DeviceNet Safety Scanner for GuardPLC™ Controllers Catalog Number 1753-DNSI User Manual
Important User Information 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 available from your local Rockwell Automation sales office or online at http://www.ab.com/manuals/gi) describes some important differences between solid state equipment and hard-wired electromechanical devices.
Table of Contents Preface Who Should Use this Manual. . . . . . . . . . . Purpose of This Manual. . . . . . . . . . . . . . . Related Documentation . . . . . . . . . . . . . . . Common Techniques Used in This Manual. Understanding Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1 P-1 P-2 P-2 P-3 Chapter 1 Before You Begin Safety Concept . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents 2 To set a password for a module: . . . . . . . . . . . . . . . . . 3-5 Forgotten Passwords . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Chapter 4 Manage the Safety Network Number SNN Formats. . . . . . . . . . . . . . . . . . . . . . . . . Time-based SNN (Recommended) . . . . . . Manual SNN . . . . . . . . . . . . . . . . . . . . . . Assignment of the SNN . . . . . . . . . . . . . . . . . Automatic (Time-based) . . . . . . . . . . . . . . Manual . . . . . . . . . . . . . .
Table of Contents 3 Chapter 8 Develop Your GuardPLC Application Define Signals for Your GuardPLC Application . . . . . Define Signals for Safety Data. . . . . . . . . . . . . . . Configure HSP Connection . . . . . . . . . . . . . . . . . Create Application Program Logic . . . . . . . . . . . . . . Save and Compile Application Logic . . . . . . . . . . . . Download the Project to the Controller . . . . . . . . . . Place the Controller in Stop Mode (if necessary) . Download the Project . . . . . . . . . .
Table of Contents 4 Associate the Peer Safety Scanner and GuardPLC Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-8 Add the Peer Scanner to the Scanlist. . . . . . . . . . . . . . . B-9 Configure Safety Connections . . . . . . . . . . . . . . . . . . . B-10 Appendix C DeviceNet Class Codes DeviceNet Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1 Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Preface Read this preface to familiarize yourself with the rest of the manual.
2 Preface Related Documentation The table below provides a listing of publications that contain important information about GuardPLC Controller systems.
Preface Understanding Terminology 3 The following table defines acronyms used in this manual. Acronym: Full Term: Definition: 1oo2 One Out of Two A safety architecture consisting of two channels connected in parallel, such that either channel can perform the safety function. CAN Controller Area Network The networking standard that defines the physical layer of DeviceNet.
4 Preface Publication 1753-UM002A-EN-P - July 2005
Chapter 1 Before You Begin This chapter provides an overview of communication between the 1753-DNSI and the GuardPLC controller.
1-2 Before You Begin • HSP (High-speed Safety Protocol) Signature – This is a read-only value that represents the data exchanged between the GuardPLC controller and the safety scanner. The HSP Signature is calculated based on the Scanner Configuration Signature and changes only when the data exchanged by the controller and the safety scanner changes. The HSP Signature is sent to the controller configuration software and helps ensure the integrity of the data.
Before You Begin 1-3 For safety data, the scanner communicates with safety devices via cyclic messages only. You configure input and output connections in the DeviceNet safety scanner to transfer input and output data to and from DeviceNet safety I/O modules and the GuardPLC controller. The scanner can make data available to other DeviceNet scanners using Target connections.
1-4 Before You Begin How Data Tables Work To exchange data, the GuardPLC controller and the 1753-DNSI use two pairs of data tables: one pair for safety input and output data and one pair for standard input and output data. Connection Type Safety Standard Scanner Inputs Scanner Outputs Scanner is the originator. Data the scanner reads from its target nodes. The data layout is defined by the target node’s configuration. Data the scanner writes to its target nodes.
Before You Begin 1-5 Since this colorization only applies to the Connect Signals dialogs available from the HSP protocol context menu, we strongly recommend that when using both standard and safety signals in your application, you use a naming convention to visually distinguish between standard and safety signals throughout the RSLogix Guard PLUS! programming environment. For example, use a prefix of ‘std_’ for any signals that are standard and a prefix of ‘safe_’ for any signals that are safety-related.
1-6 Before You Begin Files enable RSNetWorx for DeviceNet and RSLogix Guard PLUS! to share the same view of the individual signals available on all of the DeviceNet connections present in a specific DeviceNet Safety Scanner configuration. TIP If you install RSLogix Guard PLUS! and RSNetWorx for DeviceNet on the same PC, you can take advantage of the ‘Automatically Update Signals’ feature. Otherwise, you must manually import and export the Scanner Signals and Target Connections files.
Before You Begin 1-7 The 1753-DNSI features two communication ports; one for DeviceNet communications and one for High-Speed Safety Protocol (HSP) communication with a GuardPLC controller. The HSP port is a 1 Mbps, full-duplex RS-485 interface. The safety scanner also features a 4-character dot-matrix display, which provides status and error codes. Status LEDs on the safety scanner indicate module, network, and HSP connection status. See Chapter 10 for more information.
1-8 Before You Begin Communication Rate The safety scanner supports the following communication rates, but does not support autobaud: • 125 Kbps (default) • 250 Kbps • 500 Kbps Physical Layout of the DeviceNet Safety System Planning your system helps ensure that you can: • • • • meet safety times use memory and bandwidth efficiently fulfill device-specific requirements leave room for system expansion Before configuring your 1753-DNSI scanner, you should be familiar with each of the DeviceNet devices o
Before You Begin 1-9 Choose a Communication Rate for the Network The default communication rate for a DeviceNet network is 125K bit/s. This is the easiest communication rate to use. If you choose to use a different communication rate, the length of the trunkline and type of cable determine which communication rates your application can support.
1-10 Before You Begin Assign an Address to Each Device To communicate on the DeviceNet network, each device requires its own address. Follow the recommendations below when assigning addresses to the devices on your network. Give this device This address Notes scanner 0 If you have multiple scanners, give them the lowest addresses in sequence. any device on your network, except the scanner 1 to 61 Gaps between addresses are allowed and have no effect on system performance.
Chapter 2 Install the 1753-DNSI General Safety Information ATTENTION Safety Applications Personnel responsible for the application of safety-related Programmable Electronic System (PES) shall be aware of the safety requirements in the application of the system and shall be trained in using the system.
2-2 Install the 1753-DNSI ATTENTION Protective Debris Strip Do not remove the protective debris strip until after the module and all other equipment in the panel near the module is mounted and wiring is complete. Once wiring is complete, remove the protective debris strip. Failure to remove the strip before operating can cause overheating. Preventing Electrostatic Discharge ATTENTION This equipment is sensitive to electrostatic discharge, which can cause internal damage and affect normal operation.
Install the 1753-DNSI 2-3 The module can be DIN rail or panel-mounted as described in the following sections. ATTENTION Be careful of metal chips when drilling mounting holes for your module or other equipment within the enclosure or panel. Drilled fragments that fall into your module could cause damage. DIN Rail Mounting Mount the module to a EN50022-35x7.5 or EN50022-35x15 DIN rail by following the steps below: 1. Close the DIN latches, if they are open. 2. Hook the top slot over the DIN rail. 3.
2-4 Install the 1753-DNSI Panel Mounting Mount the scanner directly to a panel using 4 screws. The preferred screws are #8 (M4); however, #6 (M3.5) may be used. 1. Use the mounting template provided in the module’s installation instructions, publication number 1753-IN009. 2. Space your module properly to allow for adequate cooling. See page 2-2. 3. Secure the template to the mounting surface. 4. Drill holes through the template. 5. Remove the mounting template. 6.
Install the 1753-DNSI 2-5 guidelines, refer to the Industrial Automation Wiring and Grounding Guidelines, publication number 1770-4.1. Connect Power Source Power for the module is provided via an external 24V dc power source as well as from the DeviceNet cable. In North America, you must use a power supply that is marked CLASS 2 per the requirements of NFPA (National Electric Code) or CSA 22.1 (Canadian Electric Code, Part 1).
2-6 Install the 1753-DNSI Front View Bottom View HSP Port DeviceNet Safety Port DeviceNet Connections Wire the DeviceNet Connector Use an open-style 5- or 10-position linear plug to connect to the DeviceNet network. IMPORTANT For detailed DeviceNet connection information, refer to the DeviceNet Cable System Planning and Installation Manual, publication DN-6.7.2. Also refer to the Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1.
Install the 1753-DNSI 2-7 Connect to the DeviceNet Network Attach the connector to the module’s DeviceNet port. Tighten the screws on the connector to 0.6 to 0.7 Nm (5 to 6 in-lb). High-speed Safety Protocol (HSP) Connections The module ships with the cable used to connect its HSP port to the GuardPLC controller’s COMM3 (ASCII/HSP) port. The minimum bend radius of the 1753-CBLDN is: • 30 mm (1.18 in.) when the cable is permanently restrained by the use of a wire tie, cable trough, or other means.
2-8 Install the 1753-DNSI Publication 1753-UM002A-EN-P - July 2005
Chapter 3 Set Up Your DeviceNet Network To set up devices on the DeviceNet network, follow the procedures listed below in order: Procedure Connect a Computer to the DeviceNet Network page 1. Connect a Computer to the DeviceNet Network 3-2 2. Commission All Nodes 3-2 3. Browse the Network 3-3 4. Safety Reset (Optional) 3-4 5.
3-2 Set Up Your DeviceNet Network 3. Pull down the list of Available Driver Types and add the driver for your network. For this network Select this driver RS-232 RS-232 DF1 Devices EtherNet/IP Ethernet devices DeviceNet DeviceNet drivers… 4. Configure the driver. The settings you make are dependent upon the network you choose and whether you are using a communication card or interface module. Make Sure the Driver Works 1. Check the Configure Drivers dialog to make sure that the driver is running.
Set Up Your DeviceNet Network 3-3 To use the Node Commissioning tool: 1. Within RSNetWorx for DeviceNet, select Tools > Node Commissioning. 2. Click on the Browse button on the Node Commissioning dialog to select a device by browsing the network. 3. Select the DeviceNet network in the left panel. 4. Select the device you want to commission in the right panel and click OK. 5. If you want to change the baud rate of the device, select the desired value.
3-4 Set Up Your DeviceNet Network Safety Reset (Optional) If you need to reset the safety device’s attributes to the out-of-box default state, you can do so via the Reset Safety Device dialog. You can reset the attributes shown on the Reset Safety Device dialog by checking their associated checkbox. Leaving an attribute checkbox blank preserves that attribute’s setting during the safety reset operation. 1.
Set Up Your DeviceNet Network 3-5 3. Click on the Reset button. 4. If the device is Safety-Locked, you are prompted to first unlock the device. ATTENTION Once unlocked, the device cannot be relied upon to perform safety operations. You must test and verify the device’s operation and run the Safety Device Verification Wizard to Safety-Lock the device before operating the device in a safety application. 5. If you have set a password for the device, enter the password when prompted.
3-6 Set Up Your DeviceNet Network 3. Click on the Password… button. TIP You can also access the Set Device Password dialog by either: • clicking on the module and choosing Set Password… from the Device menu, or • right-clicking on the module and selecting Set Password…. 4. Enter the Old Password, if one exists. 5. Enter and confirm the new password. Passwords may be from 1 to 40 characters in length and are not case-sensitive.
Set Up Your DeviceNet Network 3-7 3. Contact Rockwell Automation Technical Support and provide the device Serial Number and Security Code from the Reset Password dialog. 4. Enter the Vendor Password obtained from Rockwell Automation Technical Support on the Reset Device Password dialog and click OK.
3-8 Set Up Your DeviceNet Network Publication 1753-UM002A-EN-P - July 2005
Chapter 4 Manage the Safety Network Number Safety Network Numbers assigned to each safety network or network sub-net must be unique. You must ensure that a unique Safety Network Number (SNN) is assigned to each DeviceNet network that contains safety nodes. Each DeviceNet Safety device must be configured with an SNN. The combination of SNN and DeviceNet node address provides a unique identifier for every safety node in a complex industrial network.
4-2 Manage the Safety Network Number Manual SNN In the manual format, the SNN represents entered values from 1 to 9999 decimal. TIP Assignment of the SNN You can use the Copy button on the Set Safety Network Number dialog to copy the SNN to the Windows® clipboard. SNNs can be generated automatically via RSNetWorx for DeviceNet or manually assigned by the user. Automatically generated SNNs are sufficient and recommended for most applications.
Manage the Safety Network Number 4-3 Manual The manual option is intended for systems where the number of DeviceNet subnets and interconnecting networks is small, and where you might like to manage and assign SNNs in a logical manner pertaining to their specific application. IMPORTANT If you assign SNNs manually, take care to ensure that system expansion does not result in duplication of SNN and Node Address combinations.
4-4 Manage the Safety Network Number If you need to set the SNN for a particular device, follow the steps below: 1. Click on the target device in the hardware graphic view and select Set Safety Network Number from the Device menu. 2. Select Time-based and click the Generate button, or select Manual and fill in a Decimal number from 1 to 9999. Click OK.
Manage the Safety Network Number SNN Mismatch 4-5 RSNetWorx for DeviceNet compares the offline SNN to the online SNN during each browse operation, one-shot or continuous, and during upload and download operations. If the SNNs do not match, RSNetWorx for DeviceNet indicates an error with the SNN. The hardware graphic view displays the ! symbol over the safety device icon. You can resolve the SNN error from the Safety Network Number Mismatch dialog, as described on page 4-5.
4-6 Manage the Safety Network Number SNN and Node Address Changes If you want to change the address of a safety device, the Safety Network Number must be uninitialized, or you must first reset the Safety Network Number. To reset the SNN: 1. Select the device in the hardware graphic view. 2. From the Device menu, choose Reset Safety Device. 3. Check the Safety Network Number checkbox on the Reset Safety Device dialog and click on Reset.
Chapter 5 Configure DeviceNet Nodes and Connections To configure standard, safety, and peer-to-peer connections, follow the procedures listed below in order: Procedure Configuration Signature page 1. Configure DeviceNet Safety I/O Target Nodes 5-2 2. Configure the DeviceNet Safety Scanner’s Safety Connections 5-3 3. Configure DeviceNet Standard Slave I/O Nodes 5-6 4. Configure the DeviceNet Safety Scanner’s Standard Connections 5-6 5.
5-2 Configure DeviceNet Nodes and Connections The Configuration Signature is read during each browse and whenever the Device Properties dialog is launched while the software is in Online mode. RSNetWorx for DeviceNet compares the Configuration Signature in the software (offline) device configuration file to the Configuration Signature in the online device.
Configure DeviceNet Nodes and Connections 5-3 Standard Input and Output Parameters 1791DS modules support standard data as well as safety data. Configure standard input and output parameters using the Parameters tab on the module properties page. TIP Configure the DeviceNet Safety Scanner’s Safety Connections Other devices may have different configuration options. Consult the user manual for your device for more information.
5-4 Configure DeviceNet Nodes and Connections The Add Safety Connection dialog allows you to configure a connection. 1. Select the desired connection by choosing the Connection Name. 2. Select a type of connection, either Multicast (input connections only) or Point-to-point (input or output connections). 3. Select ‘Configuration signature must match’. This selection directs the scanner to ensure that the target safety device contains the correct configuration before opening the safety connection.
Configure DeviceNet Nodes and Connections 5-5 of 10 ms. Other target devices may have more limited RPI constraints. Consult the documentation for each type of target device to determine its supported range and incremental values. Modifying the RPI affects the Connection Reaction Time Limit. For simple timing constraints, setting the RPI is usually sufficient.
5-6 Configure DeviceNet Nodes and Connections Configure DeviceNet Standard Slave I/O Nodes To configure your module, double-click on the module in the graphic view or right-click on the module and select Properties. Navigate through the available tabs to review and modify the module’s configuration. Refer to the user manual for the module for additional information on how to set up the module’s configuration.
Configure DeviceNet Nodes and Connections 5-7 Increasing the ISD time causes a longer network scan, which adversely affects overall input-to-output performance. However, the increase allows lower priority messages to get more network access. These lower priority messages include those used to do network browsing and configuration upload and download functions.
5-8 Configure DeviceNet Nodes and Connections When a standard connection is dropped, status bits in the scanner identify that the slave is not online. Slave behavior when a connection is dropped is a function of the slave device. If the slave is an I/O device, the standard outputs will be cleared, held at last state, or set to a fault condition (refer to the slave device’s documentation for actual I/O behavior when a connection is dropped).
Configure DeviceNet Nodes and Connections 5-9 Available Devices These are the devices on the network that have the ability to be standard slave I/O devices. The DeviceNet Safety Scanner, as well as any other scanners that have been configured to support a standard slave-mode interface will also appear in this list. Slave-capable devices do not have to be used as slave I/O by a scanner. They may alternately be used as slave I/O by another scanner on the same network, or they may have dual functionality.
5-10 Configure DeviceNet Nodes and Connections Should the scanner detect a mismatch with any of the key parameters checked, an Electronic Key failure (status code 73) will occur for that slave device and the scanner will abort the connection establishment process. Configure Standard Inputs The Input tab lets you define how standard data from all of the scanner’s slave devices are mapped into the input image of the controller.
Configure DeviceNet Nodes and Connections 5-11 Configure Standard Outputs The Output tab screen allows you to define how data from the scanner is mapped to the outputs of the slave devices.
5-12 Configure DeviceNet Nodes and Connections Configure GuardPLC Controller Settings Use the GuardPLC tab to configure the scanner’s HSP connection parameters. Controller ID The Controller ID (SRS) uniquely identifies a particular GuardPLC controller within a network of controllers. Its use ensures that this configuration is applied to the correct controller.
Configure DeviceNet Nodes and Connections 5-13 Scanner Receive Timeout The Scanner Receive Timeout is the amount of time (in milliseconds) that the scanner waits for a request from the GuardPLC controller before timing out the HSP connection.
5-14 Configure DeviceNet Nodes and Connections Publication 1753-UM002A-EN-P - July 2005
Chapter 6 Create a GuardPLC Project with High-Speed Safety Protocol To configure the GuardPLC controller to communicate with the DeviceNet Safety Scanner for GuardPLC Controllers, follow the procedures listed below in order: Procedure page 1. Create or Open a GuardPLC Project 6-1 2. Add High-Speed Safety Protocol to the GuardPLC Controller Resource 6-3 3.
6-2 Create a GuardPLC Project with High-Speed Safety Protocol If you are opening an existing project, created in a prior version of RSLogix Guard PLUS!, the software automatically converts the project to the new version. TIP Make a backup copy of your existing RSLogix Guard PLUS! project before opening it in the latest version, since the latest version automatically converts the existing project. 2. In the Hardware Management dialog, right-click on the controller Resource and select Properties. 3.
Create a GuardPLC Project with High-Speed Safety Protocol Add High-Speed Safety Protocol to the GuardPLC Controller Resource 6-3 To add High-Speed Safety Protocol (HSP) to your GuardPLC controller: 1. Right-click on the Protocols folder under your Resource and select New>HSP Protocol. 2. Configure HSP communications. Right-click on HSP Protocol and select Properties.
6-4 Create a GuardPLC Project with High-Speed Safety Protocol Use the following guidelines when setting the Controller Receive Timeout and Controller Resend Timeout: • In environments where no HSP retries are required, set the Controller Receive Timeout to the amount of time required for the controller to send the HSP request, for the scanner to process the request, and for the scanner to send a response back to the controller.
Create a GuardPLC Project with High-Speed Safety Protocol Review the GuardPLC Controller’s Communication Settings 6-5 1. Retrieve or confirm the communication settings by selecting Communication Settings from the Online menu. a. If you know the current IP Address, SRS and Administrator password, you can fill in the IP Address and SRS and select Get. This retrieves and confirms the communication settings. If you want to modify the current settings, see step 2. b.
6-6 Create a GuardPLC Project with High-Speed Safety Protocol Publication 1753-UM002A-EN-P - July 2005
Chapter 7 Associate the Scanner and Controller and Download the DeviceNet Network Configuration To allow the scanner and the controller to communicate you can associate their configurations using the Automatically Update Signals feature or you can manually manage the association. Both options are found on the GuardPLC tab of the Scanner Properties page in RSNetWorx for DeviceNet.
7-2 Associate the Scanner and Controller and Download the DeviceNet Network Configuration The Scanner Signals File separates data transferred on safety connections from data transferred over standard connections. Signals created in the RSLogix Guard PLUS! Signal Editor can be assigned to scanner I/O data signals, allowing them to be used by the GuardPLC application logic. Target Connections File RSLogix Guard PLUS! generates the Target Connections File (.
Associate the Scanner and Controller and Download the DeviceNet Network Configuration 7-3 4. Select your RSLogix Guard PLUS! project. a. If you have multiple RSLogix Guard PLUS! projects, use care to select the correct one. TIP Only RSLogix Guard PLUS! projects that have at least one resource with HSP communications enabled can be selected. b. If you have multiple controller resources in your RSLogix Guard PLUS! project, RSNetWorx prompts you to select the correct resource. 5.
7-4 Associate the Scanner and Controller and Download the DeviceNet Network Configuration Manually Associate the Scanner and Controller If you manually associate the scanner and controller, you must repeat this procedure whenever you make a change to the DeviceNet connections. To manage the association between the safety scanner and the GuardPLC controller manually: 1.
Associate the Scanner and Controller and Download the DeviceNet Network Configuration 7-5 4. Import the Scanner Signals file into your GuardPLC project. a. In RSLogix Guard PLUS! Hardware Management, right-click on the instance of the HSP protocol for your GuardPLC controller resource and select Import Scanner Signals… b. Browse to the correct .ssf file and select Open.
7-6 Associate the Scanner and Controller and Download the DeviceNet Network Configuration 1. Go online by selecting the online button. 2. Browse to the DeviceNet network and click OK at the prompt. During each browse operation, RSNetWorx for DeviceNet reads the following attributes of each device. Safety Attribute Description SNN and Node Address Combination The node address and SNN stored in the RSNetWorx for DeviceNet configuration file must match the node address and SNN of the online device.
Associate the Scanner and Controller and Download the DeviceNet Network Configuration 7-7 4. Confirm your intent to download by clicking Yes. If a device is password-protected, RSNetWorx for DeviceNet prompts you to enter the password for each protected device. If a device is Safety-Locked, you must first unlock the device and then download.
7-8 Associate the Scanner and Controller and Download the DeviceNet Network Configuration Publication 1753-UM002A-EN-P - July 2005
Chapter 8 Develop Your GuardPLC Application To define your application signals and use them in your program logic, follow the procedures listed below in order: Procedure Define Signals for Your GuardPLC Application page 1. Define Signals for Your GuardPLC Application 8-1 2. Create Application Program Logic 8-4 3. Save and Compile Application Logic 8-4 4.
8-2 Develop Your GuardPLC Application 2. Open the Signal Editor by selecting Editor from the Signals menu. 3. Create a new signal by selecting New Signal or clicking in an empty signal Name field. 4. With the Safety Data, Signal Connections dialog visible and the Signal Editor dialog open, drag your application signals to the desired device data signals.
Develop Your GuardPLC Application 8-3 Configure HSP Connection The safety scanner closes the HSP connection whenever either an HSP error occurs or the safety scanner diagnostic reports an error. Individual DeviceNet safety or standard connection errors do not cause the HSP connection to close. In the case of a faulted DeviceNet connection, any input data associated with that connection is forced to zero before being transmitted to the GuardPLC controller over HSP.
8-4 Develop Your GuardPLC Application Create Application Program Logic Create application program logic using the signals you defined. Save and Compile Application Logic Save and compile your application logic. Drag and drop the application signals, which are now connected (mapped) to DeviceNet data signals, into the appropriate application Type Instances and create your program logic.
Develop Your GuardPLC Application 8-5 4. Click the download icon and confirm the action by selecting Yes to the warning prompt. TIP If this is the first time the application has been downloaded, you may want to adjust the timing parameters artificially high and allow the project to run for several hours. This lets you gather statistics on the system’s operation before refining the timing parameters.
8-6 Develop Your GuardPLC Application Publication 1753-UM002A-EN-P - July 2005
Chapter 9 Verify Your DeviceNet Safety Configuration IMPORTANT Before running the Safety Device Verification Wizard, you should browse and upload your network and test the safety devices on your network to ensure that they are operating properly. You must fully test your application prior to safety-locking your devices. Refer to the GuardPLC Controller Systems Safety Reference Manual, publication number 1753-RM002 for information on verification testing for safety applications.
9-2 Verify Your DeviceNet Safety Configuration appears listing those devices and their current status, including a device icon overlaid with a status icon. Status Icon Overlay Description Missing The device is part of the network configuration, but was not found during the browse operation. Mismatch The device identity in the network configuration does not match the identity of the online device. Unknown The device is in the configuration, but has not been detected on the network yet.
Verify Your DeviceNet Safety Configuration Select Devices to Verify 9-3 Choose which devices to verify using the checkboxes in the Verify column of the Verify Safety Device Configuration dialog. You can select only the devices whose status is ‘Ready to be verified’. If the Show all safety devices checkbox is checked, the dialog lists all of the safety devices on the network and shows their current status.
9-4 Verify Your DeviceNet Safety Configuration Click on Next to begin the upload and compare process. TIP If you click on Next without selecting a device to verify, the wizard checks whether any devices were verified or are ready to be locked in this execution of the wizard.
Verify Your DeviceNet Safety Configuration Review the Safety Device Verification Reports 9-5 The Review page displays safety devices with status of either ‘Verify FAILED’ or ‘Ready to be Safety Locked’. 1. Click on the Review hyperlink in the Report column to launch the device’s HTML report in your default browser. 2. Click the Review All button to generate an HTML verification report for all of the devices listed.
9-6 Verify Your DeviceNet Safety Configuration Lock Safety Devices IMPORTANT Before you lock your safety device configurations, you must perform all of the verification steps required for your application. 1. Choose which devices to Safety-Lock by selecting the checkbox in the Lock column for each device that is ready to be Safety-Locked. 2. You must check the acknowledgement box before the locking process can continue. 3. Click Next. 4.
Verify Your DeviceNet Safety Configuration View the Safety Device Verification Wizard Summary 9-7 Before closing, the wizard displays a summary of all the safety devices that were Safety-Locked, the number of safety devices that still need to be Safety-Locked, and lets you display the verified and Safety-Locked state of all of the safety devices on the network. Click on Finish to close the wizard.
9-8 Verify Your DeviceNet Safety Configuration Publication 1753-UM002A-EN-P - July 2005
Chapter 10 Monitor Status To assist you in monitoring the status of devices on the DeviceNet Safety network, the DeviceNet Safety Scanner provides: • LED status indicators • an alphanumeric status display. You can also monitor the status of HSP, DeviceNet Safety and standard connections, and the DeviceNet interface via connection status bits and the corresponding GuardPLC application signals.
10-2 Monitor Status LED HSP Status Alphanumeric Display Color/State Description Off The module has not received any messages on the serial interface. Green, On The module is transmitting data over the serial communication interface. Green, Flashing The serial interface is ready for communication, but the controller is sending messages that do not match the safety scanner’s current configuration.
Monitor Status Display Description Bus Off Detected A bus off condition (communication problem) exists. 10-3 1. Cycle power to the device or disconnect and reconnect the DeviceNet cable. 2. Make sure all devices are at the same communication rate. 3. Make sure a short-circuit does not exist between the CAN line and a power or shield line. 4. Check for any of the following sources of noise: • Close proximity to a high voltage power cable • Improper or no termination resistor • Improper grounding 5.
10-4 Monitor Status Display Description S#ee Status code for safety connections, where ‘ee’ is the decimal error code listed on page 10-4. G#gg<:nnnn> Extended error code for safety connections, where: • ‘gg’ indicates the hexidecimal general status error code as listed in the Safety Connection General Status Error Codes table on page 10-5, and • ‘nnnn’ indicates the hexidecimal extended error code as listed in the table Safety Connection Extended Error Codes on page 10-7.
Monitor Status Status Code (ee) 82 Description 10-5 Recommended Action Error detected in sequence of fragmented I/O messages from device. • Check scan list device to make sure that its input and output data sizes are correct. • Check the configuration of the device. 83 • Check the accuracy of the scan list. Device returns error responses when the scanner attempts to communicate with it. • Check the configuration of the device. The device may be in another scanner’s scan list.
10-6 Monitor Status Publication 1753-UM002A-EN-P - July 2005 General Status Error Code (00gg) Description 000F Permission denied. See the extended error codes on pages 10-7 to 10-8. 0010 Device state conflict occurred. 0011 Reply will not fit. 0012 Fragmentation of a primitive value. For example, the service specified an operation that is going to fragment a primitive data value, such as half a REAL data type. 0013 Command data is insufficient. 0014 Attribute is not supported.
Monitor Status 10-7 Safety Connection Extended Error Codes General Status Error Code (00gg) Extended Error Code (nnnn) Description 0001 0100 The connection is in use. 0001 0103 Transport is not supported. 0001 0106 Ownership conflict occurred. 0001 0107 The connection was not found. 0001 0108 Connection type is invalid. 0001 0109 Connection size is invalid. 0001 0110 The module is not configured. 0001 0111 Expected Packet Rate value is not supported.
10-8 Monitor Status Publication 1753-UM002A-EN-P - July 2005 General Status Error Code (00gg) Extended Error Code (nnnn) Description 0001 0x080D The target’s unique node identifier was not set. 0001 0x080E The target’s unique node identifier does not match. The message was likely routed to this node in error. 0001 0x080F The configuration operation was not allowed. 0004 0005 0000 Extended status is out of memory. 0004 0005 0001 Extended status is out of instances.
Monitor Status Connection Status 10-9 You can monitor the HSP and DeviceNet Safety and standard connection status using the scanner’s connection status bits and the related GuardPLC application signals as discussed in the following sections. DeviceNet Connection Status Bit Behavior The following table describes the combined operation of the DeviceNet connection status bits.
10-10 Monitor Status HSP Connection State Signal The HSP connection status may be monitored via the HSP Protocol>Connect Signals>HSP Data>Connection State controller signal in RSLogix Guard PLUS! Hardware Management. Signal State of the Connection Connection State 0 = closed. The active end point is not attempting to open the connection. 1 = try_open. The active endpoint is attempting to open the connection, but the connection is not yet open. 2 = connected.
_Safe_IdleTable_3 _Safe_IdleTable_2 Monitor Status 10-11 Bit Position 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Connection 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 Number Bit Position 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Connection 66 65 Number RESERVED User application logic only needs to consider status bits associated with connection
10-12 Monitor Status Connection Status Signals Bit Position 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Node Address Bit Position Node 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 Address _Std_IdleTable_1 Bit P
Monitor Status 10-13 Status Signals _Dnet_StatusTable The one WORD _DNet_StatusTable GuardPLC signal indicates the status of the DeviceNet interface as show in the following table.
10-14 Monitor Status Publication 1753-UM002A-EN-P - July 2005
Appendix A Specifications General Dimensions (H x W x D) 90 mm(2) x 110 mm x 87 mm(3) (3.5 in.(2) x 4.33 in. x 3.43 in.(3)) Weight 400 kg (0.882 lb) DeviceNet Current Load, Max.
A-2 Specifications Electrical/EMC Emissions CISPR 11: Group 1, Class A ESD Immunity IEC 61000-4-2: • 6 kV contact discharges • 8 kV air discharges Radiated RF Immunity IEC 61000-4-3: • 10V/m with 1 kHz sine-wave 80% AM from 30 MHz to 2000 MHz • 10V/m with 200 Hz 50% Pulse 100% AM at 900 MHz • 10V/m with 200 MHz 50% Pulse 100% AM at 1890 MHz • 3V/m with 1 kHZ sine-wave 80% AM from 2000 MHz to 2700 MHz EFT/B immunity IEC 61000-4-4: • ±2 kV at 5 kHz on power ports • ±2 kV at 5 kHz on communications po
Specifications Certifications A-3 When marked, the components have the following certifications. See the Product Certification link at www.ab.com for Declarations of Conformity, Certificates, and other certification details.
A-4 Specifications Publication 1753-UM002A-EN-P - July 2005
Appendix B Configure Peer-to-Peer DeviceNet Communications This appendix provides instructions on how to set up peer-to-peer communications to share application signals between two GuardPLC controller/1753-DNSI scanner pairs or to other standard masters or safety originators on the DeviceNet network.
B-2 Configure Peer-to-Peer DeviceNet Communications Plan Your Peer-to-Peer Communications If your application requires peer-to-peer DeviceNet communications, you must: • determine which RSLogix Guard PLUS! application signals each controller and scanner combination needs to make available to peer controllers, and • determine whether the chosen signals should be made available on standard or safety connections.
Configure Peer-to-Peer DeviceNet Communications Add a Peer Controller B-3 To add a peer controller Resource to the project: 1. In RSLogix Guard PLUS! Project Management, right-click on Configuration and select New>Resource. 2. Name the resource. 3. In RSLogix Guard PLUS! Hardware Management, configure the resource properties by right-clicking on the resource and selecting Properties.
B-4 Configure Peer-to-Peer DeviceNet Communications 4. Add HSP protocol to the peer resource. 5. Configure HSP communications. Right-click on the peer HSP Protocol and select Properties. See page 6-3 for an explanation of the HSP communication parameters. 6. Review the peer controller’s communication settings. See page 6-5.
Configure Peer-to-Peer DeviceNet Communications B-5 Create Required Signals Using RSLogix Guard PLUS! Hardware Management, create the signals that will be made available to peers on the DeviceNet Safety network via the Target Connections file. 1. Open the Signal Editor by selecting Editor from the Signals menu. 2. Click on the New Signal button to add new signal. 3. Name the signal and configure its properties. 4. Leave the Signal Editor open.
B-6 Configure Peer-to-Peer DeviceNet Communications Define Standard Target Connections To define the signals that will be available to another standard master on the network: 1. Right-click on the HSP Protocol instance of the target resource and select Define Target Connections>Standard Data. 2. Drag the Standard signals from the Signal Editor to the Standard Data, Target Signal Connections dialog.
Configure Peer-to-Peer DeviceNet Communications B-7 Connections tab, RSNetWorx for DeviceNet will reject the Target Connections file when it is imported. 3. RSLogix Guard PLUS! automatically generates a Target Connections file within its project folder. When you use the Automatically Update Signals option in RSNetWorx for DeviceNet, that software automatically imports any updates when the scanner's property page is displayed.
B-8 Configure Peer-to-Peer DeviceNet Communications 3. RSLogix Guard PLUS! automatically generates a Target Connections file within its project folder. When you use the Automatically Update Signals option in RSNetWorx for DeviceNet, that software automatically imports any updates when the scanner's property page is displayed. You can also manually export the Target Connections file to a specific location at any time by right-clicking on the HSP Protocol and selecting Export Target Connections.
Configure Peer-to-Peer DeviceNet Communications B-9 Add the Peer Scanner to the Scanlist To configure standard peer-to-peer communications: 1. Open the DeviceNet Properties dialog for the DeviceNet Safety Scanner and select the Scanlist tab. 2. Add the peer scanner to the scanlist by clicking on the > button. 3. Configure the I/O parameters of the peer scanner by clicking on the Edit I/O Parameters button. The target safety scanner only supports the polled connection on its slave mode interface. 4.
B-10 Configure Peer-to-Peer DeviceNet Communications Configure Safety Connections To configure a safety connection to the peer scanner: 1. On the Device Properties dialog, select the Safety Connections tab. 2. Right-click on the peer scanner and select Add Connections to display the available connections. 3. Configure the safety connection.
Configure Peer-to-Peer DeviceNet Communications B-11 For a description of the Safety Connection parameters, see pages 5-4 to 5-5. TIP For peer-to-peer safety connections, you can only select ‘Do not check configuration signature’. Make non-peer-to-peer connections, following steps 2 and 4 in Chapter 5. Then, continue with the process described in Chapters 7, 8, and 9.
B-12 Configure Peer-to-Peer DeviceNet Communications Publication 1753-UM002A-EN-P - July 2005
Appendix C DeviceNet Class Codes This appendix contains the most commonly used class codes for the 1753-DNSI DeviceNet Safety Scanner for GuardPLC Controllers.
C-2 DeviceNet Class Codes Publication 1753-UM002A-EN-P - July 2005
Appendix D Calculate Safety Connection Bandwidth This appendix provides equations for calculating the amount of system bandwidth consumed by an individual safety input or output connection. In the equations below, • RPI is in milliseconds • data sizes are in bytes • Baud_Rate is in bits per second The bit_stuffing_factor is the percentage of bandwidth estimated to be used by bit stuffing. We used 15% for our calculations. Single-cast Inputs 1 to 2 Bytes In the equation below: A = 1 ÷ Data_RPI ÷ 0.
D-2 Calculate Safety Connection Bandwidth Single-cast Outputs 1 to 2 Bytes In the equation below: A = 1 ÷ Data_RPI ÷ 0.001 B = Safety_Data_Size + 6 C = (B x 8 x bit_stuffing_factor) rounded to the nearest whole number D = 1 ÷ (Data_RPI x 19) ÷ 0.001 %Bandwidth = 100 x {[A x (57 + B x 8 + C) + (D x 115)] ÷ Baud_Rate} 3 to 250 Bytes In the equation below: A = 1 ÷ Data_RPI ÷ 0.001 B = (2 x Safety_Data_Size) + 8 C = (B ÷ 8) rounded to the nearest whole number D = 1 ÷ (Data_RPI x 19) ÷ 0.
Calculate Safety Connection Bandwidth D-3 3 to 250 Bytes In the equation below: A = 1 ÷ Data_RPI ÷ 0.001 B = (2 x Safety_Data_Size) + 8 C = (B ÷ 8) rounded to the nearest whole number D = 1 ÷ (Data_RPI x 100) ÷ 0.
D-4 Calculate Safety Connection Bandwidth Publication 1753-UM002A-EN-P - July 2005
Glossary Change of State (COS) A type of standard I/O communication in which the interface module can send and receive data with slave devices whenever a data change occurs in the configured slave device or controller. Data is updated at the rate of the heartbeat. CIP Safety Protocol A network communications method designed and certified for transport of data to assure SIL 3 requirements.
Glossary 2 Heartbeat Rate Devices that are configured for change of state data can also send a ’heartbeat’ signal to keep the connection active during periods when the data is not changing. HSP Signature A read-only value that represents the data exchanged between the GuardPLC controller and the 1753-DNSI. The HSP Signature is calculated based on the scanner’s configured safety and standard connections and is passed to RSLogix Guard PLUS! via the Scanner Signals File.
Glossary 3 Scanlist The list of devices (nodes) with which the scanner is configured to exchange I/O data. Scanner ID A read-only value which uniquely identifies the scanner and is required to connect the GuardPLC controller to the scanner. The scanner ID is automatically generated by RSNetWorx for DeviceNet using the SNN and DeviceNet address of the scanner. Scanner Signals File A file which defines the layout of the data passed via HSP, including signals and the HSP Signature value.
Glossary 4 Publication 1753-UM002A-EN-P - July 2005
Index Symbols .ssf See scanner signals file. .tcf See target connections file. Numerics 1753-CBLDN 2-7 1770-KFD module 1-5 1784-PCD 1-5 1784-PCID 1-5 A A#xx 10-2 add connections 5-3 add devices available devices list 5-9 advanced safety connection properties 5-5 associate 7-1–7-5 manually 7-4–7-5 automap 5-9 automatically update signals 7-2–7-3 available devices list 5-9 add devices 5-9 B baud rate reset 3-4 See communication rate.
2 Index D data tables 1-4, 7-1, 7-2 data types B-2 default module defaults button 5-6 device status monitoring 10-1 Safety Device Verification Wizard 9-1 verification 9-3 DeviceNet connections 2-6 DeviceNet network configuration 3-1 configure a driver 3-1 connecting 3-1 DeviceNet Safety I/O configuration signature 5-1 set node address 3-2 DeviceNet Safety Scanner See scanner.
Index L LED indicators 10-1 lock See safety-lock.
4 Index S S#ee 10-4 safety concept 1-1 safety configuration tab 5-2 safety connections 1-7 colorization 1-4 safety connections tab 5-3 safety data communication 1-3 safety data, signal connections dialog 8-2 Safety Device Verification Wizard 3-5 definition 9-1 device status 9-1 reports 9-5 run 9-1 safety-lock select devices 9-3 summary 9-7 upload and compare 9-4 Welcome page 9-1 safety I/O definition G-2 safety information 2-1 safety integrity level 1-4, 2-7 safety network number 1-1, 4-1 assignment 4-2–
Index N#xx 10-3 no network power 10-3 RUN 10-2 S#ee 10-4 status code descriptions 10-4 general status error codes 10-5 safety connections 10-4 standard connections 10-4 status codes extended error code 10-7 strobe messages 1-2 strobed definition G-3 system ID (SRS) 6-2 system reaction time definition G-3 T target connections file 1-5, 7-2 definition G-3 terminology used throughout manual P-3 timeout multiplier 5-5 definition G-3 timing parameters 8-5 transmit retries 5-7, 5-8 5 U unique node identifier
6 Index Publication 1753-UM002A-EN-P - July 2005
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