Rockwell Automation 1791DS-IBxxxx User Manual
User Manual
Guard I/O DeviceNet Safety Modules
Catalog Numbers 1732DS-IB8, 1732DS-IB8XOBV4, 1791DS-IB12, 1791DS-IB8XOB8, 1791DS-IB4XOW4, 1791DS-IB8XOBV4,
1791DS-IB16
Important User Information
IMPORTANT
Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1
your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
available from
) describes some
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
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.
New and Updated
Information
This table contains the changes made to this revision.
Top ic Pag e
Studio 5000 Environment 9
Additional Resources 10
Programming Requirements 19
Safety Data 161
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 3
Summary of Changes
Notes:
4 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
Table of Contents
Preface
About the Modules
Understand the Operation of Safety
Functions
About the Specifications and Dimensions in This Manual . . . . . . . . . . . . . 9
Studio 5000 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 1
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Understand Suitability for Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Follow Precautions for Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Precautions to Mount, Wire, and Clean. . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
I/O Module Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Programming Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Guard I/O Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
About CIP Safety in DeviceNet Safety Architectures. . . . . . . . . . . . . . . . 19
Identify Major Parts of the Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 2
Safety I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Self-diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Configuration Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
I/O Status Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Safety Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Using a Test Output with a Safety Input . . . . . . . . . . . . . . . . . . . . . . . 27
Single Channel Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Dual-channel Mode and Discrepancy Time. . . . . . . . . . . . . . . . . . . . . 30
Dual-channels, Equivalent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Dual-channels, Complementary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Safety Input Fault Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Input Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Test Outputs Configured as Muting Outputs . . . . . . . . . . . . . . . . . . . . . . 34
Safety Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Safety Output with Test Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Dual-channel Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Safety Output Fault Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Controlling Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Legislation and Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Europe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
North America. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Japan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
EC Directives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
EMC Directive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Compliance with EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 5
Table of Contents
Chapter 3
Install and Connect Your Modules
Wiring Examples
Considerations for Module Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Install the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Connect I/O Power and I/O Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Connect Communication Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Set the Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Chapter 4
Input Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Emergency Stop Switch Dual-channel Inputs with Manual Reset . 48
Two-hand Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Mode Select Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Light Curtain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Reset Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Source Output Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Redundant Safety Contactors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Single Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Bipolar Output Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Dual-load Bipolar Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Single Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Relay Output Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Relay Outputs with Dual-channel Mode and External Device
Monitoring Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Interlock String. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Test Output Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Standard Inputs and Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Muting Lamp Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Chapter 5
Configure Modules with the Logix
Designer Application
6 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
Use the Help Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Add Modules to the I/O Configuration Tree . . . . . . . . . . . . . . . . . . . . . . . 62
Set Up the Module Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Values and States of Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Configure the Safety Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Configuration Ownership - Reset Ownership . . . . . . . . . . . . . . . . . . . 73
Configuration Signature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Configure the Input Configuration Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Configure the Test Output Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Configure the Output Configuration Tab . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Save and Download Module Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 79
Chapter 6
Table of Contents
Configure Modules in
RSNetWorx for DeviceNet Software
Considerations When Replacing
Guard
I/O Modules
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Add Modules to the I/O Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Safety Network Number (SNN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Configuration Signature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Configure the I/O Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Configure the Input Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Configure the Test Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Configure the Output Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Configure Input and Output Error Latch Times . . . . . . . . . . . . . . . . 90
Save and Download the Module Configuration. . . . . . . . . . . . . . . . . . . . . 92
Set Up the 1791DS I/O Module Definition. . . . . . . . . . . . . . . . . . . . . . . . 93
Set the Connection Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Set the Connection Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Set the Communication Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Configuration Ownership—Reset Ownership . . . . . . . . . . . . . . . . . 103
Set the Safety Network Number (SNN) . . . . . . . . . . . . . . . . . . . . . . . 105
Set Your Password. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
I/O Data Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Chapter 7
Considerations When Replacing Guard I/O Modules. . . . . . . . . . . . . . 115
Why You Need to Manually Set the SNN . . . . . . . . . . . . . . . . . . . . . 116
GuardLogix Controllers versus SmartGuard Controllers. . . . . . . . 117
Replacing an I/O Module When Using a SmartGuard Controller. . . 117
Replacing an I/O Module When Using a GuardLogix Controller . . . 121
I/O Replacement with ‘Configure Only When No Safety
Signature Exists’ Enabled. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
I/O Replacement with ‘Configure Always’ Enabled . . . . . . . . . . . . 126
Interpret Status Indicators
Get Point Status from Modules by
Using Explicit Messaging
Chapter 8
Module Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Module Status and Network Status Indicators Combination. . . . . . . . 130
1791DS-IB12, 1791DS-IB8XOB8, and 1791DS-IB4XOW4
Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
1732DS-IB8XOBV4, 1732DS-IB8, 1791DS-IB8XOBV4, and
1791DS-IB16 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Appendix A
Considerations for Obtaining Point Status . . . . . . . . . . . . . . . . . . . . . . . . 137
1791DS-IB8XOB8 Module Definition Configuration . . . . . . . . . . . . . 138
1791DS-IB4XOW4 Module Definition Configuration . . . . . . . . . . . . 142
1791DS-IB12 Module Definition Configuration . . . . . . . . . . . . . . . . . . 145
I/O Assembly and Reference Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 7
Table of Contents
Safety Data
Configuration Reference Information
Index
1791DS-IB12, 1791DS-IB8XOB8, 1791DS-IB4XOW4 Data . . 148
1732DS-IB8, 1732DS-IB8XOBV4, 1791DS-IB8XOBV4, and
1791DS-IB16 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Basic Format of Explicit Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Appendix B
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Appendix C
Understanding Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Allocate Remote I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
I/O Data Supported by Each Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
8 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
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.
About the Specifications and
Dimensions in This Manual
Studio 5000 Environment
Product specifications and accessories can change at any time based on
improvements and other reasons. Consult with your Rockwell Automation
representative to confirm actual specifications of purchased product. Dimensions
and weights are nominal and are not for use for manufacturing purposes, even
when tolerances are shown.
The Studio 5000™ Engineering and Design Environment combines engineering
and design elements into a common environment. The first element in the Studio
5000 environment is the Logix Designer application. The Logix Designer
application is the rebranding of RSLogix™ 5000 software and will continue to be
the product to program Logix5000™ controllers for discrete, process, batch,
motion, safety, and drive-based solutions.
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.
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 9
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
ArmorBlock Guard I/O DeviceNet Module Installation Instructions, publication
1732DS-IN001
CompactBlock Guard I/O DeviceNet Module Installation Instructions, publication
1791DS-IN002
DeviceNet Modules in Logix5000 Control Systems User Manual, publication
DNET-UM004
DeviceNet Safety I/O Modules Series 1791DS Installation Instructions, publication
1791DS-IN001
DeviceNet Safety Scanner for GuardPLC Controllers User Manual, publication
1753-UM002
GuardLogix 5570 Controller Systems Safety Reference Manual, publication
1756-RM099
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 Provides information on how to install, configure, program, and use GuardLogix 5570
GuardLogix Controller Systems Safety Reference Manual, publication 1756-RM093 Provides information on safety application requirements for GuardLogix 5560 and 5570
GuardLogix Controllers User Manual, publication 1756-UM020
GuardLogix Safety Application Instructions Safety Reference Manual, publication
1756-RM095
GuardPLC Controller Systems User Manual, publication 1753-UM001 Describes in brief the safety concept of the GuardPLC family of controllers.
GuardPLC Safety Reference Manual, publication 1753-RM002
ODVA Media Planning and Installation Guide, publication 00148-BR001 Describes the required media components and how to plan for and install these required
SmartGuard 600 Controllers Installation Instructions, publication 1752-IN001 Provides information related to installation of SmartGuard 600 controllers.
SmartGuard 600 Controllers Safety Reference Manual, publication 1752-RM001
SmartGuard 600 Controllers User Manual, publication 1752-UM001 Describes how to configure, operate, and troubleshoot the controller.
ODVA Planning and Installation Manual, publication 00027
EtherNet/IP Library at ODVA.org
, available from the
Provides detailed specifications and information related to installation of Guard I/O
modules.
Provides information on how to connect the controller to the network.
Provides detailed specifications and information related to installation of these Guard I/O
modules: 1791DS-IB12, 1791DS-IB8XOB8, and 1791DS-IB4XOW4.
Provides information on installing, operating, and maintaining the scanner.
Provides information on safety applic ation requirements for GuardLogix 5570 controllers in
Studio 5000 Logix Designer projects.
controllers in Studio 5000™ Logix Designer projects.
controllers in RSLogix 5000 projects.
Provides information on how to install, configure, program, and use GuardLogix 5560 and
5570 controllers in RSLogix 5000 projects.
Provides reference information describing the GuardLogix Safety Application Instruction
Set.
Explains how the GuardPLC control system can be used in safety applications.
components.
Describes SmartGuard 600-specific safety requirements and controller features.
Describes the required media components and how to plan for and install these required
components.
10 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
Preface
Terminology
Ter m M ea nin g
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 Connection reaction time limit.
DeviceNet safety An implementation of a safety protocol on a standard DeviceNet network.
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- Output +24V DC common.
M Sinking output common channel, output switches to the common voltage.
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.
P Sourcing output channel, output switches to the plus voltage.
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+ Output +24V DC.
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 Devices or portions of devices that do not participate in the safety function.
Refer to the table for the meaning of common terms.
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 11
Preface
Notes:
12 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
Chapter 1
About the Modules
Top ic Pa ge
Understand Suitability for Use 14
Follow Precautions for Use 14
Precautions to Mount, Wire, and Clean 17
I/O Module Overview 17
Guard I/O Catalog Numbers 19
About CIP Safety in DeviceNet Safety Architectures 19
Identify Major Parts of the Modules 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.
Before You Begin
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
.
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 13
Chapter 1 About the Modules
Understand Suitability for
Use
Follow Precautions for Use
Rockwell Automation is not responsible for conformity with any standards,
codes, or regulations that apply to the combination of the products in your
application or use of the product.
Take all necessary steps to determine the suitability of the product for the
systems, machine, and equipment with which it is used.
Know and observe all prohibitions of use applicable to this product.
Never use the products for an application involving serious risk to life or property
without making sure that the system as a whole was designed to address the risks
and that the Rockwell Automation product is properly rated and installed for the
intended use within the overall equipment or system.
ATTENTION: Safety state of the inputs and outputs is defined as the
off state.
Safety state of the module and its data is defined as the off state.
Use the Guard I/O module only in applications where the off state is the
safety state.
Serious injury may occur due to breakdown of safety outputs. Do not
connect loads beyond the rated value to the safety outputs.
Serious injury may occur due to loss of required safety functions. Wire
the module properly so that supply voltages or voltages for loads do not
touch the safety outputs accidentally or inadvertently.
ATTENTION: Use DC supply satisfying the following requirements to
prevent electric shock:
• A DC power sup ply wi th dou ble or reinforced i nsulatio n, for examp le,
according to IEC/EN 60950 or EN 50178 or a transformer according to
IEC/EN 61558
• A DC supply satisfies requirement for class 2 circuits or limited
voltage/current circuit stated in UL 508
• Use an external power supply that is safety extra-low voltage (SELV)
rated
14 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
About the Modules Chapter 1
ATTENTION: Follow these precautions for safe use.
• Wire conductors correctly and verify operation of the module before
placing the system into operation. Incorrect wiring may lead to loss
of safety function.
• Do not apply DC voltages exceeding the rated voltages to the
module.
• Apply properly specified voltages to the module inputs. Applying
inappropriate voltages may cause the module to fail to perform it’s
specified function, which could lead to loss of safety functions or
damage to the module.
• Never use test outputs as safety outputs. Test outputs are not safety
outputs.
• Note that after installation of the module, a safety administrator
must confirm the installation and conduct trial operation and
maintenance.
• Do not disassemble, repair, or modify the module. This may result in
loss of safety functions.
• Use only appropriate components or devices complying with
relevant safety standards corresponding to the required safety
category and safety integrity level.
- Conformity to requirements of the safety category and safety
integrity level must be determined for the entire system.
- We recommend you consult a certification body regarding
assessment of conformity to the required safety integrity level or
safety category.
• Note that you must confirm compliance with the applicable
standards for the entire system.
• Disconnect the module from the power supply before wiring.
Devices connected to the module may operate unexpectedly if
wiring is performed while power is supplied.
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 15
Chapter 1 About the Modules
1791DS-IB4XOW4 Module
L1 L2 L3
400V AC/ 230V AC
III Over-voltage Category II
F1…F8 - Fuses
MA, MB - Electromagnetic Switches
TR1 - Insulated Transformer
44151
F6
F7
F8
F2
F1
TR1
F3
F4
F5
MA
MB
MA
MB
Load
For 1791DS-IB4XOW4 modules, follow these instructions on isolating
transformer use. Refer to the isolating transformer figure.
• Use an isolating transformer to isolate between over-voltage category III
and II, such as TR1, to conform to IEC 60742.
• Be sure the insulation between first input and secondary output satisfies at
least basic insulation of over-voltage category III.
• Be sure one side of a secondary output of the isolating transformer is
grounded to prevent electric shock to personnel due to a short to ground
or short to the frame of the isolating transformer.
• Insert fuses, in case of a short to the frame, to protect the isolating
transformer and prevent electric shock to personnel, per transformer
specifications, at points such as F1, F2, and F3.
Figure 1 - Use of Isolating Transformer
16 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
About the Modules Chapter 1
Precautions to Mount, Wire,
and Clean
Observe these precautions to prevent operation failure, malfunctions, or
undesirable effects on product performance.
Follow these precautions when mounting modules:
• Use DIN rail that is 35 mm (1.38 in.) wide to mount the module into the
control panel.
• Mount modules to DIN rail securely.
• Leave at least 50 mm (1.96 in.) above and below the module to allow
adequate ventilation and room for wiring for 1791DS-IB12, 1791DSIB8XOB8, and 1791DS-IB4XOW4 modules.
• Leave at least 15 mm (0.6 in.) around the module to allow adequate
ventilation and room for wiring for 1732DS-IB8, 1732DS-IB8XOBV4,
1791DS-IB8XOBV4, and 1791DS-IB16 modules.
Follow these precautions when wiring modules:
• Do not place communication lines and I/O lines in the same wiring duct
or track as high voltage lines.
• Wire correctly after confirming the signal names of all terminals.
• Do not remove the shield from a module before wiring, but always remove
the shield after completing wiring to be sure of proper heat dispersion for
1791DS-IB12, 1791DS-IB8XOB8, and 1791DS-IB4XOW4 modules.
• Follow torquing specifications as indicated in the installation instructions.
I/O Module Overview
When cleaning modules, do not use the following:
• Thinner
• Benzene
• Acetone
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.
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 17
Chapter 1 About the Modules
The following is a list of features common to Guard I/O modules:
• CIP-safety and DeviceNet protocol conformance
• Safety inputs
– Safety devices, such as emergency stop push buttons, gate switches, and
safety light curtains, can be connected.
– Dual-channel mode evaluates consistency between two input signals
(channels), which allows use of the module for Safety Category 3 and 4.
– The time of a logical discrepancy between two channels can be
monitored using a discrepancy time setting.
– An external wiring short-circuit check is possible when inputs are wired
in combination with test outputs. The module must be wired in
combination with test outputs when this function is used.
– Independently adjustable on and off delay is available per channel.
• Te st ou tp u t s
– Separate test outputs are provided for short circuit detection of a safety
input (or inputs).
– Power (24V) can be supplied to devices, such as safety sensors.
– Test outputs can be configured as standard outputs.
– All Guard I/O modules have numerous test outputs, of which some can
be used for broken wire detection of a muting lamp.
• Safety outputs
– Solid state outputs
• Dual-channel mode evaluates consistency between two output signals
(channels).
• Safety outputs can be pulse tested to detect field wiring shorts to 24V
DC.
• All 1791DS-IB8XOBV4 modules’ safety outputs use pulse testing to
detect a short to 24V DC on the safety source output (P), and a short to
0V DC on the safety sink output (M).
– Relay Outputs
• Dual-channel mode evaluates consistency between two output signals
(channels).
• Up to 2 A is provided per output point.
• Safety relays can be replaced.
• I/O status data - In addition to I/O data, the module includes status data
for monitoring I/O circuits.
• Security - The configuration information of the module can be protected
by a password.
• Removable I/O connectors - I/O connectors support mechanical keying.
18 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
About the Modules Chapter 1
Programming Requirements
Cat. No. Studio 5000 Environment
1732DS-IB8,
1732DS-IB8XOBV4,
1791DS-IB12,
1791DS-IB8XOB8,
1791DS-IB4XOW4,
1791DS-IB8XOBV4,
1791DS-IB16
(1) This version or later.
(1)
Versi on
21 17 8 2.51
Guard I/O Catalog Numbers
Cat. No. Description Enclosure Type
1732DS-IB8 Safety input module Meets IP64/65/6788 - -
1732DS-IB8XOBV4 Safety I/O module with solid state outputs 8 8 4 bipolar
1791DS-IB12 Safety input module Meets IP20 12 4 - -
1791DS-IB8XOB8 Safety I/O module with solid state outputs 8 4 8 -
1791DS-IB4XOW4 Safety I/O module with relay outputs 4 4 - 4
1791DS-IB8XOBV4 Safety I/O module with solid state outputs 8 8 4 bipolar
1791DS-IB16 Safety input module 16 16 - -
Use the minimum software versions listed here.
RSLogix 5000 Software
(1)
Versi on
(EtherNet/IP Network)
RSNetWorx for DeviceNet
Software Version
(DeviceNet Network)
(1)
RSLinx Software
(1)
Vers ion
See the table for a listing of the types of Guard I/O modules.
Rating
Safety Inputs Test Outputs Safety Outputs
Solid State Relays
-
pairs
-
pairs
About CIP Safety in
DeviceNet Safety
Architectures
Use Guard I/O modules in DeviceNet safety architectures as shown below.
The Guard I/O family is a set of I/O modules that when connected to a
DeviceNet safety network are suitable for applications up to SIL3, as defined in
the IEC 61508 standard, and Safety Category 4, as defined in the EN 954-1
standard.
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 19
Chapter 1 About the Modules
44196
ArmorBlock Guard I/O
Module
Compac tBlock
Guard I/O Module
RSNetWorx,
Studio 5000, and
RSLogixGuard Plus Software
SmartGuard 600
Control ler
Safety Communication
Standard Communication
DeviceNet
Scanner
Interface
DeviceNet Network
Logix Co ntroller
Logix Co ntroller
GuardLogix Controller
Guard PLC Controller
Figure 2 - Guard I/O Modules in DeviceNet Safety Architectures
Safety controllers control the safety outputs. Safety or standard PLC controllers
can control the standard outputs.
20 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
About the Modules Chapter 1
Node Address Switches
Safety Relay
I/O Connections
44195
Communication
Conne ctor
Status Indicators
Node Address Switches
Status Indicators
Communication
Connector
44091
I/O Connections
Node Address Switches
Status Indicators
Communication
Conne ctor
44091
I/O Connections
Identify Major Parts of the
Modules
See the figures for module identification. For pin-out information, refer to the
relevant installation instructions.
Figure 3 - 1791DS-IB4XOW4 Module Identification
Figure 4 - 1791DS-IB8XOB8 Module Identification
MS NS LOCK
1791DS-IB8XOB8
IN
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7
PWR
OUT
PWR
8 Inputs - 8 Outputs 24VDC
CompactBlock
Figure 5 - 1791DS-IB12 Module Identification
IN
MS NS LOCK
1791DS-IB12
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 21
0 1 2 3 4 5 6 7 8 9 10 1 1
PWR
CompactBlock
12 Inputs 24VDC
Chapter 1 About the Modules
NODE
ADR
8
2
4
6
0
8
2
4
6
0
X1X10
Node Address Switches
I/O Connectors (input)
44224
Communicat ion Connec tor
Status Indicators
Power Connector
I/O Connectors (output)
44123
Commu nication
Conne ctor
Node Address Switches
I/O
Power
Inputs
Status Indicators
FE
Communication
Conne ctor
Node Address
Switches
Outputs
Inputs
I/O Power
44122
Status Indicators
FE
Figure 6 - 1791DS-IB8XOBV4 Module Identification
Figure 7 - 1732DS-IB8 Module Identification
22 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
Figure 8 - 1732DS-IB8XOBV4 Module Identification
Figure 9 - 1791DS-IB16 Module Identification
NC NC
NODE
ADR
8
2
4
6
0
8
2
4
6
0
X1X10
FE I8 I9 T8 T9 I10 I11 T10 T11M
1791DS IB16
16 INPUTS
24 Vdc
FE I0 I1 T0 T1 I2 I3 T2 T3M
I4 I5 T4 T5 I6 I7 T6 T7M
I12 I13 T12 T13 I14 I15 T 14 T15M
Node Address Switches
I/O Connectors (input)
44118
Communication Connector
Status Indicators
Power Connector
I/O Connectors (input)
About the Modules Chapter 1
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 23
Chapter 1 About the Modules
Notes:
24 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
Chapter 2
Output Off
Input
Inputs to Network
DeviceNet Network
Safety
Status
44076
Understand the Operation of Safety Functions
Top ic P ag e
Safety I/O Modules 25
Self-diagnostic Functions 26
Configuration Lock 26
I/O Status Data 26
Safety Inputs 26
Test Outputs Configured as Muting Outputs 34
Safety Outputs 36
Controlling D evices 38
Safety Precautions 38
Legislation and Standards 39
EC Directives 41
Safety I/O Modules
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
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 25
Chapter 2 Understand the Operation of Safety Functions
The module is designed for use in applications where the safety state is the off
state.
Self-diagnostic Functions
Configuration Lock
I/O Status Data
Self-diagnostics are performed when the power is turned on and periodically
during operation. If a fatal internal module error occurs, the red module status
(MS) indicator is illuminated, and the safety outputs and input data and status to
the network turn off.
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
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)
or the GuardLogix 5570 Controller System
.
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 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
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.
Understand the Operation of Safety Functions Chapter 2
24V DC Output with Test Pulse
External Contact
Safety Input
Terminal
24V
44078
X
OUT
Y
On
Off
Using a Test Output with a Safety Input
A test output can be used in combination with a safety input for short circuit
detection. Configure the test output as a pulse test source and associate it to a
specific safety input.
The test output can also be configured for a power supply to source 24V DC for
an external device, for example, a light curtain.
Figure 11 - Example Use of a 1791DS-IB12 Module
Cat. No. Pulse Width (X) Pulse Period (Y )
1732DS-IB8 500 μs 600 ms
1732DS-IB8XOBV4 500 μs 600 ms
1791DS-IB12 700 μs 648 ms
1791DS-IB8XOB8 700 μs 648 ms
1791DS-IB4XOW4 700 μs 648 ms
1791DS-IB8XOBV4 500 μs 600 ms
1791DS-IB16 500 μs 600 ms
Figure 12 - Test Pulse in a Cycle
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 27
Chapter 2 Understand the Operation of Safety Functions
External Contact
Short-circuit Between Input Signal Lines and Power
Supply (positive side)
External Contact
Short-circuit Between Input Signal Lines
44079
24V
V
G
T0
IN0
T1
IN1
24V
0V
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
28 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
Understand the Operation of Safety Functions Chapter 2
24V
0V
T0
Input Terminal 0
External Device
Faul t De tect ed
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
ON
OFF
24V
0V
ON
OFF
T0
Safety Input
Status 0
Fault Detection
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
Safety Input
Status 0
Safety Input 0
Safety Input 0
Input Terminal 0
Normal Operation
External Device
Single Channel Mode
If an error is detected, safety input data and safety input status turn off.
Figure 14 - Normal Operation and Fault Detection (not to scale)
Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013 29
Chapter 2 Understand the Operation of Safety Functions
IMPORTANT
IMPORTANT
Dual-channel Mode and Discrepancy Time
To support redundant-channel safety devices, the consistency between signals on
two channels can be evaluated. Either equivalent or complementary can be
selected. This function monitors the time during which there is a discrepancy
between the two channels.
If the length of the discrepancy exceeds the configured discrepancy time
(0…65,530 ms in increments of 10 ms), the safety input data and the individualsafety input status turns off for both channels.
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.
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 Input Terminal Controller Input Data and Status Dual- channel
IN0 IN1 Safety
Dual-channels, Equivalent OFF OFF OFF OFF ON ON OFF Normal
OFF ON OFF OFF OFF OFF OFF Fault
ON OFF OFF OFF OFF OFF OFF Fault
ON ON ON ON ON ON ON Normal
Dual-channels,
Complementary
OFF OFF OFF ON OFF OFF OFF Fault
OFF ON OFF ON ON ON OFF Normal
ON OFF ON OFF ON ON ON Normal
ON ON OFF ON OFF OFF OFF Fault
Input 0 Data
Safety
Input 1 Data
Safety
Input 0 Status
Safety
Input 1 Status
Resultant
Data
Dualchannel
Resultant
Status
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 Rockwell Automation Publication 1791DS-UM001J-EN-P - May 2013
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