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Introduction...........................................................................................2
Important User Information..................................................................2
General Safety Information..................................................................3
Description ............................................................................................4
Setup and Wiring ..................................................................................5
Configure...............................................................................................8
Programming ......................................................................................13
Performance Data ...............................................................................17
Achieving a Cat. 4 Safety Rating .......................................................19
Additional Resources.........................................................................22
2
Contact Rockwell Automation to find out more about our safety risk
assessment services.
Setup and Wiring For detailed information on installing and wiring, refer to the product
manuals listed in the Additional Resources.
System Overview
GuardLogix Controller
EtherNet/IP
Fault Reset
PowerFlex 70
Emergency Stop with DriveGuard
Circuit Reset
Wiring
This diagram shows the appropriate wiring.
Wiring Considerations
The following wiring considerations should be addressed for your
application:
If your risk assessment determines you must pulse test your safety
output circuits in order to catch shorts of P terminal to 24V or M terminal
to 0V, refer to Achieving a Cat. 4 Safety Rating, for an alternative wiring
schematic.
Reaction to Faults
Based on the wiring and safety module configuration shown in this
application example, this section details how the safety module responds
to line faults incurred between the safety outputs and the PowerFlex 70
drive:
Channel-to-channel Short
Channel Start Fault Immediate Reaction Immediate Detection
P HI ch-ch LO Yes*
M HI ch-ch LO Yes*
Short to 24V
Channel Start Fault Immediate Reaction Immediate Detection
P HI Short HI Undetectable
M HI HI
P HI LO
M HI Short LO Yes*
Short to 0V
Channel Start Fault Immediate Reaction Immediate Detection
P HI Short LO Yes*
M HI LO
P HI HI
M HI Short HI Undetectable
Wire OFF
Channel Start Fault Immediate Reaction Immediate Detection
P HI off LO Yes**
M HI LO
P HI LO
M HI off LO Yes**
* These faults result in the output status going LO. The error remains for
the duration of the Output Error Latch Time configured in the module
properties.
** These faults result in the output status remaining HI. The feedback of
the ROUT instruction detects this type of fault.
The DHCP server also assigns other transport control protocol (TCP)
parameters.
Using the Rockwell Automation BootP/DHCP Server Utility
Follow these steps to use the Rockwell Automation BootP/DHCP Server
Utility to set the Network IP Address.
2. Select the entry with the MAC address that corresponds with your
target module to define the address and Transport Control
Parameters for the module.
If DHCP is not enabled, the module uses the IP address (along with
other TCP configurable parameters) stored in nonvolatile memory.
5. Select Inputs 4 and 5 for the Safety Circuit and Fault Reset
buttons.
These are not safety inputs so they are configured as Standard.
Programming This section details how to program your GuardLogix project based on
the wiring and configuration detailed in the previous sections. The
programming code for this application example was generated using the
Safety Accelerator Toolkit for GuardLogix Systems publication,
IASIMP-QS005. This toolkit provides easy-to-use system design,
programming, and diagnostic tools to assist you in the rapid development
and deployment of your safety systems using Rockwell Automation’s
GuardLogix controller, Guard I/O, and safety devices.
Safety Tags
The safety logic shown below requires the creation and use of the
following safety tags.
Safety Logic
The following code should be programmed in a routine within your
Safety Task in the GuardLogix controller.
The InputOK status is used as one of the permissives in the safety output
routines.
Worst case, the time it takes to occur is the sum of the A to E path as
described below.
A
B
C
D
E
A – Input Module Delay – 16 ms + on/off delay filters
B – Input Connection Reaction Time Limit (CTRL)
The Connection Reaction Time Limit is configured in the 1791ES
Module Properties within RSLogix 5000 software. The Input
Connection defaults to 4 x RPI.
C – GuardLogix Delay
The maximum delay for the GuardLogix controller is:
Period + Task Watchdog
D – Output Connection Reaction Time Limit
E – Output Module Delay = 6ms
Worst Case Reaction Time = A + B + C + D + E
A
B
C
D
E
A – Input Module delay / (max/2) = 8ms + on/off delay filters
B – Input Connection Reaction Time / Input RPI
C – GuardLogix Delay
The typical delay time for the GuardLogix controller is:
(Period / 2) + Task Scan Time
D – Output Connection Reaction Time / Output RPI = Task Period
E – Output Module Delay / (max / 2) = 3ms
Typical Reaction Time = A + B + C + D + E
Modified Configuration
The safety Output Configuration for the Guard I/O module can now be
configured for Safety Pulse Test. With Safety Pulse Test configured,
shorts of the P terminal to 24V and shorts of the M terminal to 0V can be
detected during system operation.
Additional Resources For more information about the products used in this example refer to
these Resources.
Resource Description
Notes:
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Publication SAFETY-AT017B-EN-P
SAFETY-AT017B-EN-P––July
July2011
2011
Supersedes publication SAFETY-AT017A-EN-P – July 2008 Copyright © 2011 Rockwell Automation, Inc. All rights reserved. Printed in USA.