Rockwell Automation 440R-MSR241 User Manual

MSR241 DeviceNet for Safety System MSR200

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Installation Instructions MSR241

Installing MSR241

Follow theses steps, to install the MSR241
module:

1. Set the Node Address and the Baud
rate on the module.

2. Connect the MSR241 with the safety
system MSR200 via ribbon cable.

3. Connect the relay outputs

4. Connect the DeviceNet Cable.

5. Communicate with the MSR241
module.

These steps are explained in detail in the
following procedures.

Set the Node Address and Baud
Rate on the module

The address can be set between 00 and 63.

Address Dip

switch 8

0 off off off off off off
1 off off off off off on
2 off off off off on off
3 off off off off on on
4 off off off on off off

.
.

.
60 on on on on off off
61 on on on on off on
62 on on on on on off
63 on on on on on on

.
.
.

The baud rate can be set to:
125kB, 250kB, 500kB

Baud rate Dip switch 2 Dip switch 1

125kB off off
250kB off on
500kB on off
Invalid

(Module Status

LED solid red)

Dip

switch 7

.
.
.

on on

Dip

switch 6

.
.
.

Dip

switch 5

.
.
.

Dip

switch 4

.
.
.

Dip

switch 3

.
.
.

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Connect the MSR241 with the safety system MSR200 via
ribbon cable

The MSR241 mount to a panel or DIN rail, which must be grounded before
installing the module.

Connect the MSR241 either to the Basic module or to an output extension
module on the right side of the MSR200 safety system via ribbon cable.
The terminator for the EDM loop is integrated in the MSR241.

Connect the relay outputs

If you want to use the relay outputs of the MSR241 connect them to your
application.

Connect the DeviceNet Cable

Refer to following information when connecting the DeviceNet wire to the
MSR241.

1. Connect the DeviceNet cable (drop line) to the unsealed DeviceNet
terminal connector.

2. Connect the terminal connector to the module. Use the side screws on
the terminal connector to fasten it to the module.

IMPORTANT

Pin Number Wire Color Abbreviation Description

1 Black V- Power return
2 Blue CAN_L Data line (CAN Low)
3 Clear Shield Between cable jacket and wire
4 White CAN_H Data line (CAN High)
5 Red V+ Positive voltage (hot)

The bus cable must be terminated with a resistor (121 Ω / +/- 1% / 0,25W).
The resistor is contacted with CAN_H and CAN_L.

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Communicate with the MSR241 module

To transfer data from MSR241 to the D-Net it is required to upload the
“Electronic Data Sheet” (EDS file). This file is available for free download on

the A-B web-page: http://www.ab.com/networks/eds/ >Product Name

MSR241P

The name of the EDS file is: 0001000C00A30100.eds

The MSR241 operates as a “Group 2 only slave” device and supports UCMM.

The MSR241 is exchanged with the master through a polled, cyclic or change
of state connection.

Polled – Masters initiates communication by sending its polled I/O messages
to the MSR241 module. The module consumes the message, updates any
outputs, and produces a response. The response contains the input data.

Cyclic – allows configuration of the module as an I/O client. The module will
produce and consume its I/O cyclically at the rate configured.

Change of state – production occurs when an input changes. If no input
change occurs within the expected packet time, a heartbeat production
occurs. This heartbeat production tells the scanner module that the MSR241
is alive and ready to communicate. Consumption occurs when data changes
and the master produces new output data to the module.

The module produces 4 bytes and consumes 1 byte for outputs.

MSR241 DeviceNet for Safety System MSR200

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Byte Definitions

The table below shows the definition of the module

Consumed output byte
Bit High Low

00 K1 energized K1 de-energized
01 K2 energized K2 de-energized
02 Reserved Reserved
03 Reserved Reserved
04 Reserved Reserved
05 Reserved Reserved
06 Reserved Reserved
07 Reserved Reserved

Produced Input bytes
Input byte 1: Configuration and status of MSR210 / MSR211
Bit High Low

00 Device ready Monitoring active
01 Interrupt of any input All inputs valid
02 Cross loop detected No cross loop
03 Automatic reset Supervised reset
04 Relay-output active (Safety system) Relay-output not active (Safety system)
05 EDM dynamic EDM static
06 EDM-loop open EDM-loop closed
07 Internal fault or no basic module

connected

Input-byte2: Status of Inputs of basic module and extension modules 1, 2 and 3
Bit High Low

00 Basic module, input 1 interrupted Basic module, input 1 valid
01 Basic module, input 2 interrupted Basic module, input 2 valid
02 Extension module 1, input 1

interrupted

03 Extension module 1, input 2

interrupted

04 Extension module 2, input 1

interrupted

05 Extension module 2, input 2

interrupted

06 Extension module 3, input 1

interrupted

07 Extension module 3, input 2

interrupted

No internal fault and basic module
connected

Extension module 1, input 1 valid (or
module not existent)
Extension module 1, input 2 valid (or
module not existent)
Extension module 2, input 1 valid (or
module not existent)
Extension module 2, input 2 valid (or
module not existent)
Extension module 3, input 1 valid (or
module not existent)
Extension module 3, input 2 valid (or
module not existent)

MSR241 DeviceNet for Safety System MSR200

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Input-byte3: Status of Inputs of Extension modules 4, 5, 6 and 7
Bit High Low

00 Extension module 4, input 1

interrupted

01 Extension module 4, input 2

interrupted

02 Extension module 5, input 1

interrupted

03 Extension module 5, input 2

interrupted

04 Extension module 6, input 1

interrupted

05 Extension module 6, input 2

interrupted

06 Extension module 7, input 1

interrupted

07 Extension module 7, input 2

interrupted

Input-byte4: Status of Inputs of Extension modules 8, 9 and 10
Bit High Low

00 Extension module 8, input 1

interrupted

01 Extension module 8, input 2

interrupted

02 Extension module 9, input 1

interrupted

03 Extension module 9, input 2

interrupted

04 Extension module 10, input 1

interrupted

05 Extension module 10, input 2

interrupted
06 Reserved Reserved
07 Reserved Reserved

Extension module 4, input 1 valid (or
module not existent)
Extension module 4, input 2 valid (or
module not existent)
Extension module 5, input 1 valid (or
module not existent)
Extension module 5, input 2 valid (or
module not existent)
Extension module 6, input 1 valid (or
module not existent)
Extension module 6, input 2 valid (or
module not existent)
Extension module 7, input 1 valid (or
module not existent)
Extension module 8, input 2 valid (or
module not existent)

Extension module 8, input 1 valid (or
module not existent)
Extension module 8, input 2 valid (or
module not existent)
Extension module 9, input 1 valid (or
module not existent)
Extension module 9, input 2 valid (or
module not existent)
Extension module 10, input 1 valid (or
module not existent)
Extension module 10, input 2 valid (or
module not existent)

MSR241 DeviceNet for Safety System MSR200

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Implemented DeviceNet Objects

Mandatory Objects

Object Name Class

Identify Object 01h
Message Router Object 02h
DeviceNet Object 03h
Connection Object 05h
Acknowledge Handler Object 2Bh
Device Configuration Object 64h

Identity Object, Class 01h

Class Attributes (0)

ID Name Service Description Value Type
1 Revision Get_Attribute_Single Object revision 1 1 UINT

Instance Attributes (1)

ID Name Service Description Value Type
1 Vendor ID Get_Attribute_Single Identification of each vendor by

2 Device

Type

3 Product

Code

4 Revisions Get_Attribute_Single Revision of the item the Identity

5 Status Get_Attribute_Single Summary Status of the Device

6 Serial

Number

7 Product-

name

Get_Attribute_Single Indication of general type of product 000Ch UINT

Get_Attribute_Single This is a code assigned by the

Get_Attribute_Single Serial Number of the device UDINT

Get_Attribute_Single Human readable identification “MSR241P”

number

Vendor to describe the device

Object represents

bit0: Module Owed. A master has
allocate the module

bit1: reserved
bit2: Configured
bit3 - 7: reserved
bit8: Minor recoverable fault
bit9: Minor recoverable fault
bit10: Major recoverable fault
bit11: Major recoverable fault
bit12 - 15: reserved

0001h

00A3h

1.31 Array of:

WORD

UINT

UINT

USINT
USINT

SHORT_
STRING

Massage Router Object, Class 02h

Class Attributes (0)

ID Name Service Description Value Type
1 Revision Get_Attribute_Single Object revision 1 1 UINT

MSR241 DeviceNet for Safety System MSR200

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DeviceNet Object, Class 03h

Class Attributes (0)

ID Name Service Description Value Type
1 Revision Get_Attribute_Single Object revision 2 2 UINT

Instance Attributes (1)

ID Name Service Description Def, Min, Max Type
1 MAC ID Get_Attribute_Single Currently used MacID Switches 0, 63 USINT
2 Baud rate Get_Attribute_Single Currently used baudrate

5 Allocation

Informatio
n

6 MAC ID

Switch
Changed

7 Baud Rate

Switch
Changed

8 MAC ID

Switch
Value

9 Baud Rate

Switch
Value

Get_Attribute_Single Allocation Choice byte

Get_Attribute_Single The Node Address Switches have

Get_Attribute_Single The Baud Rate Switches have

Get_Attribute_Single Actual value of Node Address

Get_Attribute_Single Actual value of Baud Rate Switches Range: 0-3 USINT

0 = 125kB
1 = 250 kB
2 = 500kB

Master´s MAC ID

changed since the last power-up /
reset

changed since the last power-up /
reset

Switches

Switches, 0, 2 USINT

N/A Struct of:

0 = no change
1 = Change since last reset
or power-up
0 = no change
1 = Change since last reset
or power-up
Range: 0-63 USINT

BYTE
USINT
BOOL

BOOL

Assembly Object, Class 04h

Instance Attributes, Instance/Connection Point (64h)

ID Name Service Description Value Type
3 Data Get_Attribute_Single Data produced by MSR241 to the

master

Instance Attributes (96h)

ID Name Service Description Def, Min, Max Type
3 Data Get_Attribute_Single Data consumed by MSR241 from the

master

Array of byte

Array of byte

MSR241 DeviceNet for Safety System MSR200

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DeviceNet Connection Object, Class 05h

Class Attributes (0)

ID Name Service Description Value Type
1 Revision Get_Attribute_Single Object revision 1 1 UINT

Explicit Connection Instance (1, 2, 4 & 10…14)

Instance 1 = Explicit messaging connection (Predefined in DeviceNet object)
Instance 2 = Polled connection / COS / Cyclic consuming connection)
Instance 4 = COS / Cyclic producing connection
Instance 10 - 14 = Explicit connection (UCMM allocated)

ID Name Service Description Value Type
1 State Get_Attribute_Single Object State

2 Instance

Type

3 Transport

Class
Trigger

4 Produced

Cnxn ID

5 Consumed

Cnxn ID

6 Initial

Comm
Characteri
stics

7 Produced

Connectio
n Size

8 Consumed

Connectio
n Size

9 Expected

Packet
Rate

C Watchdog

Timeout
Action

D Produced

Connectio
n Path
Length

E Produced

Connectio
n Path

F Consumed

Connectio
n Path
Length

10 Consumed

Connectio
n Path

Get_Attribute_Single Explicit messaging connection 0 USINT

Get_Attribute_Single Server / Transport Class 3 83h BYTE

Get_Attribute_Single CAN ID for transmission UINT

Get_Attribute_Single CAN ID for reception UINT

Get_Attribute_Single The message group over which the

Get_Attribute_Single Maximum number of bytes

Get_Attribute_Single Maximum number of bytes received

Get_Attribute_Single
Set_Attribute_Single

Get_Attribute_Single Defines how to handle inactivity /

Get_Attribute_Single Number of bytes in the

Get_Attribute_Single No connection path EPATH

Get_Attribute_Single Number of bytes in the Consumed

Get_Attribute_Single No connection path EPATH

0: Non existent
1: Configuring
2: Waiting for Connection ID
3: Established
4: Timed out

communication occurs

transmitted across the connection

across the connection

Timing associated with this
connection (2500ms)

watchdog timeouts
1: Auto delete
3: Deferred delete

Produced_connection_path attribute

connection path instance

USINT

BYTE

0100h UINT

0100h UINT

09C4h UINT

1 USINT

0 UINT

0 UINT

MSR241 DeviceNet for Safety System MSR200

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Polled I/O Connection Instance (2)

ID Name Service Description Value Type
1 State Get_Attribute_Single Object State

2 Instance

Type

3 Transport

Class
Trigger

4 Produced

Cnxn ID

5 Consumed

Cnxn ID

6 Initial

Comm
Characteri
stics

7 Produced

Connectio
n Size

8 Consumed

Connectio
n Size

9 Expected

Packet
Rate

C Watchdog

Timeout
Action

D Produced

Connectio
n Path
Length

E Produced

Connectio
n Path

F Consumed

Connectio
n Path
Length

10 Consumed

Connectio
n Path

11 Production

Inhibit
Time

Get_Attribute_Single I/O connection 1 USINT

Get_Attribute_Single Server/Transport Class 0

Get_Attribute_Single CAN ID for transmission UINT

Get_Attribute_Single CAN ID for reception UINT

Get_Attribute_Single Produces over message group 1

Get_Attribute_Single Maximum number of bytes

Get_Attribute_Single Maximum number of bytes received

Get_Attribute_Single
Set_Attribute_Single

Get_Attribute_Single
Set_Attribute_Single

Get_Attribute_Single Number of bytes in the

Get_Attribute_Single Application obj. producing data on

Get_Attribute_Single Number of bytes in the

Get_Attribute_Single Specifies the application object(s)

Get_Attribute_Single Minimum time between new data

0: Non existent
1: Configuring
2: Waiting for Connection ID
3: Established
4: Timed out

Server/Transport Class 0

Consumes over message group 2
Does not produce
Consumes over message group 2

transmitted across the connection

across the connection

Timing associated with this
connection

0: Transmission timeout

Produced_connection_path attribute

this connection

Consumed_connection_path
attribute

that are to receive the data
consumed by this connection object

production

USINT

80h
83h

01h

F1h

4 UINT

1 UINT

0 UINT

0 USINT

0007h (Polled)
0000h (COS / Cyclic)

20h, 04h, 25h, 64h, 00h,
30h, 03h

7 UINT

20h, 04h, 25h, 96h, 00h,
30h, 03h

0 UINT

BYTE

BYTE

UINT

EPATH

EPATH

MSR241 DeviceNet for Safety System MSR200

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Change of state / Cyclic (4) (Acknowledged)

ID Name Service Description Value Type
1 State Get_Attribute_Single Object State

2 Instance

Type

3 Transport

Class
Trigger

4 Produced

Cnxn ID

5 Consumed

Cnxn ID

6 Initial

Comm
Characteri
stics

7 Produced

Connectio
n Size

8 Consumed

Connectio
n Size

9 Expected

Packet
Rate

C Watchdog

Timeout
Action

D Produced

Connectio
n Path
Length

E Produced

Connectio
n Path

F Consumed

Connectio
n Path
Length

10 Consumed

Connectio
n Path

11 Production

Inhibit
Time

Get_Attribute_Single I/O connection 1 USINT

Get_Attribute_Single Defines behavior of the connection 00h = Cyclic

Get_Attribute_Single CAN ID for transmission UINT

Get_Attribute_Single CAN ID for reception UINT

Get_Attribute_Single Produces over message group 1,

Get_Attribute_Single Number of bytes transmitted across

Get_Attribute_Single Consumes o Byte on this connection 0 UINT

Get_Attribute_Single
Set_Attribute_Single

Get_Attribute_Single 0: Transmission timeout 0 USINT

Get_Attribute_Single Number of bytes in the Produced

Get_Attribute_Single Assembly Object, Instance 100,

Get_Attribute_Single Number of bytes in the Consumed

Get_Attribute_Single Acknowledge Handler Object,

Get_Attribute_Single Minimum time between new data

0: Non existent
1: Configuring
2: Waiting for Connection ID
3: Established
4: Timed out

Does not consume.
Produces over message group 1,
Consumes over message group 2

the connection

Timing associated with this
connection

connection path attribute

Attribute 3 is producing the data

connection path instance

Instance 1

production

USINT

03h = Cyclic + ACK
10h = COS
13 = COS + ACK

0Fh

01h

4 UINT

0 UINT

0007h UINT

20h, 04h, 25h, 64h, 00h,
30h, 03h

0007h (no ACK)
0005h (ACK)

20h, 2Bh, 25h, 01h, 00h

0 UINT

BYTE

BYTE

EPATH

UINT

EPATH

MSR241 DeviceNet for Safety System MSR200

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Acknowledge Handler Object, Class 2Bh

Class Attributes (0)

ID Name Service Description Value Type
1 Revision Get_Attribute_Single Revision 1 1 UINT

Instance Attributes (1)

ID Name Service Description Value Type
1 Acknowled

ge Timer

2 Retry Limit Get_Attribute_Single

3 Producing

Connectio
n Instance

Device Configuration Object, Class 64h

Instance Attributes (1)

ID Name Service Description Def, Min, Max Type
1 Number of

extension
modules

Get_Attribute_Single
Set_Attribute_Single

Set_Attribute_Single
Get_Attribute_Single Connection instance, which contains

Get_Attribute_Single Number of input extension modules

Time (in ms) to wait for acknowledge
before re-sending
Number of ACK timeouts before retry
reached event

the path of the producing I/O
application object, which will be
notified of ACK Handler events

of the safety system MSR200

16 UINT

1 USINT

4 UINT

0, 0, 10 BYTE

MSR241 DeviceNet for Safety System MSR200

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Troubleshoot with Indicators

The MSR241 has the following indicators:

• Module status indicator

• Network status indicator

• Output status indicators K1 and K2

Module Status Indicator
Indication Status

Off Device not powered
Green Device operational
Flashing green Device needs commissioning due to missing or incorrect

configuration, MSR241 not connected to the Safety
system MSR210

Red Unrecoverable fault

Flashing red Minor fault recoverable, baud rate switches are invalid, MAC

ID or Baud Rate switches are changed while on line or since
reset / power-up

Network Status Indicator
Indication Status

Off Device not powered / Not online
Green Link OK, On line, Connected
Flashing green On line, Not connected
Red Critical link failure
Flashing red Connection timeout

Output Status Indicator K1
Indication Status

Off K1 de-energized
Green K1 energized

Output Status Indicator K2
Indication Status

Off K2 de-energized
Green K2 energized

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Specifications

Output specification K1, K2

Nominal switching capacity (resistive
load)
Max. switching power (resistive load) 60W
Max. switching voltage 220V DC
Max. switching current 2A
Min. switching capacity 10µA 10mV DC
UL/CSA rating 2A 30V DC

General Specifications
Indicators

Communication rate
Max. length of fieldbus segment

Isolation

Output to DeviceNet
Output to Output

DeviceNet Power

Voltage
Current

Temperature

Drg No: 57602/ Issue No: 0 Feb. 04

2A 30V DC

0.3A 110V DC

0.5A 125V DC

Module Status red/green
Network Status red/green
Output Status K1, K2 green
125 kBaud, 250kBaud, 500 kBaud
100m … 500m (depends on baud rate /
on the cable)

500V ac/60s
500V ac/60s

11 – 25V dc
170mA maximum

-5°C – 50°C