with IEC/EN
60947-5-1.
Use approved devices with direct opening mechanisms complying with IEC/EN
60947-5-1 and capable of switching microloads of 24V DC, 3 mA.
Use approved devices complying with the relevant product standards,
regulations, and rules in the country where used.
Use approved devices with forcibly-guided contacts complying with EN 50205. For
feedback purposes, use devices with contacts capable of switching micro loads of
24V DC, 3 mA.
Evaluate whether devices used are appropriate to satisfy the requirements of
safety category levels.
Safety Precautions
ATTENTION: As serious injury may occur due to loss of required safety
function, follow these safety precautions.
Do not use test outputs of the modules as safety outputs.
Do not use DeviceNet standard I/O data or explicit message data as
safety data.
Do not use LED status indicators on the I/O modules for safety
operations.
Do not connect loads beyond the rated value to the safety outputs.
Wire the Guard I/O modules properly so that 24V DC line does not touch
the safety outputs accidentally or unintentionally.
Clear previous configuration data before connecting devices to the
network.
Set unique DeviceNet node addresses before connecting devices to the
network.
Perform testing to confirm that all of the device configuration data and
operation is correct before starting system operation.
When replacing a device, configure the replacement device suitably and
confirm that it operates correctly.
When installing or replacing modules, clear any previous configuration
before connecting input or output power to the device.
38
Chapter 2
Read this section to familiarize yourself with related legislation and standards
information. Relevant international standards include the following:
IEC 61508 (SIL 1-3)
IEC 61131-2
IEC 60204-1
IEC 61000-6-2
IEC 61000-6-4
IEC 62061
The modules received the following certification from ODVA, when product is
marked.
DeviceNet Conformance Test
DeviceNet Safety Conformance Test
Europe
In Europe, Guard I/O modules may be subject to the European Union (EU)
Machinery Directive Annex IV, B, Safety Components, items 1 and 2. The type
approval of TUV-Rheinland addresses compliance to applicable requirements of
the following directives and standards.
EU legislation
Machinery Directive
Low-voltage Directive
EMC Directive
European standards
EN 61508 (SIL1-3)
EN 954-1 (Category 4, 3, 2, 1, B)
EN 61131-2
EN 418
EN 60204-1
IEC 61000-6-2
IEC 61000-6-4
IEC 13849
39
Chapter 2
North America
In North America, the TUV-Rheinland type approval includes Guard I/O
compliance to the relevant standards and related information including the
following:
U.S. standards - ANSI RIA15.06, ANSI B11.19, NFPA 79
The modules are UL-certified functionally safe and carry the NRGF label,
when product is marked.
The modules received UL Listing to standards of U.S. and Canada when
product is marked.
Japan
In Japan, type test requirements are provided in Article 44 of the Industrial Safety
and Health Law. These requirements apply to complete systems and cannot be
applied to a module by itself. Accordingly, to use the module in Japan as a safety
device for press machine or shearing tool pursuant to Article 42 of the abovementioned law, it is necessary to apply for testing of the entire system.
40
EC Directives
Chapter 2
These products conform to the EMC Directive and Low-voltage Directive. For
additional information, refer to the relevant installation instructions.
EMC Directive
Rockwell Automation devices that comply with EC directives also conform to
the related EMC standards so that they can more easily be built into other devices
or the overall machine. The actual products have been checked for conformity to
EMC standards. Whether they conform to the standards in the system used by
the customer, however, must be confirmed by the customer.
EMC-related performance of Rockwell Automation devices that comply with
EMC directive vary depending on the configuration, wiring, and other
conditions of the equipment or control panel in which the Rockwell Automation
devices are installed. The customer must, therefore, perform the final check to
confirm that devices and the overall machine conform to EMC standards.
41
Chapter 2
30
(1.18)
13
(0.51)
33
(1.30)
29
(1.14)
31522-M
42
EXAMPLE
Wire the control panel with cables that are as short as possible and ground
to 100 or less.
EXAMPLE
Chapter
Topic
Page
43
44
45
46
46
43
Chapter 3
IMPORTANT
IMPORTANT
50 (1.96)
Min
End Plate
44
Wiring Duct
Wiring Duct
50 (1.96)
Min
Chapter 3
Wiring Duct
15 (0.6) Min
15 (0.6) Min
Wiring Duct
Any Object
15 (0.6) Min
15 (0.6) Min
Any Object
End Plate
44225
See module installation instructions for wire type and wire size specifications.
IMPORTANT
45
Chapter 3
Connect Communication
Connectors
Colored stickers on the communication connector match the colors of the wires
to be inserted. Check that the colors of the wires match when wiring the
connectors. The colors are as follows.
Color
Signal
Red
White
Shield
Blue
Black
IMPORTANT
The internal power for the module is supplied from the communication power
supply (V+, V-).
IMPORTANT
2
|
X10
X1
Tens Digit
Ones Digit
1. Set the node address by using the two rotary switches on the front panel of
the module, noting that the default setting is 63 and a value between
0063 is valid for proper use.
2. Use the left rotary switch to set the tens digit of node address (decimal).
3. Use the right rotary switch to set the ones digit.
If the node address switches are set from 6499, the node address needs to be set
from RSNetWorx for DeviceNet software.
46
Chapter
Wiring Examples
Topic
Page
Input Examples
47
53
55
57
59
Read this chapter for information about wiring and safety categories. These
examples show wiring and configuration methods for various safety categories
used in SIL 2 or SIL 3 systems.
For other wiring examples, refer to the Safety Accelerator Toolkit for GuardLogix
Systems CD, publication SAFETY-CL002, or download toolkit files from the
Integrated Architecture Tools and Resources website at
http://www.ab.com/go/iatools.
Input Examples
Read this section for input examples by application. For details, refer to the
installation instructions for each catalog number.
47
Chapter 4
Wiring Examples
FE
IN+
I0
I1
IN-
T0
T1
I2
T2
E1
S1
E1: 24V DC Power Supply
S1: Emergency Stop Switch
(positive opening mechanism)
S2: Reset Switch
FE: Functional Earth Ground
Controller
Configuration
Safety Input 0
Safety Input 1
Safety Input 2
48
Parameter Name
S2
31802-M
Configuration Setting
Test Output 0
Dual-channel Equivalent
Test Output 1
Not Used
Single Channel
Test Output 0
Test Output 1
Test Output 2
Wiring Examples
Chapter 4
Two-hand Monitor
This example shows wiring and controller configuration when using a Guard I/O
module with a two-hand monitor. If used in combination with the programs in a
safety controller, this wiring is Safety Category 4 in accordance with EN 954-1
wiring requirements.
S11
I0
I2
I1
I3
IN+
IN-
FE
T1
S12
T0
T2
T1
T3
T1
31803-M
E1
Controller
Configuration
Safety Input 0
Safety Input 1
Safety Input 2
Safety Input 3
Parameter Name
Configuration Setting
Test Output 0
Dual-channel Complementary
Test Output 1
Test Output 0
Dual-channel Complementary
Test Output 1
Test Output 0
Test Output 1
49
Chapter 4
Wiring Examples
FE
IN+
I0
I1
I2
I3
I4
I5
I6
I7
IN-
T0
T1
T2
T3
T4
T5
T6
T7
S1
E1
S1
S1
S1
S1
S1
S1
31804-M
Controller
Configuration
Safety Input 0
Safety Input 1
Safety Input 2
Safety Input 3
Safety Input 4
Safety Input 5
Safety Input 6
Safety Input 7
50
S1
Parameter Name
Configuration Setting
Safety Input
None
Single Channel
Safety Input
None
Safety Input
None
Single Channel
Safety Input
None
Safety Input
None
Single Channel
Safety Input
None
Safety Input
None
Single Channel
Safety Input
None
Wiring Examples
Chapter 4
Light Curtain
This example shows wiring and controller configuration when using a Guard I/O
module with a light curtain. If used in combination with the programs in a safety
controller, this wiring is Safety Category 2, 3, or 4, based on the light curtain
being used, in accordance with EN 954-1 wiring requirements.
FE
IN+
IN-
0SSD2
0SSD1
24
COM
T0
I0
E1
I1
T1
Controller
Configuration
Parameter Name
Configuration Setting
Safety Input 0
Safety
None
Dual-channel Equivalent
Safety
None
Safety Input 1
51
Chapter 4
Wiring Examples
Reset Switch
These examples show wiring and controller configuration when using a
Guard I/O module with a reset switch.
I0
T0
I1
T1
24V
31819-M
Controller
Configuration
Parameter Name
Configuration Setting
Safety Input 0
Standard
None
Test Output 0
I0
Single channel
Power supply
T0
I1
T1
24V
52
31820-M
Controller
Configuration
Parameter Name
Configuration Setting
Safety Input 0
Standard
None
Single channel
Wiring Examples
Chapter 4
Read this section for source output examples by application. For details, refer to
the installation instructions for each catalog number.
V0
IN0
V1
OUT 0
OUT 1
K2
G0
T0
G1
G1
G1
K1
K1
E1
K2
K2
E2
V0, G0: Input Power Connection
V1, G1: Output Power Connection
Parameter Name
31806-M
Configuration Setting
Test Output 0
Single Channel
Test Output 0
Safety Output 0
Dual-channel
Safety Output 1
53
Chapter 4
Wiring Examples
Single Channel
This example shows wiring and controller configuration when using a Guard I/O
module with a single channel. If used in combination with the programs in a
safety controller, this wiring is Safety Category 4 in accordance with EN 954-1
wiring requirements.
V0
IN0
V1
OUT 0
K1
G0
T0
G1
K1
FE1
K1
FE2
54
G1
31821-M
Wiring Examples
Chapter 4
Read this section for bipolar output examples by application. For details, refer to
the installation instructions for each catalog number.
K2
M
K1
PS1
IN+
PS2
IN-
OUT+
OU T-
FE
O0
P
O1
M
L-
S+
02
P
03
M
L-
S+
FE
I0
I1
T0
T1
I2
I3
T2
T3M
31807-M
K1
K2
Controller
Configuration
Parameter Name
Configuration Setting
Safety Input 0
Test Output 0
Single Channel
Test Output 0
Safety Output 0
Safety Output 1
55
Chapter 4
Wiring Examples
Single Channel
This example shows wiring and controller configuration when using a Guard I/O
module with a single channel. If used in combination with the programs in a
safety controller, this wiring is Safety Category 4 in accordance with EN 954-1
wiring requirements.
PS1
PS2
O0P
IN+
IN-
OUT+
OU T-
FE
O0P
O1M
K1
FE
56
I0
I1
K1
PS1, PS2: User 24V DC power supply. (A single
power supply can be used for both input and
output power.)
T0
T1
31822-M
Wiring Examples
Chapter 4
Read this section for relay output examples by application. For details, refer to the
installation instructions for each catalog number.
V0
I0
V1
K1
K2
G0
T0
G1
K1
E1
C1
C0
E2
F1
F2
K2
K2
K1
, E2: 24V DC Power Source
, K2: Magnetic Contactors
Three-phase Motor
, F2: Fuses
AC Supply
31808-M
Controller
Configuration
Parameter Name
Configuration Setting
Safety Input 0
Test Output 0
Single Channel
Test Output 0
Safety Output 0
Safety
Dual-channel
Safety Output 1
Safety
57
Chapter 4
Wiring Examples
Interlock String
This example shows wiring and controller configuration when using a Guard I/O
module with an interlock string. If used in combination with the programs in a
safety controller, this wiring is Safety Category 4 in accordance with EN 954-1
wiring requirements.
0e
24V 24V
OUT 0
C0
1
C0E
1e
C1
C1e
Robot
OUT 1
31823-M
58
Wiring Examples
Chapter 4
Read this section for test output examples by application. For details, refer to the
installation instructions for each catalog number.
SW1
Load
PS1
IN+
IN-
OUT+
FE
OU T-
I0
I1
T0
T1
I2
I3
T2
T3M
31809-M
Controller
Configuration
Safety Input 1
Test Pulse 0
Parameter Name
Configuration Setting
Standard Input
None
Single Channel
Standard Output
59
Chapter 4
Wiring Examples
IN-
FE
I0
I1
T0
T1
I2
I3
T2
T3M
L1
PS1: User 24V DC Power Supply
31810-M
60
Controller
Configuration
Parameter Name
Configuration Setting
Test Output 3
Chapter
Topic
Page
61
62
64
71
74
76
77
79
At the bottom of a dialog box, click Help for information about how to complete
entries in the dialog box. At the bottom of a warning dialog box, click Help to get
information about that specific error.
61
Chapter 5
2. Expand the Safety category, select the appropriate module, and click OK.
62
Chapter 5
3. From the Module Properties dialog box, complete entries for the General
dialog box.
63
Chapter 5
Follow these steps to edit the module definition. Refer to Values and States of
Tags on page 70.
1. From the Module Properties dialog box, click Change.
2. From the Series pull-down menu, choose your modules series level.
3. From the Revision pull-down menu, choose your modules revision level.
4. Assign the electronic keying.
64
Choose
Description
Exact Match
Compatible Module
Chapter 5
Description
Safety
65
Chapter 5
66
Choose
Description
Safety-Readback
This option is for 12-point safety input modules that use 8 or fewer
safety inputs. The Small Safety option reduces the amount of data
that the 12-point module sends to the controller to improve network
performance. Safety data and point status tags are created. Point
status is diagnostic status for each of the eight input points.
Chapter 5
Description
None
Pt. Status
There is one status tag for each input and output point.
There is a muting status tag for test output T3, T7, T11, and T15 with
point status for each input and output point.
67
Chapter 5
Choose
Description
A single BOOL tag represents an AND of the status bits for all the
input points. For example, if any input channel has a fault, this bit
goes LO.(1)
A single BOOL tag represents an AND of the status bits for all the
output points.
A muting status tag for test output T3, T7, T11, and T15.
(1) When using combined status, use explicit messaging to read individual point status for diagnostic purposes.
68
Choose
Description
None
Safety
Creates these safety tags and enables these outputs for use in the
safety task.
Chapter 5
Choose
Description
Test
Creates these tags and enables the test outputs on the module. These
outputs are standard outputs and must not be used for safety
purposes.
Combined
Creates these tags and enables all modules outputs, safety and test.
69
Chapter 5
Description
Output
data
Indicates the status when circuit T3, T7, T11, and T15 is configured
as the muting lamp output.
Normal: 1 Fault (Alarm): 0
Output Readback
STANDARD
Controls the test output when Test Output mode is set to a standard
output.
ON: 1 OFF: 0
IMPORTANT
70
Chapter 5
Read this for information about how to complete entries when you click the
Safety tab.
1. From the Module Properties dialog box, click the Safety tab.
For more information about the Connection Reaction Time Limit, see the
GuardLogix Controllers User Manual, publication 1756-UM020.
71
Chapter 5
3. In the Requested Packet Interval (RPI) box, enter the input connection
RPI to support your application (between 6 and 500 ms).
Selecting too small an RPI unnecessarily consumes network bandwidth;
selecting too large an RPI increases safety reaction time. Selecting the
appropriate RPI results in a system with optimized performance.
As an example, a safety input module with only ESTOP switches
connected to it generally may work well with settings of 50100 ms.
An input module with a light curtain guarding a hazard may need the
fastest response that is possible.
IMPORTANT
TIP
When the connection reaction time limit and requested packet interval are set
appropriately, this status tag always remains LO. Monitor all connection status
bits to verify that they are not going HI intermittently due to timeouts.
72
Chapter 5
Configuration Signature
The configuration signature is created by the Logix Designer application and
verified by the safety module. The configuration signature provides SIL 3
integrity of the configuration of a Guard I/O module.
When a GuardLogix controller first connects to an unconfigured
Guard I/O module, the complete configuration is downloaded to the I/O
module.
Any time the GuardLogix controller attempts to connect to a Guard I/O
module, if the configuration signatures are the same, then the
configuration does not need to be downloaded, because they already
match.
Any time the GuardLogix controller attempts to connect to a Guard I/O
module and the signatures do not match, the module checks the module
node address, electronic keying, and safety network number. If these are all
correct, the controller will attempt to configure the module.
73
Chapter 5
Configure the
Input Configuration Tab
Description
Single
Inputs are treated as single channels. Note that in many cases, dualchannel safety inputs are configured as two individual single
channels. This does not affect pulse testing because it is handled on
an individual channel basis.
Equivalent(1)
Complementary(1)
(1) Be aware that configuring discrepancy time on safety I/O modules masks input discrepancies detected by the controller
safety instructions. Status can be read by the controller to obtain this fault information.
74
Chapter 5
Description
Not Used
Safety
Standard
4. Assign the Test Source for each safety input on the module you want pulse
tested.
Choose
Description
None
Test Output 0
Test Output 1
Test Output 2
Test Output 3
Test Output 415(1)
5. Assign the Input Delay Time, Off -> On (0126 ms, in increments of
6 ms).
Filter time is for OFF to ON transition. Input must be HI after input delay
has elapsed before it is set logic 1. This delay time is configured per channel
with each channel specifically tuned to match the characteristics of the
field device, for maximum performance.
75
Chapter 5
6. Assign the Input Delay Time, On -> Off (0126 ms, in increments of
6 ms).
Filter time is ON to OFF transition. Input must be LO after input delay
has elapsed before it is set logic 0. This delay time is configured per channel
with each channel specifically tuned to match the characteristics of the
field device, for maximum performance.
7. From the Input Error Latch Time box, enter the time the module holds an
error to make sure the controller can detect it (065,530 ms, in increments
of 10 ms - default 1000 ms).
This provides you more reliable diagnostics and enhances the chances that
a nuisance error is detected. The purpose for latching input errors is to
make sure that intermittent faults that may only exist for a few
milliseconds are latched long enough to be read by the controller. The
amount of time to latch the errors should be based on the RPI, the safety
task watchdog, and other application-specific variables.
8. Click OK.
Configure the
Test Output Tab
This section describes how to work with the Test Output Configuration dialog
box. Refer to this table for information on configuring test outputs.
Follow this procedure to complete the test output configuration.
1. From the Module Properties dialog box, click the Test Output tab.
76
Chapter 5
Description
Standard
Pulse Test
Power Supply
There is also a Test Output Fault Action parameter that can only be read or
written to via explicit messaging. If communication to the module times
out, you can set the test outputs to Clear OFF (default) or Hold Last State.
3. Click OK.
Configure the
Output Configuration Tab
This section provides a procedure for configuring safety outputs by using the
information in this table and completing the entries referring to the figure.
Follow this procedure to complete the safety output configuration.
1. From the Module Properties dialog box, click the Output Configuration
tab.
Description
Single(1)
Dual (default)
The Guard I/O module treats the outputs as a pair. It always sets them
HI or LO as a matched pair. Safety logic must set both of these outputs
ON or OFF as the same time or the module declares a channel fault.
77
Chapter 5
Description
Safety
The output point is enabled, and it does not perform a pulse test on
the output.
The output point is enabled and performs a pulse test on the output.
When the output is energized, the output pulses LO briefly. The pulse
test detects if 24V remains on the output terminal during this LO
pulse due to a short to 24V or if the output is shorted to another
output terminal.
4. From the Output Error Latch Time box, enter the time the module holds
an error to make sure the controller can detect it (065,530 ms, in
increments of 10 ms - default 1000 ms).
This provides you more reliable diagnostics and enhances the changes that
a nuisance error is detected.
The purpose for latching output errors is to make sure that intermittent
faults that may only exist for a few milliseconds are latched long enough to
be read by the controller. The amount of time to latch the errors will be
based on the RPI, the safety task watchdog, and other application-specific
variables.
5. Click OK.
78
Chapter 5
79
Chapter 5
Notes:
80
Chapter
Topic
Page
81
82
86
92
93
Troubleshooting
109
This chapter provides information about how to configure Guard I/O modules
by using RSNetWorx for DeviceNet software and a SmartGuard controller. Refer
to the corresponding software help files for network-configurator operating
procedures.
This chapter covers how to configure a SmartGuard controller and Guard I/O
module by using Universal Serial Bus (USB) connectivity.
81
Chapter 6
The devices have default names and node numbers when created.
82
Chapter 6
On the Safety tab, you set the safety network number (SNN) and the
configuration signature.
83
Chapter 6
software defaults a safety devices SNN to match the SNN of the lowest safety
node on the network.
The safety connection between a controller and I/O module is based on many
items, one of which is the SNN of both devices. They do not have to match for a
safety connection to be established, but the connection will be broken if the SNN
of either device changes.
The safety network defaults to match the SNN of the lowest node on the
network. If your safety controller is the lowest node on the network, then all of
the safety I/O modules on the network will have the same SNN as the controller.
As this is the recommended method of configuring the SNN, you may not need
to do anything more with the SNN.
For a detailed explanation of the SNN, see the GuardLogix Controller Systems
Safety Reference Manuals listed in the Additional Resources on page 10.
84
Chapter 6
Configuration Signature
The configuration signature is generated by the safety module each time the
configuration is changed. It consists of an ID of the module configuration and
the time and date the module configuration was created or changed. The
configuration signature provides SIL 3 integrity of the configuration of a Guard
I/O module.
The safety connection between a controller and I/O module is based on many
items, one of which can be the configuration signature of the safety I/O module.
If the configuration signature must match, the configuration signature must
remain the same once the safety connection is established or the connection will
be broken.
Figure 24 - Safety Connection and Configuration Signature
SmartGuard Safety Controllers Safety Connection Tab
Safety Modules
85
Chapter 6
The following sections use the Safety Configuration tab. Input and output points
change based on the type of module that you configure.
86
Chapter 6
Description
Single
Inputs are treated as single channels. In many cases, dual-channel safety inputs
are configured as two individual, single channels. This does not affect pulse testing
because it is handled on an individual basis.
Equivalent(1)
Inputs are treated as a dual-channel pair. The channels must match within the
discrepancy time or an error is generated.
Complementary(1)
Inputs are treated as a dual-channel pair. They must be in opposite states within
the discrepancy time or an error is generated.
(1) Be aware that configuring discrepancy time on safety I/O modules masks input discrepancies detected by the controller
safety instructions. Status can be read by the controller to obtain this fault information.
87
Chapter 6
Description
Not Used
The input is disabled. It remains logic 0 if 24V is applied to the input terminal.
Pulse testing is performed on this input circuit. A test source on the Guard I/o
module must be used as the 24V source for this circuit. The test source is
configured by using the test source pull-down menu. The pulse test will detect
shorts to 24V and channel-to-channel shorts to other inputs.
Safety
A safety input is connected but there is no requirement for the Guard I/O module to
perform a pulse test on this circuit. An example is a safety device that performs its
own pulse tests on the input wires, such as a light curtain.
Standard
A standard device, such as a reset switch, is connected. This point cannot be used in
dual-channel operation.
4. Assign the Test Source for each safety input on the module you want pulse
tested.
Choose
Description
None
0
1
2
3
415(1)
5. Assign the Input Delay Time, Off -> On (0126 ms, in increments of
6 ms).
Filter time is for OFF to ON transition. Input must be HI after input delay
has elapsed before it is set logic 1. This delay time is configured per channel
with each channel specifically tuned to match the characteristics of the
field device, for maximum performance.
88
Chapter 6
6. Assign the Input Delay Time, Off -> On (0126 ms, in increments of
6 ms).
Filter time is ON to OFF transition. Input must be LO after input delay
has elapsed before it is set logic 0. This delay time is configured per channel
with each channel specifically tuned to match the characteristics of the
field device, for maximum performance.
Description
Standard
Pulse Test
Power Supply
There is also a Test Output Fault Action parameter that can only be read or
written to via explicit messaging. If communication to the module times
out, you can set the test outputs to Clear OFF (default) or Hold Last State.
89
Chapter 6
Description
Single(1)
Dual (default)
The Guard I/O module treats the outputs as a pair. It always sets them
HI or LO as a matched pair. Safety logic must set both of these outputs
ON or OFF as the same time or the module declares a channel fault.
Description
Safety
The output point is enabled, and it does not perform a pulse test on
the output.
The output point is enabled and performs a pulse test on the output.
When the output is energized, the output pulses LO briefly. The pulse
test detects if 24V remains on the output terminal during this LO
pulse due to a short to 24V or if the output is shorted to another
output terminal.
90
Chapter 6
2. Enter the Input Error Latch Time, the time the module holds an error to
make sure the controller can detect it (065,530 ms, in increments of 10
msdefault 1000 ms).
This provides you more reliable diagnostics and enhances the changes that
a nuisance error is detected. The purpose for latching input errors is to
make sure that intermittent faults that may only exist for a few
milliseconds are latched long enough to be read by the controller.
The amount of time to latch the errors will be based on the RPI, the safety
task watchdog, and other application-specific variables.
3. Enter the Output Error Latch Time, the time the module holds an error to
make sure the controller can detect it (065,530 ms, in increments of 10
msdefault 1000 ms).
This provides you more reliable diagnostics and enhances the changes that
a nuisance error is detected. The purpose for latching output errors is to
make sure that intermittent faults that may only exist for a few
milliseconds are latched long enough to be read by the controller.
The amount of time to latch the errors will be based on the RPI, the safety
task watchdog, and other application-specific variables.
4. Click Apply.
91
Chapter 6
92
We recommend that you save your work after configuring a module. If the
download is successful, you see a similar message to the message below.
Chapter 6
The rest of these steps assumes that the module is a combination input and
output module. We describe how to add two connections: one of inputs
and one of outputs. You can add individual safety connections for the
inputs and outputs. SmartGuard 600 controller can have as many as 32
connections.
3. Right-click the I/O module and choose Add Connection.
93
Chapter 6
Make your choice based on the input data and status needs of your
application.
To see the specific data that will be generated for each connection name, in
the 1791DS module properties dialog box click the Safety I/O tab.
Expand each choice to see the tags created for input data, input status,
output data, and output status.
94
Choose
Description
Safety
The Safety Data tag for safety inputs from the module is created for
the target module.
Chapter 6
Choose
Description
Readback
This option is for 12-point safety input modules that use 8 or fewer
safety inputs. The Small Safety option reduces the amount of data
that the 12-point module sends to the controller to improve network
performance. Safety data and point status tags are created. Point
status is diagnostic status for each of the eight input points.
95
Chapter 6
96
Choose
Description
None
Pt. Status
There is one status tag for each input and output point.
There is a muting status tag for test output T3, T7, T11, and T15 with
point status for each input and output point.
Choose
Chapter 6
Description
A single BOOL tag represents an AND of the status bits for all the
input points. For example, if any input channel has a fault, this bit
goes LO.(1)
A single BOOL tag represents an AND of the status bits for all the
output points.
A muting status tag for test output T3, T7, T11, and T15.
(1) When using combined status, use explicit messaging to read individual point status for diagnostic purposes.
97
Chapter 6
98
Choose
Description
None
Safety
Creates these safety tags and enables these outputs for use in the
safety task.
Test
Creates these tags and enables the test outputs on the module. These
outputs are standard outputs and must not be used for safety
purposes.
Chapter 6
Choose
Description
Combined
Creates these tags and enables all modules outputs, safety and test.
Typically, you should choose Combined Status for the input status.
This limits the packet size for normal communication. If you need detailed
status when a fault occurs, that data is read explicitly via MSG instructions.
Choose the appropriate input connection and add the output connection,
if necessary.
99
Chapter 6
The Multicast connection type enables other safety controllers to read the safety
input data by using this input connection. The Point to Point connection type
does not enable this functionality.
For other safety controllers to use this safety connection to read the input data,
the connections must be identical.
The RPI, connection name, and channel configuration must match so that this
connection can be used by the other safety controller.
100
Chapter 6
For more information about the Connection Reaction Time Limit, see the
GuardLogix Controllers User Manual, publication 1756-UM020.
101
Chapter 6
2. In the Requested Packet Interval (RPI) box, enter the input connection
RPI to support your application (from 6500 ms).
Selecting too small an RPI unnecessarily consumes network bandwidth;
selecting too large an RPI increases safety reaction time. Selecting the
appropriate RPI results in a system with optimized performance.
As an example, a safety input module with only ESTOP switches
connected to it generally may work well with settings of 50100 ms.
An input module with a light curtain guarding a hazard may need the
fastest response that is possible.
IMPORTANT
TIP
A connection status tag exists that sums up all the safety I/O connections.
When the connection reaction time limit and requested packet interval are
set appropriately, these status tags should remain in their no errors
condition. Monitor these connection status bits to verify that they are not
changing intermittently due to timeouts.
102
Chapter 6
103
Chapter 6
Put the SmartGuard controller into Idle mode and attempt to reset the
1791DS module again.
104
Chapter 6
When you attempt to change the SNN, this dialog box appears.
Current SNN
105
Chapter 6
The new SNN is sent to the 1791DS module. This dialog box appears
informing you that the 1791DS configuration will be cleared when the
SNN is changed.
Next, this dialog box appears to allow you to confirm which module is
about to have its SNN set.
The network status indicator on the module that is about to have its SNN
set is flashing red/green.
4. Click OK to confirm.
This dialog box appears and the network status indicator should stop
flashing red/green.
106
Chapter 6
If you forget your password, you must contact Rockwell Automation to have it
reset.
107
Chapter 6
The 1791DS module has preconfigured options for reading (and writing)
standard data. To view them, open the properties of the 1791DS module and
click the I/O Data tab. These sizes and data contained within them cannot be
altered.
108
Chapter 6
These message types will appear differently, depending on the safety I/O module
you select, but in general the:
bit-strobe and polled connections provide the I/O data values and channel
status.
polled connection can write standard data to the I/O module.
Only use this if the test outputs are configured as standard outputs, and
those standard outputs can then be controlled from the scanner.
change of state (COS) and cyclic connections provide power status, which
cannot be obtained from bit strobe or polled connections.
Troubleshooting
If you attempt to go into Execute mode after a change is made to the 1791DS
module (which breaks the safety connection to the SmartGuard controller), you
will see the D6 message on the SmartGuard controllers ASCII display.
To resolve this anomaly, in the SmartGuard 600 properties dialog box, click the
Safety Connection tab. This message appears if there has been an update to a
1791DS module that is not reflected in the offline configuration.
Click Yes to resolve those differences. Next, click Apply and then Yes to
download the updated software changes to the SmartGuard 600 controller.
If the differences are resolved, you can go into Execute mode without seeing the
D6 message on the SmartGuard controllers ASCII display.
109
Chapter 6
If you see the following message after attempting to download, the likely scenario
is that the 1791DS module was previously owned by a different safety controller.
You must reset the owner before the 1791DS module will make a new safety
connection.
To reset the 1791DS module, right-click the module and choose Reset Safety
Device.
Check Password and Safety Network Number so that the 1791DS module is
totally reset. Click Reset.
110
Chapter 6
Note that the configuration owner is now reset, so the 1791DS module can
connect to a new owner, that is, the SmartGuard controller.
When you browse the network, the 1791DS module appears like this.
The exclamation point means the SNN has not been set (as shown below). This
makes sense because the device has just been reset.
111
Chapter 6
The SNN that exists in the 1791DS module does not match what is in
RSNetWorx for DeviceNet software. For more information about the SNN, see
83.
Click Download. This dialog box appears.
This lets you confirm which 1791DS module is about to have its SNN set. The
network status indicator on the module that is about to have its SNN set is
flashing red/green. Click OK to confirm the set.
This dialog box appears and the network status indicator on the affected module
stops flashing red/green.
112
Chapter 6
113
Chapter 6
Notes:
114
Chapter
Topic
Page
115
117
121
This chapter provides things to consider when replacing Guard I/O modules
when they are connected to GuardLogix or SmartGuard controllers. For more
information, refer to the controller user manuals listed in the Additional
Resources on page 10.
Considerations When
Replacing Guard I/O Modules
DNB #2
DNB #1
DNB #2
115
Chapter 7
DNB #2
DNB #1
DNB #2
Connections not made.
5
SNN 100
5
SNN 101
5
SNN 100
5
SNN 101
116
Chapter 7
Follow these steps to replace an I/O module when using a SmartGuard controller.
1. Set the rotary switches of the replacement module to match the node
number of the original module.
2. In RSNetWorx for DeviceNet software, open your project.
117
Chapter 7
4. Click Yes.
This dialog box appears informing you that the SNN of the replacement
module does not match the SNN in the software.
118
Chapter 7
6. Click OK.
This dialog box appears, confirming that the SNN has ben set.
The download now occurs. Once completed successfully, you see this
message in the main project view: The device at address xx has been
downloaded. Any device-specific messages related to the download
operation are displayed separately.
Assuming this is the proper configuration from the original DNT file, the
SNN and configuration signature now match that of the original. If you
are already connected to the SmartGuard controller, a connection is made.
The SmartGuard controller does not need to be taken out of RUN mode
to download to the replacement module.
119
Chapter 7
7. Click Yes.
This takes the SmartGuard controller our of RUN mode.
You see this dialog box.
120
Chapter 7
Follow the appropriate steps to replace an I/O module when using a GuardLogix
controller.
If you use a GuardLogix controller for SIL 3 during module replacement and
functional testing, then you must choose Configure Only When No Safety
Signature Exists. This option makes sure that if a safety signature exists
(and you must have a safety signature to be SIL 3), that the safety network
number (SNN) of the replacement distributed I/O module must match that
of the GuardLogix controller before a connection between them can be
made.
If a safety signature exists, clicking Set downloads the correct SNN from the
correct GuardLogix project to the replacement module. The only exception
would be when the SNN is already the same as the replacement module, in which
case no action is required.
Once the correct SNN has been downloaded to the Guard I/O module, the
GuardLogix controller automatically configures the module.
121
Chapter 7
Replacement Module
SNN
Fault
Action Required
Yes
Out-of-box
Click Set.
Refer to Scenario 1 - New Module is
Out-of-box and Safety Signature
Exists on page 122.
No
Out-of-box
None
None.
Yes or No
Same as original
None
None.
Yes
SNN mismatch
SNN not set, device
out-of-box
No
SNN mismatch
4. Click Set.
122
Chapter 7
Scenario 2 - New Module SNN is Different from Original and Safety Signature Exists
1. Remove the old I/O module and install the new module.
2. Right-click your Guard I/O module and choose Properties.
3. Click the Safety tab.
123
Chapter 7
7. Click
to the right of the safety network number to open the Safety
Network Number dialog box.
8. Click Set.
Scenario 3 - New Module SNN is Different from Original and No Safety Signature Exists
1. Remove the old I/O module and install the new module.
2. Right-click your Guard I/O module and choose Properties.
124
Chapter 7
125
Chapter 7
126
Chapter 7
If the project is configured for Configure Always, follow the appropriate steps to
replace a Guard I/O module based on your scenario.
GuardLogix Project
Safety Signature
Exists
Replacement Module
SNN
Fault
Action Required
Yes or No
Out-of-box
None
None.
Yes or No
Same as original
None
None.
Yes or No
SNN mismatch
1. Remove the old I/O module and install the new module.
2. Right-click your Guard I/O module and choose Properties.
3. Click the Safety tab.
127
Chapter 7
Notes:
128
Chapter
Module Indicators
Topic
Page
Module Indicators
129
130
131
133
See the figure and tables for information on how to interpret LED module
indicators.
Figure 29 - LED Module Indicators
24V DC Input Power Indicator
24V DC Output Power Indicator
(1791DS-IB8XOBV4 modules only)
Module Status Indicator
Network
Activity
Indicator
129
Chapter 8
The Module Status (MS) indicator displays the status of a node on the network.
The Network Status (NS) indicator displays the status of the entire network. See
the table for meanings indicated by the combination of colors and status.
NS
MS
NS
MS
NS
Solid green
Solid green
Flashing green
Solid green
Flashing green
Off
Status
Normal operation
Online/connected
Standby
Online/connected
Standby
Description
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
Flashing green
Flashing green
Flashing green/red
Off
Solid red
Off
Flashing red
Off
Flashing green
Solid red
Flashing green
Solid red
Standby
Online/not connected
Initialization status
Not online or not powered
Fatal fault
Not online or not powered
Minor fault
Not online or not powered
Standby
Fatal link fault
Standby
Flashing Green
Flashing red
Standby
MS
NS
: Lit
130
: Flashing
Recommended Action
Reset the module so that it has a unique node address, and then
restart the module.
Bus Off status (communication stopped Check the following items and restart the module:
due to consecutive data errors).
Do master and module communication rates match?
Are lengths of cables (trunk and branch lines) correct?
Are cables broken or loose?
Are terminating resistors connected to both ends of the trunk
line only?
Is noise interference excessive?
Communication timeout.
Check the following items and restart the module:
Do master and module communication rates match?
Are lengths of cables (trunk and branch lines) correct?
Are cables broken or loose?
Are terminating resistors connected to both ends of the trunk
line only?
Is noise interference excessive?
Is the network grounded properly ?
: Not lit
Chapter 8
Refer to the tables for information on how to interpret status indicators on the
1791DS-IB12, 1791DS-IB8XOB8, and 1791DS-IB4XOW4 modules.
1791DS-IB12,
1791DS-IB8XOB8, and
1791DS-IB4XOW4
Status Indicators
Table 3 - Module Status (MS) Indicator
State
Status
Description
Recommended Action
Solid green
Normal
Flashing green
Standby
Solid red
Fatal fault
Hardware fault.
Flashing red
Minor fault
Flashing green/
red
Initialization status
Off
No power
Status
Description
Recommended Action
Solid green
Online/connected
Flashing green
Online/not connected
Solid red
Communication fault.
Communication timeout.
Off
Apply power.
Status
Description
Recommended Action
Solid yellow
None.
Flashing yellow
None.
Off
131
Chapter 8
Status
Description
Recommended Action
Solid green
Normal
None.
Off
No input power
Status
Description
Recommended Action
Solid green
Normal
None.
Off
No output power
IMPORTANT
The I/O indicators are not lit while the module is being configured.
Status
Description
Recommended Action
Solid yellow
On
None.
Off
Off
None.
Solid red
Fault
Flashing red
IMPORTANT
The I/O indicators are not lit while the module is being configured.
Status
Description
Recommended Action
Solid yellow
On
None.
Off
Off
None.
Solid red
Fault
Flashing red
132
1732DS-IB8XOBV4,
1732DS-IB8,
1791DS-IB8XOBV4, and
1791DS-IB16 Status
Indicators
Chapter 8
Refer to the tables for information on how to interpret status indicators on the
1732DS-IB8XOBV4, 1732DS-IB8, 1791DS-IB8XOB8, and 1791DS-IB16
modules.
Status
Description
Recommended Action
Off
No power or autobauding
Solid green
Normal operation
None.
Solid red
Unrecoverable fault
Flashing green
Flashing red
Recoverable fault
User-initiated firmware
update
Status
Description
Recommended Action
Off
Flashing green
Solid green
None.
Flashing red
User-initiated firmware
update
Solid red
Communication faulted
module
133
Chapter 8
Status
Description
Recommended Action
Off
No configuration
None.
Solid yellow
Locked
None.
Flashing yellow
Not locked
None.
Status
Description
Recommended Action
Off
No power
No power is applied.
Solid green
Normal operation
None.
Solid yellow
Status
Description
Recommended Action
Off
No power
No power is applied.
Solid green
Normal operation
None.
Solid yellow
Status
Description
Recommended Action
Off
Solid yellow
Safety input on
None.
Solid red
Fault detected
Flashing red
Check the field wiring and verify your configuration for the
partner circuit. If no anomaly is found, replace the module.
134
Chapter 8
Status
Description
Recommended Action
Off
Solid yellow
Safety output on
None.
Solid red
Fault detected
Both tags in a dual channel circuit do not have the same value.
Make sure logic is driving tag values to the same state (off or
on).
Flashing red
Status
Description
Recommended Action
Off
Solid yellow
Output on
Output is on.
None.
Solid red
Fault detected
135
Chapter 8
Notes:
136
Appendix
Topic
Page
137
138
142
148
Explicit Messages
155
157
Explicit Messages
158
This appendix provides information about how to use explicit messaging to get
diagnostic status information from the modules.
To maximize throughput when using DeviceNet safety I/O modules, consider
the requested packet interval, baud rate, and the size of the I/O assembly.
Keeping the I/O assembly at 2-bytes or fewer does not provide individual point
status necessary to quickly diagnose what point faulted from an operator
terminal.
137
Appendix A
To obtain individual point status of the Guard I/O module from the Module
Definition dialog box, from the Input Status pull-down menu, choose Pt. Status.
TIP
1791DS-IB8XOB8 Module
Definition Configuration
138
You can also obtain overall status implicitly from this dialog box by
choosing Combined Status from the Input Status pull-down menu. If the
Combined Status changes, use explicit messaging to obtain the point-level
status.
Appendix A
2. Use the InputStatus and OutputStatus bits to detect if one or more of the
I/O points on the module have a fault.
If any input or output status bit goes to a value of 0 (0=bad, 1=good),
use an explicit message to determine which individual data points have
faulted. Use the InputState and OutputStatus bits to condition your
msg rung as follows.
Note that the second rung can be used to read the status on mode
transition and once a fault is detected, continue reading until the fault is
corrected.
Place these rungs in the standard task.
139
Appendix A
140
Appendix A
141
Appendix A
1791DS-IB4XOW4 Module
Definition Configuration
142
Appendix A
2. Use the InputStatus and OutputStatus bits to detect if one or more of the
I/O points on the module have a fault.
If any input or output status bit goes to a value of 0 (0=bad, 1=good),
use an explicit message to determine which individual data points have
faulted. Use the InputState and OutputStatus bits to condition your
msg rung as follows.
Note that the second rung can be used to read the status on mode
transition and once a fault is detected, continue reading until the fault is
corrected.
Place these rungs in the standard task.
143
Appendix A
144
1791DS-IB12 Module
Definition Configuration
Appendix A
145
Appendix A
2. Use the CombinedStatus bit to detect if one or more of the I/O points on
the module have a fault.
If the CombinedStatus bit goes to a value of 0 (0=bad, 1=good), use an
explicit message to determine which individual data points have
faulted. Use the CombinedStatus bits to condition your msg rung as
follows.
Note that you can use the second rung to read the status on mode
transition and once a fault is detected, continue reading until the fault is
corrected.
Place these rungs in the standard task.
146
Appendix A
147
Appendix A
148
Bit Definitions
Safety Input 0
Pt00Data
Safety Input 11
Pt11Data
Pt00InputStatus
Pt11InputStatus
Safety In Status
InputStatus
MutingStatus
Safety Output 0
Pt00Data
Safety Output 7
Pt07Data
Standard Output 0
Test00Data
Standard Output 3
Test03Data
Pt00OutputStatus
Pt07OutputStatus
OutputStatus
Pt00Monitor
Pt07Readback
Pt00TestOutputStatus
Pt03TestOutputStatus
Appendix A
These tables provide reference data concerning input and output data.
Table 18 - Input Data for 1791DS-IB12, 1791DS-IB8XOB8, 1791DS-IB4XOW4 Modules
Instance
Hex
(decimal)
Module
Byte
Bit 7
203
(515)
1791DS-IB4XOW4
Reserved
204
(516)
1791DS-IB8XOB8
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
20C
(524)
1791DS-IB12
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Reserved
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
Status
Status
Status
Status
Status
Status
1 Status
0 Status
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 3 Safety Input 2 Safety Input 1 Safety Input 0 Safety Input
Status
Status
Status
Status
11
Safety Input
11 Status
224
(548)
22C
(556)
1791DS-IB12
1791DS-IB12
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Safety Input
11
Safety Input
10 Status
Safety Input
10
Safety Input
10
Safety Input 9 Safety Input 8 Safety Input 7 Safety Input 7 Safety Input Safety Input
Status
Status
Status
Status
5 Status
4 Status
300
(768)
1791DS-IB12,
1791DS-IB8XOB8,
1791DS-IB4XOW4
Reserved
310
(784)
1791DS-IB12
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 3 Safety Input 2 Safety Input 1 Safety Input 0 Safety Input
Status
Status
Status
Status
11
Safety Input
11 Status
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 3 Safety Input 2 Safety Input 1 Safety Input 0 Safety Input
Status
Status
Status
Status
11
Safety Input
11 Status
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
311
(785)
312
(786)
320
(800)
1791DS-IB12
1791DS-IB12
1791DS-IB8XOB8
Output
Power Error
Safety Input
10 Status
Safety Input
10 Status
Reserved
Safety Input
11
Safety Input
10
Safety Input
10
Input Power
Error
Safety Input 9 Safety Input 8 Safety Input 7 Safety Input 6 Safety Input Safety Input
Status
Status
Status
Status
5 Status
4 Status
Safety Input
10
Safety Input 9 Safety Input 8 Safety Input 7 Safety Input 6 Safety Input Safety Input
Status
Status
Status
Status
5 Status
4 Status
Test Output 3 Test Output 2 Test Output 1 Test Output 0
Status
Status
Status
Status
Combined
Safety Out
Status
Reserved
149
Appendix A
Module
Byte
Bit 7
321
(801)
1791DS-IB8XOB8
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
Status
Status
Status
Status
Status
Status
1 Status
0 Status
Safety Output Safety Output Safety Output Safety Output 4 Safety Output Safety Output Safety Output Safety
7 Status
6 Status
5 Status
Status
3 Status
2 Status
1 Status
Output 0
Status
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
Status
Status
Status
Status
Status
Status
1 Status
0 Status
Safety Output Safety Output Safety Output Safety Output 4 Safety Output Safety Output Safety Output Safety
7 Status
6 Status
5 Status
Status
3 Status
2 Status
1 Status
Output 0
Status
Safety Output Safety Output Safety Output Safety Output 4 Safety Output Safety Output Safety Output Safety
7 Readback 6 Readback
5 Readback
Readback
3 Readback 2 Readback 1 Readback Output 0
Readback
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
1
0
Safety Input 7 Safety Input 6 Safety Input 5 Safety Input 4 Safety Input 3 Safety Input 2 Safety Input Safety Input
Status
Status
Status
Status
Status
Status
1 Status
0 Status
Safety Output Safety Output Safety Output Safety Output 4 Safety Output Safety Output Safety Output Safety
7 Status
6 Status
5 Status
Status
3 Status
2 Status
1 Status
Output 0
Status
Safety Output Safety Output Safety Output Safety Output 4 Safety Output Safety Output Safety Output Safety
7 Readback 6 Readback
5 Readback
Readback
3 Readback 2 Readback 1 Readback Output 0
Readback
322
(802)
323
(803)
1791DS-IB8XOB8
1791DS-IB8XOB8
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
330
(816)
1791DS-IB4XOW4
331
(817)
1791DS-IB4XOW4
Safety Input 3 Safety Input 2 Safety Input 1 Safety Input 0 Safety Input 3 Safety Input 2 Safety Input Safety Input
Status
Status
Status
Status
1
0
Safety Input 3 Safety Input 2 Safety Input 1 Safety Input 0 Safety Input 3 Safety Input 2 Safety Input Safety Input
Status
Status
Status
1
0
Status
Safety Output Safety Output 2 Safety Output 1 Safety Output 0 Safety Output Safety Output Safety Output Safety
3 Readback Readback
Readback
Readback
3 Status
2 Status
1 Status
Output 0
Status
Safety Input 3 Safety Input 2 Safety Input 1 Safety Input 0 Safety Input 3 Safety Input 2 Safety Input Safety Input
Status
Status
Status
Status
1
0
Safety Output Safety Output 2 Safety Output 1 Safety Output 0 Safety Output Safety Output Safety Output Safety
3 Readback Readback
Readback
Readback
3 Status
2 Status
1 Status
Output 0
Status
332
(818)
333
(819)
150
1791DS-IB4XOW4
1791DS-IB4XOW4
Combined
Safety Out
Status
Reserved
Appendix A
Module
Byte
Bit 7
340
(832)
1791DS-IB12
Reserved
Reserved
341
(833)
1791DS-IB8XOB8
342
(834)
1791DS-IB4XOW4
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Input Power
Error
Reserved
Safety Output Safety Output 6 Safety Output 5 Safety Output 4 Safety Output Safety Output Output
7 Readback Readback
Readback
Readback
3 Readback 2 Readback Power Error
Input Power
Error
Reserved
Reserved
Test Output 0
Status
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Standard
Output 2
Standard
Output 1
Standard
Output 0
21
(33)
1791DS-IB12, 1791DS- 0
IB8XOB8, 1791DSIB4XOW4
Reserved
Standard
Output 3
233
(563)
1791DS-IB4XOW4
Reserved
234
(564)
1791DS-IB8XOB8
Safety
Output 7
Safety
Output 0
350
(848)
1791DS-IB4XOW4
Standard
Output 3
Standard
Output 2
Standard
Output 0
Safety
Output 3
Safety
Output 0
351
(849)
1791DS-IB8XOB8
Safety
Output 7
Safety
Output 0
Reserved
Standard
Output 2
Standard
Output 0
Standard
Output 1
Standard
Output 3
Standard
Output 1
151
Appendix A
Safety Input 07
Module Name:I.InputStatus
Module Name:I.MutingStatus
Safety Output 07
Module Name:I.OutputStatus
These tables provide reference data concerning input and output data.
Table 20 - Input Data for 1732DS-IB8, 1732DS-IB8XOBV4, 1791DS-IB8XOBV4, 1791DS-IB16 Modules
Instance Hex Module
(decimal)
Byte
Bit 7
204
(516)
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input 9
Safety Input 8
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input 9
Safety Input 8
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
224
(548)
205
(517)
225
(549)
1732DS-IB8,
1732DS-IB8XOBV4,
1791DS-IB8XOBV4
1791DS-IB16
1791DS-IB16
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Safety Input 9
Status
300
(768)
1732DS-IB8,
1791DS-IB16
Reserved
301
(769)
1732DS-IB8,
1732DS-IB8XOBV4,
1791DS-IB8XOBV4
Reserved
314
(788)
1732DS-IB8
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Reserved
152
Bit 0
Safety Input 8
Status
Input Power
Error
Output Power
Error
Input Power
Error
Safety Input 0
Appendix A
Table 20 - Input Data for 1732DS-IB8, 1732DS-IB8XOBV4, 1791DS-IB8XOBV4, 1791DS-IB16 Modules (continued)
Instance Hex Module
(decimal)
Byte
Bit 7
315
(789)
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input 8
Combined
Safety In
Status
Reserved
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Combined
Safety In
Status
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
Reserved
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input 9
Safety Input 8
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
Safety Input 8
Status
Reserved
Reserved
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
Safety
Output 7
Status
Reserved
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
Safety
Output 7
Status
Safety
Output 7
Readback
Reserved
324
(804)
334
(820)
335
(821)
344
(836)
354
(852)
1791DS-IB16
1732DS-IB8XOBV4,
1791DS-IB8XOBV4
1732DS-IB8,
1732DS-IB8XOBV4,
1791DS-IB8XOBV4
1791DS-IB16
1732DS-IB8XOBV4,
1791DS-IB8XOBV4
Bit 6
Reserved
Combined
Safety Out
Status
Bit 5
Bit 4
Reserved
Bit 3
Bit 2
Reserved
Bit 1
Safety Input 9
Bit 0
Safety Input 0
Reserved
Reserved
Safety Input 9
Status
153
Appendix A
Table 20 - Input Data for 1732DS-IB8, 1732DS-IB8XOBV4, 1791DS-IB8XOBV4, 1791DS-IB16 Modules (continued)
Instance Hex Module
(decimal)
Byte
Bit 7
364
(868)
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
Test Output 7 Test Output 6 Test Output 5 Test Output 4 Test Output 3 Test Output 2 Test Output 1
Status
Status
Status
Status
Status
Status
Status
Test Output 0
Status
Reserved
Standard
Output 7
Standard
Output 6
Standard
Output 5
Standard
Output 4
Standard
Output 3
Standard
Output 2
Standard
Output 1
Standard
Output 0
Standard
Output 15
Standard
Output 14
Standard
Output 13
Standard
Output 12
Standard
Output 11
Standard
Output 10
Standard
Output 9
Standard
Output 8
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 9
Status
Safety Input 8
Status
Test Output 7 Test Output 6 Test Output 5 Test Output 4 Test Output 3 Test Output 2 Test Output 1
Status
Status
Status
Status
Status
Status
Status
Test Output 0
Status
Test Output
15 Status
Test Output
14 Status
Test Output
13 Status
Test Output
12 Status
Test Output
11 Status
Test Output 8
Status
Reserved
Reserved
Reserved
Reserved
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7
5
3
Safety Input 0
Safety Input Safety Input 6 Safety Input Safety Input 4 Safety Input Safety Input 2 Safety Input 1
7 Status
Status
5 Status
Status
3 Status
Status
Status
Safety Input 0
Status
Safety
Output 7
Status
Test Output 7 Test Output 6 Test Output 5 Test Output 4 Test Output 3 Test Output 2 Test Output 1
Status
Status
Status
Status
Status
Status
Status
Reserved
Reserved
Input Power
Error
Test Output 7 Test Output 6 Test Output 5 Test Output 4 Test Output 3 Test Output 2 Test Output 1
Status
Status
Status
Status
Status
Status
Status
Test Output 0
Status
Reserved
Input Power
Error
Test Output 7 Test Output 6 Test Output 5 Test Output 4 Test Output 3 Test Output 2 Test Output 1
Status
Status
Status
Status
Status
Status
Status
Test Output 0
Status
Test Output
15 Status
Test Output 8
Status
365
(869)
374
(884)
384
(900)
385
(901)
154
1791DS-IB16
1732DS-IB8XOBV4,
1791DS-IB8XOBV4
1732DS-IB8
1791DS-IB16
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Test Output
10 Status
Test Output 9
Status
Safety Input 0
Status
Safety Output Safety Output Safety Output Safety Output 1 Safety Output 0
4 Readback 3 Readback 2 Readback Readback
Readback
Test Output 0
Status
Test Output
14 Status
Test Output
13 Status
Test Output
12 Status
Test Output
11 Status
Test Output
10 Status
Test Output 9
Status
Appendix A
Table 20 - Input Data for 1732DS-IB8, 1732DS-IB8XOBV4, 1791DS-IB8XOBV4, 1791DS-IB16 Modules (continued)
Instance Hex Module
(decimal)
Byte
Bit 7
394
(916)
Reserved
Test Output 7 Test Output 6 Test Output 5 Test Output 4 Test Output 3 Test Output 2 Test Output 1
Status
Status
Status
Status
Status
Status
Status
Test Output 0
Status
Reserved
Input Power
Error
Test Output 7 Test Output 6 Test Output 5 Test Output 4 Test Output 3 Test Output 2 Test Output 1
Status
Status
Status
Status
Status
Status
Status
1732DS-IB8XOBV4,
1791DS-IB8XOBV4
3A4
(932)
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Output Power
Error
Input Power
Error
Output Power
Error
Safety Output Safety Output Safety Output Safety Output 1 Safety Output 0
4 Readback 3 Readback 2 Readback Readback
Readback
Test Output 0
Status
Module
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
22
(34)
1791DS-IB8XOBV4,
1732DS-IB8, 1732IB8XOBV4
Standard
Output 7
Standard
Output 6
Standard
Output 5
Standard
Output 4
Standard
Output 3
Standard
Output 2
Standard
Output 1
Standard
Output 0
23
(35)
1791DS-IB16
Standard
Output 7
Standard
Output 6
Standard
Output 5
Standard
Output 4
Standard
Output 3
Standard
Output 2
Standard
Output 1
Standard
Output 0
Standard
Output 15
Standard
Output 14
Standard
Output 13
Standard
Output 12
Standard
Output 11
Standard
Output 10
Standard
Output 9
Standard
Output 8
234
(564)
1791DS-IB8XOBV4, 1732- 0
IB8XOBV4
Safety
Output 7
Safety
Output 0
2C4
(708)
1791DS-IB8XOBV4, 1732- 0
IB8XOBV4
Safety
Output 7
Safety
Output 0
Standard
Output 7
Standard
Output 6
Standard
Output 4
Standard
Output 2
Standard
Output 0
Standard
Output 5
Standard
Output 3
Standard
Output 1
Explicit Messages
Table 22 - Reading the Cause of the Safety Input Error
Explicit
Message
Read/
Write
Function
Command (hex)
Safety Input
Cause of Error
Information
Read
Read
Service
Code
Response (hex)
Class
ID
3D
01n
6E
0: No error
01: Configuration invalid
02: External test signal error
03:Internal input error
04: Discrepancy error
05: Error in the other dual channel input
155
Appendix A
Read/
Write
Function
Command (hex)
Service
Code
Response (hex)
Class
ID
Instance ID
3B
01n
6E
0: No error
01: Configuration invalid
02: Over current detected
03: Short circuit detected
04: Output ON error
05: Error in the other dual-channel
output
06: Internal-relay output circuit error
(replace module)
07: Relay failure (replace relay)
08: Dual-channel violation
09: Short circuit detected at safety output
Read/
Write
Function
Command (hex)
Read
Service
Code
Response (hex)
Class
ID
Instance ID
Attribute ID
Data Size
09
01n
76
0 = No error
01: Configuration invalid
02: Overload detected
03: Cross circuit detected
05: Output ON error
06: Undercurrent detected for
muting lamp
Read/
Write
Function
Command (hex)
Service
Code
Class
ID
Instance ID
Attribute ID
09
0108
05
09
0108
05
156
Response (hex)
Data Size
1 byte
00: Clear
01: Hold
1 byte
00: Clear
01: Hold
Appendix A
Service Code
Class ID
Instance ID
Attribute ID
Data
Service Code
Data
Service Code
Error Code
Number of Bytes Received - The number of bytes received from the source
node address is returned in hexadecimal. When an error response is
returned for an explicit message, the number of bytes is always 0004 hex.
Source Node Address - The node address of the node from which the
command was sent is returned in hexadecimal.
Service Code - For normal completions, the service code specified in the
command with the leftmost bit turned ON is stored as shown in the
See Function, Command Service Code, and Response Service Code on
page 157.
Table 29 - Function, Command Service Code, and Response Service Code
Function
Read Data
10
90
Write Data
0E
8E
Reset
05
85
Save
16
96
When an error response is returned for an explicit message, the value is always 94
hex.
Data - Read data is included only when a read command is executed.
Error code - The explicit message error code
157
Appendix A
Error Name
Cause
08FF
09FF
The specified attribute value is not supported. The data written was outside valid range.
16FF
15FF
13FF
0CFF
20FF
Invalid parameter
0EFF
An attribute ID supported only for reading has been executed for a write service code.
10FF
14FF
19FF
2AFF
The specified command or attribute is not supported or the attribute was not set.
Explicit Messages
Table 31 - Reading General Status
Explicit Message Read/
Write
Function
Command (hex)
Response
Service
Code
Data Size
0E
95
01
65
1 byte
Bit 0: Input power error
Bit 1: Output power error
Bit 27: Reserved
Read/
Write
Function
Safety Input
Cause of Error
Information
Read
Read
158
Command (hex)
Response (hex)
Service
Code
0E
3D
010C
6E
0: No error
01: Configuration invalid
02: External test signal error
03:Internal input error
04: Discrepancy error
05: Error in the other dual channel input
Appendix A
Read/
Write
Function
Command (hex)
Service
Code
Response (hex)
Class ID Instance ID
3B
6E
0108
0: No error
01: Configuration invalid
02: Over current detected
03: Short circuit detected
04: Output ON error
05: Error in the other dual channel output
06: Internal-relay output circuit error
(replace module)
07: Relay failure (replace relay)
08: Dual channel violation
09: Short circuit detected at safety output
Read/
Write
Function
Command (hex)
Service
Code
Response (hex)
Class ID Instance ID
Attribute ID
Data Size
09
6E
0104
0 = No error
01: Configuration invalid
02: Overload detected
03: Cross circuit detected
05: Output ON error
06: Undercurrent detected for
muting lamp
Read/
Write
Function
Command (hex)
Service
Code
Response (hex)
Class ID Instance ID
Attribute ID
Data Size
09
0108
05
1 byte
00: Clear
01: Hold
09
0108
05
1 byte
00: Clear
01: Hold
159
Appendix A
Notes:
160
Appendix
Safety Data
This appendix lists calculated values for probability of failure on demand (PFD),
probability of failure per hour (PFH), and mean time between failures. PFD and
PFH calculations comply with IEC61508, edition 2, 2010.
Calculated values of probability of failure on demand and probability of failure
per hour appear in Table 36 and Table 37 and must be calculated for the devices
within the system to comply with the SIL level required for application.
You must be responsible for following the requirements of ISO 13849-1:2008, to
assess performance levels in your safety system.
Within the proof test interval, every I/O module must be functionally tested by
individually toggling each input point and verifying that each point is detected by
the controller.
Additionally, each output point must be individually toggled by the controller
and you must verify that the output point changes state.
For more information, refer to these publications.
Resource
Description
161
Appendix B
Safety Data
PFD
PFD
162
Safety Data
Appendix B
1791DS-IB8XOBV4
1791DS-IB16
1732DS-IB8XOBV4
1732DS-IB8
Description
Calculated PFD
2 Years
5 Years
(17,520
(43,800
hours)
hours)
4.16E-06
1.04E-05
10 Years
(87,600
hours)
2.08E-05
20 Years
(175,200
hours)
4.16E-05
PFH
(1/hour)
Spurious Trip
Rate (SPR)
MTTF
(years)
5.02E-10
5.608E-06
20.34
4.11E-06
1.03E-05
2.06E-05
4.11E-05
4.96E-10
3.301E-06
34.56
4.16E-06
1.04E-05
2.08E-05
4.16E-05
5.02E-10
5.608E-06
20.34
4.11E-06
1.03E-05
2.06E-05
4.11E-05
4.96E-10
3.301E-06
34.56
1791DS-IB12
1791DS-IB8XOB8
1791DS-IB4XOW4
(1)
Description
Calculated PFD
2 Years
(17,520
hours)
1.754E-06
5 Years
(43,800
hours)
4.419E-06
PFH
10 Years
20 Years(1)
(87,600 hours) (175,200 hours) (1/hour)(1)
8.962E-06
6.013E-06
6.84E-11
1.755E-06
4.421E-06
8.963E-06
6.013E-06
6.84E-11
4.151E-05
1.207E-04
2.978E-04
7.684E-04
4.072E-09
The 20-year PFD data for this product applies only to product with a manufacture date code of 2009/
01/01 (January 1, 2009) or later. See the product label for the date code.
163
Appendix B
Safety Data
Notes:
164
Appendix
Topic
Page
165
167
167
Understanding
Parameter Groups
Set all parameters by using the Logix Designer application or RSNetWorx for
DeviceNet software.
Table 38 - General Parameters
Parameter Name
Value
Description
Default
1000 ms
065,530 ms
(in increments of 10 ms)
Safety input or test output errors are latched for this time.
1000 ms
Clear OFF
165
Appendix C
Value
Description
Single Channel
Dual-channel Equivalent
Dual-channel Complementary
Use as dual-channel. Normal when one channel is ON and the other channel is OFF.
Not Used
Use with a contact output device and in combination with a test output. By using this setting, short-circuits
between input signal lines and the power supply (positive side) and short-circuits between input signal
lines can be detected.
Safety
Standard
Not Used
Test Output 0
Test Output 1
Test Output 2
Test Output 3
Input Delay Time Off -> On
IMPORTANT
166
If the test pulse from test output is set to the Safety Input Channel mode,
the safety-input test source and pulse test output of the test output must
be set to the Test Output mode.
Appendix C
Value
Description
Default
Not Used
Not Used
Standard
Pulse Test
Power Supply
Clear OFF
Clear OFF
Value
Description
Default
Not Used
Not Used
Safety
When the output is ON, the test pulse is not output (remains ON).
By using this function, short-circuits between output signal lines and the power supply
(positive side) and short-circuits between output signal lines can be detected.
Single Channel
Dual-channel
Use as dual-channel. When both channels are normal, outputs can be turned ON.
Dual-channel
The module internally stores I/O allocation data. Use the Logix Designer
application or RSNetWorx for DeviceNet software to set the connection paths
for the allocation of I/O data in the master unit. No settings are made by default.
Be sure to set the required connection paths.
The module stores this I/O data:
SAFETY: Information the controller can use in safety-related functions
STANDARD: Additional information that must not be relied on for
safety functions
These tables show the I/O data supported by each module. Refer to I/O
Assembly Data for data arrangements.
You can allocate up to four items of I/O-data safety connections, including one
output, and up to two items of I/O-data standard connections for the master unit
(such as a scanner).
167
Appendix C
21
340
(1) Found in the Logix Designer application, I/O Module Properties, General tab.
168
Test
Test Output Status with General Status Assembly
Individual Safety
Output Status
Combined Safety
Output Status
20C
224
22C
310
311
Safety
Small Safety - Point Status
Safety - Point Status
Safety - Combined Status - Muting Status
Safety - Point Status - Muting Status
Inputs
Safety Input Data
Standard Connection
Safety Connection
Appendix C
Outputs
Safety
Safety - Combined Status - Muting Status
204
320
321
322
323
Test
21
Safety
234
Combined
351
341
Individual Safety
Output Status
Combined Safety
Output Status
Standard Connection
Safety Connection
(1) Found in the Logix Designer application, I/O Module Properties, General tab.
169
Appendix C
Outputs
Safety
Safety - Combined Status - Muting Status
203
330
331
332
333
Test
21
Safety
233
Combined
350
342
(1) Found in the Logix Designer application, I/O Module Properties, General tab.
170
Individual Safety
Output Status
Combined Safety
Output Status
Standard Connection
Safety Connection
Appendix C
Outputs
Safety
Safety - Combined Status - Muting
204
324
344
354
Test
22
Safety
234
Combined
2C4
Individual Safety
Output Status
Combined Safety
Output Status
Standard Connection
Safety Connection
(1) Found in the Logix Designer application, I/O Module Properties, General tab.
171
Appendix C
Outputs
364
314
224
Test
22
(1) Found in the Logix Designer application, I/O Module Properties, General tab.
172
204
334
Safety
Safety - Point Status - Muting Status
Individual Safety
Output Status
Combined Safety
Output Status
Standard Connection
Safety Connection
Appendix C
Outputs
Standard Output Data
Individual Safety
Output Status
Combined Safety
Output Status
204
324
Safety
Safety - Combined Status - Muting
Standard Connection
Safety Connection
344
354
Test
22
Safety
234
Combined
2C4
(1) Found in the Logix Designer application, I/O Module Properties, General tab.
173
Appendix C
Outputs
205
335
365
315
225
Test
23
None
C7
(1) Found in the Logix Designer application, I/O Module Properties, General tab.
174
Safety
Safety - Point Status - Muting
Individual Safety
Output Status
Combined Safety
Output Status
Standard Connection
Safety Connection
Index
A
about catalog numbers 19
acetone 17
administrator, safety 13
architectures
safety 19
assembly and reference data 148
B
before you begin 13
benzene 17
bus off 11
C
cables 45
catalog numbers 19
cleaning 17
colored stickers 46
configuration lock 26
configure always checkbox 126
configure the module 61, 115
connecting
communication connectors 46
connection 11
controlling devices 38
installation 44
isolating transformer 16
L
legislation and standards 39
limit, connection reaction time 11
Logix Designer application 9, 61
M
mean time between failure 11, 161
model types 19
mounting 17
MTBF
See mean time between failure.
N
node address setting 46
noise 42
O
ODVA 11, 39
off-delay function 33
on-delay function 33
out-of-box condition 43
output configuration dialog 77
D
data, reference 148
dialog
Output Configuration 77
Safety 71
Test Output Configuration 76
DIN rail 17
directives 39
E
EC directives 17
electronic data sheet 11
EMC directives 41
F
ferrite core 42
firmware 13
H
help button 61
P
parameters
general 165
groups 165
safety input 165
test output 165
PFD
See probability of failure on demand.
PFH
See probability of failure per hour.
precautions for use 14
probability of failure on demand 11
probability of failure per hour 11
proof test 11
publications, related 10
R
reference data 148
related publications 10
replace units 38
rotary switches 46
RSLogix 5000 software
version 19
175
Index
S
safety dialog 71
safety functions
safety input 26
safety output 36
safety network number 11, 63
self-diagnostics 26
SLogix 5000 software
version 19
SNN
See safety network number.
standards 39
Studio 5000 environment
version 19
Studio 5000 software 9
switches, rotary 46
T
thinner 17
torquing 17
transformer, isolating 16
tree, configuration 62
V
ventilation 17
176
Installation Assistance
If you experience a problem within the first 24 hours of installation, review the information that is contained in this
manual. You can contact Customer Support for initial help in getting your product up and running.
United States or Canada
1.440.646.3434
Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your
distributor to complete the return process.
Please contact your local Rockwell Automation representative for the return procedure.
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