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Allen-Bradley Compact GuardLogix 5370, User Manual

Get ready to upgrade your automation system with the Allen-Bradley Compact GuardLogix 5370. Simplify your processes with this advanced controller, and ensure safety with its enhanced features. Need assistance? Download the user manual for free on our website and unlock the full potential of this cutting-edge product.

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Rockwell Automation Publication 1769-UM022C-EN-P - June 2018

123

Chapter

 8

Elements of a Control Application

A control application is comprised of several elements that require planning for 
efficient application execution. Application elements include the following:

• Tasks
• Programs
• Routines
• Parameters and Local Tags

Topic

Page

Tasks

124

Programs

128

Routines

130

Tags

131

Programming Languages

134

Add-on Instructions

135

Access the Module Object

136

System Overhead Time Slice

138

Summary of Contents for Compact GuardLogix 5370

Page 1: ...uardLogix 5370 Controllers Catalog Numbers 1769 L30ERMS 1769 L33ERMS 1769 L33ERMSK 1769 L33ERMOS 1769 L36ERMS 1769 L36ERMOS 1769 L37ERMOS 1769 L37ERMS 1769 L38ERMOS 1769 L38ERMS User Manual OriginalInstructions ...

Page 2: ...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 Labels may also be on or inside the equipment to provide specific precautions WARNING Identifies informati...

Page 3: ...nctionality 19 Programming Requirement 20 Chapter2 Install the Controller Precautions 21 North American Hazardous Location Approval 22 European Hazardous Location Approval 23 Compact GuardLogix 5370 Controller Parts 23 Install the Secure Digital SD Card 24 Plan the System 25 Assemble the System 26 Mount the System 27 Minimum Spacing 29 System Dimensions 29 Mount the Controller on a Panel 30 Mount ...

Page 4: ... Card to Load Firmware 52 Select the Operating Mode of the Controller 53 Chapter4 Configure the Controller Create a Controller Project 55 Set Passwords for Safety lock and unlock 59 Protect the Safety Task Signature in Run Mode 60 Electronic Keying 61 I O Device Replacement Options 62 Enable Time Synchronization 63 Configure a Peer Safety Controller 63 Chapter5 Communicate Over Networks The Safety...

Page 5: ...idate Standard I O Layout 86 Estimate Requested Packet Interval 87 Module Fault Related to RPI Estimates 88 Calculate System Power Consumption 89 Physical Placement of I O Modules 91 Power Supply Distance Rating 93 Configure Standard I O 96 Common Configuration Parameters 97 I O Connections 97 Configure Standard Distributed I O Modules on an EtherNet IP Network 98 Configure Standard Distributed I ...

Page 6: ... Configuration Owner listen only connection 112 Reset Safety I O Device Ownership 113 Address Safety I O Data 113 Safety I O Modules Address Format 113 Kinetix 5500 Kinetix 5700 and PowerFlex 527 Drive Address Format 114 Monitor Safety I O Device Status 114 Reset Safety I O Device to Out of box Condition 115 Replace a Safety I O Device 116 Replacement with Configure Only When No Safety Signature E...

Page 7: ...Create Tag Mapping Pairs 157 Monitor Tag Mapping Status 158 Safety Application Protection 158 Safety lock the Controller 158 Generate a Safety Task Signature 160 Programming Restrictions 162 Chapter10 Develop Integrated Motion over an EtherNet IP Network Application Motion Axes Support 164 AXIS_VIRTUAL Axis 164 AXIS_CIP_DRIVE Axis 164 Maximum Number of Position Loop configured Drives 165 Position ...

Page 8: ...onrecoverable Safety Faults in the Safety Application 181 Recoverable Faults in the Safety Application 182 View Faults 182 Fault Codes 183 Develop a Fault Routine 183 Program Fault Routine 184 Controller Fault Handler 184 Use GSV SSV Instructions 184 Chapter13 Store and Load Programs with a Secure Digital Card Use SD Cards for Nonvolatile Memory 187 Store a Safety Project 189 Load a Safety Project...

Page 9: ...ble Topic Page 1769 L37ERMS 1769 L38ERMOS 1769 L38ERMS added Throughout System Overview 15 Controller Functionality 19 Programming Requirement 20 Nodes on EtherNet IP Network 73 EtherNet IP Network Connections 77 Local Expansion Modules 83 Module Power Consumption Calculation for a Local Bank 90 Motion Axes Support 164 Position Loop configured Drive Limits 165 ...

Page 10: ...10 Rockwell Automation Publication 1769 UM022C EN P June 2018 Summary of Changes Notes ...

Page 11: ...P devices tooperate in ring topologies EN European Norm The official European standard GSV Get System Value An instruction that retrieves specified controller status information and places it in a destination tag Multicast The transmission of information from one sender to multiple receivers NAT Network Address Translation The translation of an Internet Protocol IP address to another IP address on...

Page 12: ...ue publication ENET AT002 Describes socket interface applications Execution Time and Memory Use for Logix 5000 Controller Instructions Reference Manual publication 1756 RM087 Explainshowto estimate thememoryuseandexecutiontimeofprogrammedlogic andhowto select from different programming options Integrated Architecture system and CIP Sync Configuration Application Technique publication IA AT003 Desc...

Page 13: ...527 Adjustable Frequency AC Drive User Manual publication 520 UM002 Provides information to install start up and troubleshoot the PowerFlex 520 series adjustable frequency AC drive Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines to install a Rockwell Automation industrial system ProductCertifications website http www rockwellautomation com glo...

Page 14: ...14 Rockwell Automation Publication 1769 UM022C EN P June 2018 Preface Notes ...

Page 15: ...MOS 1 and 1769 L38ERMOS 1 combines a Compact GuardLogix controller with a power supply in an IP67 rated housing for mounting on a machine For information on how to install the Armor Compact GuardLogix controller see the Armor Compact GuardLogix Controllers Installation Instructions publication 1769 IN022 For a complete description of the Compact GuardLogix 5370 control system components and functi...

Page 16: ... safety task signature Both affect controller and I O configuration and network communication For further details refer to the GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference Manual publication 1756 RM099 Safety Network Number The safety network number SNN must be a unique number that identifies safety subnets Each safety subnet that the controller uses for safety c...

Page 17: ...ogix Designer application features safety identification icons to identify the safety task safety programs safety routines and safety components In addition the Logix Designer application uses a safety class attribute that is visible whenever safety task safety programs safety routine safety tag or safety Add on Instruction properties are displayed The controller does not allow writes to safety ta...

Page 18: ...afety task ATTENTION This data must not be used to directly control a SIL 3 PLe output 4 Controller scoped safety tags can be read directly by standard logic 5 Safety tags can be read or written by safety logic 6 Safety tags can be exchanged between safety controllers over an Ethernet network including GuardLogix 5570 and Compact GuardLogix 5370 controllers 7 Safety tag data program or controller ...

Page 19: ...reDigital SD card forexternalnonvolatile memory 1784 SD1card ShipswiththeCompactGuardLogix5370controllerandoffers1GBof memory 1784 SD2 card Available for separatepurchase and offers 2 GB of memory I O modules 1 1 Armor CompactGuardLogix controller systems donot support I O inside their IP67 rated housings To get I O you must connect via EtherNet IP to distributed I O Local expansion modules 1769 C...

Page 20: ...ions Cat No Studio 5000 Environment RSLinx Classic Software Version 1769 L30ERMS 1769 L33ERMS 1769 L33ERMSK 1769 L33ERMOS 1769 L36ERMS 1769 L36ERMOS 28 00 00 or later 3 80 or later 1769 L37ERMOS 1769 L37ERMS 1769 L38ERMOS 1769 L38ERMS 31 00 00 or later 4 00 or later Table 4 Supported Features Feature Studio 5000 Logix Designer Application Safety Task Standard Task Add on instructions X X Alarms an...

Page 21: ...nted withinanenclosurethatissuitablydesignedfor thosespecificenvironmental conditions that will be present and appropriately designed to prevent personal injury resulting from accessibility to live parts The enclosure must havesuitableflame retardantpropertiestopreventorminimizethespreadof flame complying with a flame spread rating of 5VA or be approved for the application if nonmetallic The inter...

Page 22: ...le plus défavorable code de température le plus faible peut être utilisé pour déterminer le code de température global du système Les combinaisons d équipements dans le système sont sujettes à inspection par les autorités locales qualifiées au moment de l installation WARNING EXPLOSION HAZARD Do not disconnect equipment unless power has been removed or the area is known to be nonhazardous Do not d...

Page 23: ... 1 GB of memory storage A 1784 SD2 SD card with 2 GB of memory storage or more 1784 SD1 SD cards are also available if you need more memory WARNING Special Conditions for Safe Use This equipment shall be mounted in an ATEX certified enclosure with a minimum ingress protection rating of at least IP54 as defined in IEC60529 and used in an environment of not more than Pollution Degree 2 as defined in...

Page 24: ...fore installation If the card is unlocked the controller can write data to it or read data from it 2 Open the door for the SD card A 3 Insert the SD card into the SD card slot You can install the SD card in only one orientation The beveled corner is at the top An orientation logo is printed on the card If you feel resistance when inserting the SD card pull it out and change the orientation 4 Gentl...

Page 25: ...rs support this many local expansion modules across multiple I O banks Each I O bank requires its own power supply You must terminate the end of the last bank in a Compact GuardLogix 5370 controller system You can terminate a bank at the left or right end of the bank dependent upon your system design A 1769 ECx end cap is required to terminate the end of the last bank in the control system For exa...

Page 26: ...er to the right of the positioning tab so it is in the unlocked position ATTENTION Compact GuardLogix 5370 controller systems do not support removal and insertion under power RIUP These events occur while theCompact GuardLogix 5370 controller systemisunder power Any break in the connection between the power supply and the controller forexample removingthepowersupply controller oran I O module can ...

Page 27: ...stem 9 Wire the 1769 Compact I O power supply according to the directions in the Compact I O Expansion Power Supplies installation instructions publication 1769 IN028 If you are using local expansion modules see Local Expansion Modules on page 83 Mount the System IMPORTANT You must install an end cap onto the right side of the Compact GuardLogix 5370 controller system either at the end of the cont...

Page 28: ... be sure that all debris such as metal chips or wire strands is kept from falling into the controller Debris that falls into the controller can cause damage while the controller is energized 1769 CRLxCable Horizontal Orientation Bank 1 Bank 2 Bank 3 1769 CRLx Cable Vertical Orientations Bank 1 Bank 2 1769 CRRxCable 1769 ECR End Cap 1769 ECR End Cap Bank 3 769 CLLx Cable Table 5 Compact I O Communi...

Page 29: ...n of space on all sides as shown This spacing provides ventilation and electrical isolation System Dimensions This graphic shows the system dimensions 50 mm 2 in 50 mm 2 in 50 mm 2 in 50 mm 2 in 132 mm 5 20 in 118 mm 4 65 in 89 mm 3 5 in 70 mm 2 76 in 35 mm 1 38 in 35 mm 1 38 in 44 mm 1 74 in 114 mm 4 49 in 18 mm 0 71 in 35 mm 1 38 in 35 mm 1 38 in 35 mm 1 38 in Side View Front View 61 mm 2 4 in ...

Page 30: ...controller on the following DIN rails EN 50 022 35 x 7 5 mm 1 38 x 0 30 in EN 50 022 35 x 15 mm 1 38 x 0 59 in 1 Before mounting the controller on a DIN rail close the DIN rail latches of the controller 2 Press the DIN rail mounting area of the controller against the DIN rail The latches momentarily open and lock into place IMPORTANT Duetomodule mountingholetolerance itisimportanttofollowthese pro...

Page 31: ...oller via a USB Cable The Compact GuardLogix 5370 controller has a USB port that uses a Type B receptacle The port is USB 2 0 compatible and operates at 12 Mbps Use a USB cable to connect your computer to the USB port With this connection you can upgrade firmware and download programs to the controller directly from your computer Plug the USB cable into the Compact GuardLogix 5370 controller as sh...

Page 32: ...e connections are made Star network topology One port on the controller is connected to the network For more information see EtherNet IP Network Communication on page 72 WARNING If you connect or disconnect the communication cable with powerappliedtothismoduleoranydeviceonthenetwork anelectricalarc can occur This could cause anexplosion in hazardous location installations Be sure thatpower is remo...

Page 33: ...quire a network Internet Protocol IP address to operate on an EtherNet IP network Set the IP Address The IP address uniquely identifies the controller The IP address is in the form xxx xxx xxx xxx where each xxx is a number from 000 254 with some exceptions for reserved values These numbers are examples of reserved values you cannot use 000 xxx xxx xxx 127 xxx xxx xxx 224 to 255 xxx xxx xxx Some o...

Page 34: ...rver can be used to assign an IP address You can use the BOOTP server to set an IP address for your Compact GuardLogix 5370 controller Consider these points when using the BOOTP server The BOOTP server is installed automatically when you install RSLinx Classic or the Studio 5000 environment on your computer The BOOTP server sets an IP address and other Transmission Control Protocol TCP parameters ...

Page 35: ... address is set automatically via the DHCP server Access the BOOTP DHCP utility from one of these locations Start Programs Rockwell Software BOOTP DHCP Server If you have not installed the utility you can download and install it from http www rockwellautomation com global support tools page Tools directory on the programming software installation CD Use the DHCP Server to Set the lP Address Dynami...

Page 36: ...Address You can use RSLinx software to set the IP address of the Compact GuardLogix 5370 controller Complete these steps to set the IP address of the controller with RSLinx software 1 Make sure that a USB cable is connected to your computer and the controller 2 Start RSLinx software After several seconds an RSWho dialog box appears 3 If no RSWho dialog box appears from the Communications pull down...

Page 37: ...ation tab 6 For Network Configuration Type select Static to assign this configuration to the port 7 Type the new IP address and Network Mask 8 Click OK As with all configuration changes make sure that you are using the SD card in a way that does not overwrite the IP address at the next controller power cycle For more information on using the SD card see Chapter 13 IMPORTANT If you click Dynamic on...

Page 38: ...ion you must be connected to your controller via the USB port Complete these steps to set the IP address of the controller 1 Start the Logix Designer application 2 Click RSWho to specify the project path The RSWho Active dialog box appears 3 Navigate over the USB network and select the Compact GuardLogix controller 4 Click Set Project Path IMPORTANT These steps show a 1769 L36ERMS controller The s...

Page 39: ... 2018 39 Complete the Controller Setup Chapter 3 5 Click Download 6 Click Download again The new project is downloaded to the controller and the project goes online in Remote Program or Program mode 7 Right click the controller name and choose Properties ...

Page 40: ...he Internet Protocol tab The IP Settings Configuration values show that the controller has no IP address that is assigned to it 9 Click Manually configure IP settings 10 Enter desired IP address and other configuration information and click OK 11 When prompted to confirm the IP address setting click Yes The controller now uses the newly set IP address ...

Page 41: ...gix 5570 and Compact GuardLogix 5370 Controllers Safety Reference Manual publication 1756 RM099 IMPORTANT To set the IP address from an SD card software is not required during the power up process However you must have previously saved the project to the SD card The IP address of the Compact GuardLogix 5370 controller is automatically configuredatpower upaslongasyouhaveconfiguredanIPaddress stored...

Page 42: ... server limits the possibility of duplicate IP address assignment However you can only use the BOOTP DHCP server to set the IP address of the controller and not to change it If you decide to change the IP address of the controller and want to use a BOOTP DHCP server to limit the possibility of duplicate IP address assignment you must first clear the IP address After clearing the IP address use the...

Page 43: ...guration 3 Click the Port Configuration tab The controller has an IP address and Network Configuration Type 4 Type the new IP address and Network Mask 5 For Network Configuration Type select Static to assign this configuration to the port 6 Click OK IMPORTANT These steps show a 1769 L36ERMS controller The same steps also apply to all Compact GuardLogix 5370 controllers with slight variations in sc...

Page 44: ...rify that your computer is connected to the controller 2 Verify that your project is online 3 Right click the controller name and choose Properties The Controller Properties dialog box appears on the Internet Protocol tab 4 Change the IP address of the controller 5 Make other changes where necessary 6 Click OK IMPORTANT These steps show a 1769 L36ERMS controller The same steps also apply to all Co...

Page 45: ...ller with the SD card installed Additional requirements apply for safety projects See Chapter 13 and the GuardLogix 5570 and Compact GuardLogix 5370 Controllers Safety Reference Manual publication 1756 RM099 Load Controller Firmware You must download the current firmware before you can use the Compact GuardLogix 5370 controller To load firmware you can use any of the following ControlFLASH softwar...

Page 46: ...owing when you load firmware via the ControlFLASH software Use a USB connection to load the firmware If one is installed in the controller remove the SD card Complete these steps to use the ControlFLASH software to load firmware 1 Verify that a connection exists between your computer and the Compact GuardLogix 5370 controller 2 Choose Start Programs FLASH Programming Tools ControlFLASH IMPORTANT T...

Page 47: ...ation 1769 UM022C EN P June 2018 47 Complete the Controller Setup Chapter 3 3 When the Welcome dialog box appears click Next 4 Choose the controller catalog number and click Next 5 Expand the network until you see the controller ...

Page 48: ...e Controller Setup 6 Choose the controller at the first instance in which it appears as shown in the following graphic and click OK 7 Choose the revision level to which you want to update the controller and click Next 8 To start the update of the controller click Finish and click Yes ...

Page 49: ...hat the update is complete 9 Click OK 10 To close the ControlFLASH software click Cancel and click Yes Use the AutoFlash Utility to Load Firmware You can use the AutoFlash utility to load firmware through a USB or EtherNet IP network connection Let the upgrade complete without interruption If you interrupt a firmware upgrade that is in process you are alerted that an error has occurred In this cas...

Page 50: ...re 2 Create a controller project 3 Click RSWho to specify the controller path The RSWho Active dialog box appears 4 Navigate over the Ethernet network and select the Compact GuardLogix controller 5 Click Download IMPORTANT These steps show a 1769 L36ERMS controller The same steps would also apply to all Compact GuardLogix 5370 controllers with slight variations in screens TIP You can click Update ...

Page 51: ...irmware revision are different 6 Click Update Firmware 7 Use the check box and pull down menu to choose your controller and firmware revision 8 Click Update 9 When the Update Firmware dialog box appears click Yes Before the firmware upgrade begins you can be warned about your controller missing its SD card Take the required action typically click OK The firmware upgrade begins ...

Page 52: ...complete this task Your application requires the following to load firmware from an SD card at power up You must have saved the project to the SD card before the power cycle The firmware revision in the project that is stored on the SD card differs from the firmware revision on the Compact GuardLogix 5370 controller Additional requirements apply for safety projects See Chapter 13 and the GuardLogi...

Page 53: ...hows the mode switch on a Compact GuardLogix 5370 controller Use the mode switch on the controller to set the operating mode WARNING When you change switch settings while power is on an electrical arc canoccur This couldcause an explosion inhazardouslocationinstallations Be sure that power is removed or the area is nonhazardous before you proceed RUN REM PROG Reset ...

Page 54: ...ers that are directly set for operation on a device level ring DLR network topology Prog You can perform these tasks Update controller firmware Disable outputs Upload download projects Create modify and delete tasks programs or routines Change the port configuration of the controller advanced port configuration nor network configuration settings You cannot perform these tasks Use the controller to...

Page 55: ...signer application 1 Click the New button on the main toolbar to create a project 2 Double click Compact GuardLogix 5370 controller to expand the list of controller options Topic Page Create a Controller Project 55 Set Passwords for Safety lock and unlock 59 Set Passwords for Safety lock and unlock 59 Protect the Safety Task Signature in Run Mode 60 I O Device Replacement Options 62 Enable Time Sy...

Page 56: ...onfigure the Controller 3 Choose a Compact GuardLogix 5370 controller 1769 L30ERMS 1769 L33ERMS 1769 L36ERMS 1769 L37ERMS 1769 L38ERMS 4 In the Name field type the name of the project 5 Click Browse to specify the folder for storing the safety controller project 6 Click Next ...

Page 57: ... you want to use the selected protection for authentication and authorization 10 In the Description field enter a description of the project 11 Click Finish The Logix Designer application creates a safety task and a safety program A main ladder logic safety routine called MainRoutine is also created within the safety program Figure 3 Safety Task in the Controller Organizer A red bar under the icon...

Page 58: ...e Controller Properties dialog box For most applications this automatic time based SNN is sufficient However there are cases when you need to enter a specific SNN Figure 4 Safety Network Number Table 6 Additional Resources Resource Description Chapter 9 Develop Safety Applications Containsmoreinformationonthesafetytask safetyprograms and safety routines Chapter 5 Communicate Over Networks Provides...

Page 59: ...nents are unaffected You can safety lock or unlock the controller project when online or offline The safety lock and unlock feature uses two separate passwords Passwords are optional Follow these steps to set passwords 1 Click Tools Safety Change Passwords 2 From the What Password pull down menu choose either Safety Lock or Safety Unlock 3 Type the old password if one exists 4 Type and confirm the...

Page 60: ...ent the safety task signature from being either generated or deleted while the controller is in Run or Remote Run mode regardless of whether the safety application is locked or unlocked Follow these steps to protect the safety task signature 1 Open the Controller Properties dialog box 2 Click the Safety tab 3 Check Protect Signature in Run Mode 4 Click OK ...

Page 61: ...e Minor Revision A number that represents behavior changes in the device Keying Option Description Compatible Module Lets the installed device accept the key of the device that is defined in the project when the installed device can emulate the defined device With Compatible Module you can typically replace a device with another device that has the following characteristics Same catalog number Sam...

Page 62: ... in the system 1 Open the Controller Properties dialog box 2 Click the Safety tab 3 Select the configure option for the controller to use when replacing safety I O 4 Click OK Figure 5 I O Device Replacement Options 1 The safety task signature is a number used to uniquely identify each project s logic data and configuration thereby protecting the system s safety integritylevel SIL See Safety TaskSi...

Page 63: ...aster 1 Open the Controller Properties dialog box 2 Click the Date Time tab 3 Check Enable Time Synchronization 4 Click OK Figure 6 Date Time Tab Configure a Peer Safety Controller You can add a peer safety controller to the I O configuration folder of your safety project to allow standard or safety tags to be consumed To share safety data between peer controllers you produce and consume controlle...

Page 64: ...64 Rockwell Automation Publication 1769 UM022C EN P June 2018 Chapter 4 Configure the Controller Notes ...

Page 65: ...work the controller cannot receive messages from other devices on the network All Compact GuardLogix 5370 controllers also support temporary connections from your computer via a USB connection The Safety Network The CIP Safety protocol is an end node to end node safety protocol that allows routing of CIP Safety messages to and from CIP Safety devices through bridges switches and routers To maintai...

Page 66: ...a unique SNN is assigned to each CIP Safety network that contains safety devices The SNN can be software assigned time based or user assigned manual These two formats of the SNN are described in the following sections Time basedSNN If the time based format is selected the SNN value that is generated represents the date and time at which the number was generated according to the personal computer r...

Page 67: ...CIP Safety network are assigned the same SNN defined within the lowest address on that CIP Safety network ManualAssignment The manual option is intended for routable CIP Safety systems where the number of network subnets and interconnecting networks is small and where users might like to manage and assign the SNN in a logical manner pertaining to their specific application See Changing the Safety ...

Page 68: ...another hardware installation within the same routable CIP Safety system Changing the Safety Network Number SNN Before changing the SNN you must do the following If the project is safety locked then you must unlock it See Safety lock the Controller on page 158 If a safety task signature exists then you must delete it See Delete the Safety Task Signature on page 161 ChangetheSNNoftheController 1 In...

Page 69: ...e based and then Generate 4 Click OK ChangetheSNNofSafetyI OModulesontheCIPSafetyNetworks 1 In the Controller Organizer double click the first safety I O module underneath the Ethernet network to view the General tab 2 Click to the right of the safety network number to open the Safety Network Number dialog box ...

Page 70: ...Module Properties dialog box of the next safety I O module under that EtherNet IP module 7 Click to the right of the safety network number to open the Safety Network Number dialog box 8 Choose Time based and click Paste to paste that EtherNet IP network s SNN into that device 9 Click OK 10 Repeat steps 6 8 for the remaining safety I O modules under that EtherNet IP communication module 11 Repeat s...

Page 71: ...iguration tree 1 In the software configuration tool of the module s configuration owner open the Safety Network Number dialog box for the module 2 Click Copy 3 Click the General tab on the Module Properties dialog box of the I O module in the I O Configuration tree of the consuming controller project This consuming controller is not the configuration owner 4 Click to the right of the safety networ...

Page 72: ...oller on an EtherNet IP network EtherNet IP Functionality The Compact GuardLogix 5370 controllers offer this EtherNet IP network functionality Dual built in EtherNet IP network ports Support for the following EtherNet IP network topologies Device Level Ring Network Topology Linear Network Topology Star Network Topology Support for CIP safety protocol Support for Integrated Motion over an EtherNet ...

Page 73: ...able 7 Compact GuardLogix 5370 Controller Ethernet Node Guidelines Cat No Ethernet Nodes Supported 1769 L30ERMS 16 1769 L33ERMS 1769 L33RMSK 1769 L33ERMOS 32 1769 L36ERMS 1769 L36ERMOS 48 1769 L37ERMS 1 1769 L37ERMOS 1 1 Available at firmware revision 31 64 1769 L38ERMS 1 1769 L38ERMOS 1 80 IMPORTANT While Compact GuardLogix 5370 controllers offer the option of using Ethernet node count to effecti...

Page 74: ...mple the following devices require communication via a socket interface Modbus TCP IP device Barcode scanners EtherNet IP Network Topologies Compact GuardLogix 5370 controllers support these EtherNet IP network types Device Level Ring DLR Network Topology Linear Network Topology Star Network Topology Each of these EtherNet IP network topologies supports applications that use Integrated Motion over...

Page 75: ...trol System With a DLR Network Topology LinearNetworkTopology A linear network topology is a collection of devices that are daisy chained together across an EtherNet IP network Devices that can connect to a linear network topology use embedded switch technology to remove any need for a separate switch as required in Star network topologies Figure 10 shows an example 1769 L33ERMS control system wit...

Page 76: ...at includes multiple devices that are connected to each other via an Ethernet switch Figure 11 shows an example 1769 L33ERMS control system with a star network topology Figure 11 Example 1769 L33ERMS Control System With a Star Network Topology Esc Sel 1769 L33ERMS 1734 AENTR POINT I O PanelView Plus PowerFlex 525 1783 ETAP 1794 AENT FLEX 1783 ETAP Kinetix 5500 Esc Sel 1769 L33ERMS 1734 AENTR POINT...

Page 77: ...ecifications Socket Interface The Compact GuardLogix 5370 controller can use socket interfaces to communicate with Ethernet devices that do not support the EtherNet IP application protocol Examples of devices that do not support the EtherNet IP application protocol but can be used in a Compact GuardLogix 5370 controller application include the following Modbus TCP IP device Cat No Connections CIP ...

Page 78: ...itize EtherNet IP network traffic By default the Compact GuardLogix 5370 controllers are QoS enabled QoS can be disabled by configuring a message instruction in the Logix Designer application Some EtherNet IP devices do not support QoS technology unless the device firmware is upgraded to a required minimum firmware revision level For example the ControlLogix 1756 ENBT communication module must use...

Page 79: ...rk Figure 12 shows an example 1769 L33ERMS control system with a DeviceNet network Figure 12 Example 1769 L33ERMS Control System With a DeviceNet Network IMPORTANT Compact GuardLogix controllers support standard connections to the DeviceNet network CIP Safety over DeviceNet networks is not supported Software Required Version Functions Studio 5000 environment 28 00 00 or later Configure the Compact...

Page 80: ...llection Shares a common application layer with EtherNet IP networks Offers diagnostics for improved data collection and fault detection PowerSupplyDistanceRating Compact GuardLogix 5370 controller systems allow you to install 1769 SDN scanners as local expansion modules The 1769 SDN scanner has a power supply distance rating to consider before you install it Power supply distance rating is the nu...

Page 81: ...wer supply distance rating requirements of the module Compact GuardLogix 5370 controller systems also support the use of extra banks for the local expansion modules of the system Each additional bank requires a 1769 Compact I O power supply The bank can be designed with local expansion modules on either side of the power supply In this case you must install the 1769 SDN scanner with no more three ...

Page 82: ... on the bank For example if a bank uses a 1769 PA2 Compact I O power supply each side of the bank has a current capacity of 1A at 5V DC and 0 4A at 24V DC Because a 1769 SDN scanner has a current draw of 440 mA at 5 V DC and 0 mA at 24 V DC you can only install up to two scanners on each side of the power supply in the bank in this case For more information on 1769 Compact I O power supply maximum...

Page 83: ...CompactBus backplane Consider the following when using local expansion modules The controllers support this many local Compact I O modules across up to three I O banks that is the local bank and two more banks Topic Page Select I O Modules 83 Validate Standard I O Layout 86 Configure Standard I O 96 Configure Standard Distributed I O Modules on an EtherNet IP Network 98 Configure Standard Distribu...

Page 84: ...ongue and groove slots to attach a 1769 ECR Compact I O end cap terminator to the last module in the system b Move the lever of the end cap bus terminator fully to the left until it clicks to lock the end cap bus terminator 3 If your system uses more banks follow these steps a Install a 1769 CRx Compact I O communication bus expansion cable at the right end of the local bank b Connect the 1769 CRx...

Page 85: ...73 The configurable RPI settings vary depending on which distributed I O modules are used in the system Figure 14 shows an example 1769 L33ERMS controller system that uses local expansion modules and standard distributed I O modules over an EtherNet IP network Figure 14 Example 1769 L33ERMS Controller System With Modules Over an EtherNet IP Network Standard Distributed I O Modules Over a DeviceNet...

Page 86: ... Standard Distributed I O Modules on a DeviceNet Network on page 100 Figure 15 shows an example 1769 L33ERMS controller system that uses local expansion modules and standard distributed I O modules over a DeviceNet network Figure 15 Example 1769 L33ERMS Controller System With Modules Over a DeviceNet Network Validate Standard I O Layout After you have selected your I O modules you must validate th...

Page 87: ...ion affect I O throughput Type of Module Guidelines 1 1 The guidelines in this table do not factor in the following items which affect Compact GuardLogix 5370 controller CPU loading I O RPI timing does not affect the task priority Event and periodic tasks have higher priority than I O and user tasks IOT Immediate Output Instruction Messaging CompactBus browsing such as DeviceNet network access thr...

Page 88: ... O module Typically it is an I O module with a large I O array sizes Example modules that use large I O array sizes include the 1769 SDNand1769 HSCmodules Inthesecases werecommendthatyouadjust the RPI of the module to remove the fault Once the fault is cleared from the first I O module the application indicates the next module that experiences the fault This pattern continues until the fault is cl...

Page 89: ...nk The following are the maximum current capacity requirements Maximum current capacity for one bank Maximum current capacity for each side of the power supply The maximum current capacity requirements vary by the power supply that is used in the bank PowerSupply Cat No Current Capacity max for Single Bank Current Capacity max forEachSideof Bank 1 1 Specification for banks with devices on left and...

Page 90: ...uired 1769 L30ERMS 1769 L33ERMS 1769 L33ERMSK 1769 L36ERMS 1769 L37ERMS 1769 L38ERMS 1 500 225 500 225 Left Optional I O Module specific Up to 3 Module specific Module specific Total Current Required 2 Right I O Module specific IMPORTANT Insert a separate row in this calculation for each I O module Up to 8 Module specific Module specific Total Current Required 2 Total Current Required for Single B...

Page 91: ...ce ratings see Power Supply Distance Rating on page 93 For more information on system power consumption see Calculate System Power Consumption on page 89 Table 12 Module Power Consumption Calculation for an Additional Bank Side of Power Supply Device Cat No Number of Modules 3 Module Current Requirements Calculated Current Number of Modules x Module Current Requirements at 5V DC in mA at 24V DC in...

Page 92: ...e bank does not exceed the capacity of the power supply for the entire bank Modules are installed such that all power supply distance rating and system power consumption requirements are met For example the 1769 SDN scanner has a power supply distance rating of four If the design includes the installation of a 1769 SDN scanner with greater than three modules between it and the power supply the des...

Page 93: ...ide Modules are installed such that all power supply distance rating requirements are met End caps are installed properly as shown in the following graphic Power Supply Distance Rating Compact GuardLogix 5370 controller systems do not have embedded I O modules You begin counting local expansion slots with the first Compact I O module installed next to the power supply when determining where to ins...

Page 94: ...er supply The bank can be designed with local expansion modules on either side of the power supply Most Compact I O modules have power supply distance rating values that allow you to install them in any slot on either side of the power supply in extra banks Some Compact I O modules have power supply distance ratings that affect where you can install them in the Compact GuardLogix 5370 controller s...

Page 95: ...MS control system that meet the power supply distance rating of the module For more information about the power supply distance rating for a Compact I O module see CompactLogix Selection Guide publication 1769 SG001 1769 HSC High speed Counter Modules Installed in a 1769 L36ERMS Control System Meetingthe Power SupplyDistance Rating Requirements of the High speed Counter Module Local Bank Extra Ban...

Page 96: ...teps to add a Compact I O module to your Compact GuardLogix 5370 controller system and configure it 1 In the Controller Organizer select and right click the 1769 Bus under I O Configuration and choose New Module 2 Select the desired I O module and click Create The New Module dialog box appears 3 Configure the new I O module as necessary and click OK ...

Page 97: ...n Connection Type of connection between the controller writing the configuration and the I O module such as Output Data format Type of data that is transferred between the controller and I O module and what tags are generated when the configuration is complete Module Fault on Controller If Connection Fails While in Run Mode This optiondetermines howthe controller is affectedif the connectionto anI...

Page 98: ...he Controller Organizer select and right click the 1734 AENT under Ethernet and choose New Module 2 Select the desired Ethernet adapter and click Create IMPORTANT When you add distributed I O modules remember to count the remote Ethernet adapter to remain within the maximum number of EtherNet IP network nodes limitation for your controller The remote I O modules that are connected to the controlle...

Page 99: ...figure Standard I O Modules Chapter 6 The New Module dialog box appears 3 Configure the new Ethernet adapter as necessary and click OK 4 In the Controller Organizer select and right click the new adapter and choose New Module 5 Select the desired I O module and click Create ...

Page 100: ...ibuted I O modules over an EtherNet IP network Configure Standard Distributed I O Modules on a DeviceNet Network Your Compact GuardLogix 5370 controller system can use standard distributed I O modules on a DeviceNet network Complete these steps to configure standard distributed I O modules on a DeviceNet network 1 If you have not done so install a 1769 SDN Compact I O DeviceNet scanner into the lo...

Page 101: ...2018 101 Add and Configure Standard I O Modules Chapter 6 2 In the Controller Organizer select and right click the 1769 Bus under I O Configuration and choose New Module 3 Select the 1769 SDN scanner and click Create 4 Choose a Major Revision and click OK ...

Page 102: ... DeviceNet software to define the scan list in the 1769 SDN scanner to communicate data between the devices and the controller through the scanner The following graphic is an example of a 1769 L36ERMS control system that uses standard distributed I O modules on a DeviceNet network 1769 L36ERMS 1769 SDN Scanner 1794 ADN FLEX I O 1734 ADN POINT I O 1606 XLDNET 1734 AENT with POINT Guard I O EtherNet...

Page 103: ...roperties dialog box Programming logic to monitor fault data so you can act When a fault occurs on an I O module a yellow triangle on the module listing in the Controller Organizer alerts you to the fault The following graphic shows the Quick View Pane which indicates the fault type To see the fault description on the Connection tab in Module Properties dialog box complete these steps 1 In the Con...

Page 104: ... Module Fault section use the fault description to diagnose the issue 3 Click OK to close the dialog box and remedy the issue End Cap Detection and Module Faults End cap detection is performed through the last module on a 1769 Bus If that module experiences a fault such that it cannot communicate on the 1769 Bus the following events occur End cap detection fails Controller faults ...

Page 105: ... and when you need to set it Reaction time limit see page 109 for information on setting the reaction time limit Safety input output and test parameters complete the module configuration You can configure safety I O devices via the Compact GuardLogix controller by using the Logix Designer application Topic Page Add Safety I O Devices 105 Configure Safety I O Devices 106 Set the IP Address by Using...

Page 106: ...twork and choose New Module 2 From the Catalog tab select the safety I O device 3 Click Create 4 Type a name for the new device 5 To modify the Module Definition settings click Change if required 6 Enter the IP address for EtherNet IP networks If your network uses network address translation NAT see Set the IP Address by Using Network Address Translation NAT on page 107 TIP You cannot add or delet...

Page 107: ...anslates one IP address to another IP address via a NAT configured router or switch The router or switch translates the source and destination addresses within data packets as traffic passes between subnets This service is useful if you need to reuse IP addresses throughout a network For example NAT makes it possible for devices to be segmented into multiple identical private subnets while maintai...

Page 108: ...within the lowest address on that CIP safety network For most applications the automatic time based SNN is sufficient However there are cases when the manipulation of an SNN is required See Assigning the Safety Network Number SNN on page 67 Unicast Connections on EtherNet IP Networks Unicast connections are point to point connections between a source and a destination node You do not have to enter...

Page 109: ...uested Packet Interval RPI The RPI specifies the period that data updates over a connection For example an input module produces data at the RPI that you assign For safety input connections you can set the RPI on the Safety tab of the Module Properties dialog box The RPI is entered in 1 ms increments with a range of 1 100 ms The default is 10 ms The Connection Reaction Time Limit is adjusted immed...

Page 110: ...ge back to the controller The Maximum Observed Network Delay is shown on the Safety tab of the Module Properties dialog box When online click Reset to reset the Maximum Observed Network Delay Figure 18 Reset the Maximum Observed Network Delay Set the Advanced Connection Reaction Time Limit Parameters Configure connection parameters like the timeout multiplier and network delay multiplier on the Ad...

Page 111: ...s where the enforced message transport time is significantly less or more than the RPI For example adjusting the Network Delay Multiplier can be helpful when the RPI of an output connection is the same as a lengthy safety task period For cases where the input RPI or output RPI are relatively slow or fast as compared to the enforced message delay time the Network Delay Multiplier can be approximate...

Page 112: ... and is used to verify a module s configuration Configuration via the Logix Designer Application When the I O device is configured by using the Logix Designer application the configuration signature is generated automatically You can view and copy the configuration signature via the Safety tab on the Module Properties dialog box Figure 20 View and Copy the Configuration Signature Different Configu...

Page 113: ...lly creates controller scoped tags for the device I O information is presented as a set of tags Each tag uses a structure of data depending on the type and features of the I O device The name of a tag is based on the device s name in the system Safety I O Modules Address Format A Safety I O module address follows this example TIP You cannot reset ownership when there are pending edits to the modul...

Page 114: ...tix 5700 Servo Drives User Manual publication 2198 UM002 PowerFlex 527 Adjustable Frequency AC Drive User Manual publication 520 UM002 EXAMPLE Drivename Type Member Table 16 Drive Safety I O Device Address Format Where Is Drivename The name of the Kinetix or PowerFlex drive Type Type of data Input SI Output SO Member Specific data from the I O device Input only module Drivename SI ConnectionStatus...

Page 115: ...cal is displayed When a second device owns the configuration Remote is displayed along with the safety network number SNN and node address or slot number of the configuration owner Communication error is displayed if the module read fails If the connection is Local you must inhibit the device connection before resetting ownership Follow these steps to inhibit the device 1 In the Controller Organiz...

Page 116: ...d Go to Replacement with Configure Always Enabled on page 120 Safety I O device replacement is configured on the Safety tab of the Compact GuardLogix controller Figure 21 Safety I O Device Replacement Replacement with Configure Only When No Safety Signature Exists Enabled When a safety I O device is replaced the configuration is downloaded from the safety controller if the DeviceID of the new devi...

Page 117: ... Replacing a Module Compact GuardLogix Safety Signature Exists Replacement Module Condition Action Required No No SNN Out of box None The device is ready for use Yes or No Same SNN as original safety task configuration None The device is ready for use Yes No SNN Out of box See Scenario 1 Replacement Device is Out of box and Safety Signature Exists on page 117 Yes Different SNN from original safety...

Page 118: ... to set the SNN and accept the replacement device 6 Follow your company prescribed procedures to functionally test the replaced I O device and system and to authorize the system for use Scenario2 ReplacementDeviceSNNisDifferentfromOriginalandSafetySignatureExists 1 Remove the old I O device and install the new device 2 Right click your safety I O device and choose Properties 3 Click the Safety tab...

Page 119: ...n the Safety Network Number dialog box 8 Click Set 9 Verify that the Network Status NS status indicator is alternating red green on the correct device before clicking Yes on the confirmation dialog box to set the SNN and accept the replacement device 10 Follow your company prescribed procedures to functionally test the replaced I O device and system and to authorize the system for use ...

Page 120: ...ways Enabled When the Configure Always feature is enabled in the controller project the controller automatically checks for and connects to a replacement device that meets all of the following requirements The controller has configuration data for a compatible device at that network address The device is in out of box condition or has an SNN that matches the configuration ATTENTION Enable the Conf...

Page 121: ...a If the device is in out of box condition go to step 6 No action is needed for the Compact GuardLogix controller to take ownership of the device b If an SNN mismatch error occurs go to the next step to reset the device to out of box condition 2 Right click your safety I O device and choose Properties 3 Click the Safety tab 4 Click Reset Ownership 5 Click OK 6 Follow your company prescribed proced...

Page 122: ...122 Rockwell Automation Publication 1769 UM022C EN P June 2018 Chapter 7 Add Configure Monitor and Replace CIP Safety I O Devices Notes ...

Page 123: ...sed of several elements that require planning for efficient application execution Application elements include the following Tasks Programs Routines Parameters and Local Tags Topic Page Tasks 124 Programs 128 Routines 130 Tags 131 Programming Languages 134 Add on Instructions 135 Access the Module Object 136 System Overhead Time Slice 138 ...

Page 124: ...the different operations in your application The controller executes only one task at a time One task can interrupt the execution of another task and take control In any given task multiple programs can be used However only one program executes at a time You can display tasks in the Controller or Logical Organizer views as necessary Task 32 Task 1 Configuration Status Watchdog Program 100 Program ...

Page 125: ...k 1 Configuration Status Watchdog Program 100 Program 1 Main Routine Fault Routine Program Local Tags and Parameters Other Routines Controller global Tags I O Data System shared Data Controller Fault Handler Control Application Main Task continuous Task 2 periodic Task 3 event Controller Organizer Logical Organizer Main Task continuous Task 2 periodic Task 3 event Safety Task Safety Task ...

Page 126: ...k performs a function at an interval Whenever the time for the periodic task expires the task interrupts any lower priority tasks executes once and returns control to where the previous task left off Youcanconfigurethetimeperiodfrom0 1 2 000 000 00ms Thedefaultis10ms Itisalsocontrollerandconfiguration dependent The performance of a periodic task depends on the type of Logix 5000 controller and on ...

Page 127: ...e grouped Multiple tasks cannot share Programs and Programs appear only once in the Controller Organizer Task Priority Each task in the controller has a priority level The operating system uses the priority level to determine which task to execute when multiple tasks are triggered A higher priority task interrupts any lower priority task A periodic or event task interrupts the continuous task whic...

Page 128: ...ode that is written in one programming language Each program contains the following Local Tags Parameters A main executable routine Other routines An optional fault routine Figure 27 Program in a Control Application Figure 28 Programs in Application Task 32 Task 1 Configuration Status Watchdog Program 100 Program 1 Main Routine Fault Routine Program Local Tags and Parameters Other Routines Control...

Page 129: ...attached to any task show up as unscheduled programs Unscheduled programs in a task are downloaded to the controller with the entire project The controller verifies unscheduled programs but does not execute them You must schedule a program in a task before the controller can scan the program To schedule an unscheduled program use the Program Phase Schedule tab of the Task Properties dialog box Fig...

Page 130: ...d program Use logic such as the Jump to Subroutine JSR instruction to call other routines You can also specify an optional program fault routine The controller executes this routine if it encounters an instruction execution fault in any of the routines in the associated program Figure 30 Routines in a Control Application Figure 31 Routines in Application Task 32 Task 1 Configuration Status Watchdo...

Page 131: ...ts you do the following Organize your data to mirror your machinery Document your application as you develop it Figure 32 shows data tags that are created in the scope of the Main Program of the controller Figure 32 Tags Example There are several guidelines for creating and configuring parameters and local tags for optimal task and program execution For more information see the Logix 5000 Controll...

Page 132: ...imits that are associated with them as there is no indication in the tag browser that extended properties are defined for a tag If however you try to use extended properties that have not been defined for a tag the editors show a visual indication and the routine does not verify Access Extended Properties in Logic You can access limits that are defined on tags by using the Min and Max syntax You c...

Page 133: ...d from MyArray is configured in the tag properties At least one array element must have a limit that is configured for indirectly referenced array logic to verify For example if MyArray x Max is being used in logic at least one array element of MyArray must have Max extended property that is configured if MyArray has not configured Max Under the following circumstances a data type default value is...

Page 134: ...multiple operations not sequenced Boolean or bit based operations Complex logical operations Message and communication processing Machine interlocking Operations that service or maintenance personnel can have to interpret to troubleshoot the machine or process Function block diagram 1 1 Only with standard programs Continuous process and drive control Loop control Calculations in circuit flow Seque...

Page 135: ...ms all work in the same manner regardless of who implements the project Use Standard Editors You create Add on Instructions by using one of three editors Relay Ladder Function Block Diagram 1 Structured Text 1 Once you have created instructions you can use them in any editor Export Add on Instructions You can export Add on Instructions to other projects and copy and paste them from one project to ...

Page 136: ...anizer and must have a device name Create the Add On Instruction With Logix Designer application you can access a MODULE object directly from an Add On Instruction Previously you could access the MODULE object data but not from within an Add On Instruction You must create a Module Reference parameter when you define the Add On Instruction to access the MODULE object data A Module Reference paramet...

Page 137: ...o the program the object classes object names and attribute names for each instruction are displayed For the GSV instruction you can get values for the available attributes For the SSV instruction only those attributes you are allowed to set are displayed Some object types appear repeatedly so you have to specify the object name For example there can be several tasks in your application Each task ...

Page 138: ...tion ratio However if there is no continuous task the overhead time slice has no effect The table shows the ratio between the continuous task and service communication at various system overhead time slices As shown in Table 22 if the system overhead time slice is less than or equal to 50 the duration stays fixed at 1 ms The same applies for 66 and higher except there are multiple 1 ms intervals F...

Page 139: ...ead Time Slice box 4 Use Run Continuous Task default or Reserve for System Tasks Click Run Continue Task when there is no communication or background tasks to process controller immediately returns to the continuous task Click Reserve for System Task to allocates the entire 1 ms of the system overhead time slice whether the controller has communication or background tasks to perform before returni...

Page 140: ...140 Rockwell Automation Publication 1769 UM022C EN P June 2018 Chapter 8 Elements of a Control Application Notes ...

Page 141: ...y Reference Manual addresses the following topics Create a detailed project specification Write document and test the application Generate the safety task signature to identify and help protect the project Confirm the project by printing or displaying the uploaded project and manually compare the configurations safety data and safety program logic Verify the project through test cases simulations ...

Page 142: ...y task cannot be deleted You cannot schedule standard programs or execute standard routines within the safety task Safety Task Period Specification The safety task is a periodic timed task You set the task priority and watchdog time via the Task Properties Safety Task dialog box To open the dialog box right click the Safety Task and choose Properties Figure 35 Configure the Safety Task Period The ...

Page 143: ...odic task with the following exceptions The safety task does not begin executing until the primary controller and safety partner establish their control partnership Standard tasks begin executing as soon as the controller transitions to Run mode All safety input tags inputs consumed and mapped are updated and frozen at the beginning of safety task execution See page 156 for information on safety t...

Page 144: ... allocating memory referencing data from logic and monitoring data Safety tags have all the attributes of standard tags with the addition of mechanisms certified to provide SIL 3 data integrity When you create a tag you assign the following properties Name Description optional Tag type Data type Scope Class Style External Access You can also specify if the tag value is a constant To create a safet...

Page 145: ...or member IMPORTANT Do not use alias tags between standard and safety tags in safety applications Instead standard tags can be mapped to safety tags using safety tag mapping See Safety Tag Mapping on page 156 Produced tag A tag that a controller makes available for use by other controllers A maximum of 15 controllers can simultaneously consume receive the data A produced tag sends its data to one ...

Page 146: ... or standard program local data Safety tags can be controller scoped or safety program scoped Table 24 Valid Data Types for Safety Tags AUX_VALVE_CONTROL DCI_STOP_TEST_MUTE MANUAL_VALVE_CONTROL BOOL DINT MUTING_FOUR_SENSOR_BIDIR CAM_PROFILE DIVERSE_INPUT MUTING_TWO_SENSOR_ASYM CAMSHAFT_MONITOR EIGHT_POS_MODE_SELECTOR MUTING_TWO_SENSOR_SYM CB_CONTINUOUS_MODE EMERGENCY_STOP MOTION_INSTRUCTION CB_CRA...

Page 147: ...is a predefined data type called CONNECTION_STATUS Program scopedTags When tags are program scoped the data is isolated from the other programs Reuse of program scoped tag names is permitted between programs Safety program scoped safety tags can only be read by or written to via a safety routine scoped in the same safety program Class Tags can be classified as standard or safety Tags classified as...

Page 148: ...ction type for produced and consumed tags is unicast Produced and consumed safety tags are subject to the following restrictions Only controller scoped safety tags can be shared Produced and consumed safety tags are limited to 128 bytes Produced consumed tag pairs must be of the same user defined data type The first member of that user defined data type must be the predefined CONNECTION_STATUS dat...

Page 149: ... controller is subject to the same configuration requirements as the local safety controller The peer safety controller must also have a safety network number SNN Follow these steps to copy and paste the SNN 1 Add the producer controller to the consumer controller s I O tree 2 In the producer controller s project right click the producer controller and choose Controller Properties 3 Click to open ...

Page 150: ...June 2018 Chapter 9 Develop Safety Applications 4 Click Copy to copy the producer controller s SNN 5 In the consumer controller s project right click the producer controller and choose Module Properties 6 Click to open the Safety Network Number dialog box ...

Page 151: ...lop Safety Applications Chapter 9 7 Paste the producer controller s SNN into the consumer controller s SNN field and click OK The safety network numbers match Module Properties Dialog Box in Consumer Project Producer Controller Properties Dialog Box in Producer Project ...

Page 152: ...2 In the Module Definition field click Change A Module Definition dialog box appears 3 From the Electronic Keying pull down menu choose what is appropriate for your application 4 Click OK to save your changes and to close the Module Definition dialog box 5 Click OK to close the Modules Properties dialog box IMPORTANT Ifyouare consumingsafetytags thenyoumustchooseeither Exact Match or Compatible Mo...

Page 153: ...he structure of the data to be produced Make sure that the first data member is of the CONNECTION_STATUS data type 2 Right click Controller Tags and choose New Tag 3 Set the type as Produced the class as Safety and the Data Type to the user defined type you created in step 1 4 Click Connection and enter the number of consumers 5 Click Advanced if you want to change the type of connection by unchec...

Page 154: ...project 2 Right click Controller Tags and choose New Tag 3 Set the Type as Consumed the Class as Safety and the Data Type to the user defined data type you created in step 1 4 Click Connection to open the Consumed Tag Connection dialog box 5 From the Producer pull down menus select the controller that produces the data 6 In the Remote Data field enter the name of the produced tag 7 Click the Safet...

Page 155: ...for more complex requirements click Advanced to set the Advanced Connection Reaction Time Limit parameters The Timeout Multiplier determines the number of RPIs to wait for a packet before declaring a connection timeout The Network Delay Multiplier defines the message transport time that is enforced by the CIP Safety protocol The Network Delay Multiplier specifies the round trip delay from the prod...

Page 156: ... example myTimer pre is not allowed if myTimer is a TIMER tag A mapping pair is one standard tag mapped to one safety tag You cannot map a standard tag to a safety tag that has been designated as a constant Tag mapping cannot be modified when the following is true The project is safety locked A safety task signature exists The key switch is in RUN position A nonrecoverable safety fault exists An i...

Page 157: ... tag from the pull down menu Click the arrow to display a filtered tag browser dialog box If you are in the Standard Tag Name column the browser shows only controller scoped standard tags If you are in the Safety Tag Name column the browser shows controller scoped safety tags 3 Add a new tag to the Standard Tag Name or Safety Tag Name column by right clicking in the empty cell and selecting New Ta...

Page 158: ...he following actions are not permitted in the safety portion of the application when the controller is safety locked Online offline programming or editing including safety Add on Instructions Forcing safety I O Changing the inhibit state of safety I O or produced connections Safety data manipulation except by safety routine logic Generating or deleting the safety task signature Table 29 Tag Mappin...

Page 159: ...wise click Lock You can also set or change the password from the Safety Lock dialog box See Set Passwords for Safety lock and unlock on page 59 The safety lock feature described in this section and standard security measures in the Logix Designer application are applicable to GuardLogix controller projects Refer to the Logix 5000 Controllers Security Programming Manual publication 1756 PM016 for i...

Page 160: ...oller is in Run mode with run mode protection enabled Click Generate to generate the safety task signature from the Safety tab of the Controller Properties dialog box You can also choose Tools Safety Generate Signature Figure 38 Safety Tab If a previous signature exists you are prompted to overwrite it TIP You can view the safety status via the safety status button on the online bar see page 159 o...

Page 161: ...for use in safety project documentation comparison and validation Click Copy to copy the ID Date and Time components to the Windows clipboard Delete theSafetyTaskSignature Click Delete to delete the safety task signature The safety task signature cannot be deleted when the following is true The controller is safety locked The controller is in Run mode with the key switch in RUN The controller is i...

Page 162: ...follows Partner missing Partner unavailable Hardware incompatible Firmware incompatible If even one of these conditions apply you cannot do the following Create or modify safety objects including safety programs safety routines safety tags safety Add on Instructions and safety I O devices Apply forces to safety tags Create new safety tag mappings Modify or delete tag mappings Modify or delete user...

Page 163: ...527 drives support integrated safe torque off STO via a single safety and motion connection to a Compact GuardLogix 5370 safety controller The Compact GuardLogix controller issues the STO command over the EtherNet IP network via CIP Safety and the safety drive executes the command For more information on configuring drives that use Integrated Motion over an EtherNet IP network see the drive user m...

Page 164: ...d with physical drives to cause physical motion in your system as determined by your application ConfigurationTypes When adding an axis to your project you must associate the axis to a drive Among other configuration parameters you must select a configuration type The axis configuration type is also considered the drive configuration type For example an AXIS_CIP_DRIVE axis can use a Position Loop ...

Page 165: ...y the controllers there is a maximum number of Position Loop configured drives that are supported in the project for the controller For example the 1769 L30ERMS controller supports a maximum of four Position Loop configured drives Table 30 lists motion related specification information for the controllers that support Integrated Motion over an EtherNet IP network If your solution requires more tha...

Page 166: ... Sync is a time synchronization protocol that can be applied to various applications This chapter focuses on using the protocol in applications with Integrated Motion over an EtherNet IP network All controllers and communication modules must have time synchronization enabled to participate in CIP Sync CIP Sync requires that devices in the system function in the following roles Grandmaster also kno...

Page 167: ...he Ethernet network and choose New Module The Select Module Type dialog box appears 2 Select the desired drive and click Create IMPORTANT These steps show a 1769 L36ERMS controller and a Kinetix 350 drive The same steps apply to other Compact GuardLogix 5370 controllers and other drives that support integrated motion on an EtherNet IP network IMPORTANT This section assumes that you have previously...

Page 168: ...pe that is listed in Additional Resources on page 12 6 If you must change the configuration for any of the following parameters click Change in the Module Definition area Revision Electronic Keying Connection For drives that support safety and motion on a single connection you can choose Motion Only Motion and Safety or Safety Only Power Structure Verify Power Rating on Connection The Module dialo...

Page 169: ...Match feature the safety status and faults the existence of a safety task signature and the safety lock unlock status of the project and the controller Project to Controller Matching The Project to Controller Match feature affects the download upload and go online processes of standard and safety projects If the Project to Controller Match feature is enabled in the offline project the programming ...

Page 170: ... Signature and Safety locked and unlocked Status The existence of a safety task signature and the safety locked or unlocked status of the controller affect both the upload and download processes OnUpload If the controller has a safety task signature the safety task signature and the safety task lock status are uploaded with the project For example if the project in the controller was safety unlock...

Page 171: ...line project Controller safety locked Safety task signatures match If the offline project and the controller are safety locked all standard project components are downloaded and the safety task is re initialized to the values they had when the safety task signature was created If the offline project is not safety locked but the controller is the download is blocked and you must first unlock the co...

Page 172: ...d 3 Define the path to the controller a Click Who Active b Select the controller To open a level click the sign If a controller is already selected make sure that it is the correct controller 4 Click Download The software compares the following information in the offline project and the controller Controller serial number if project to controller match is selected Firmware major and minor revision...

Page 173: ...complete Choose Update Firmware 1 Choose the required revision and click Update Confirm your selection by clicking Yes Unable to download to controller Safety partnership has not been established Cancel this download process and attempt a new download Unable to download to controller Incompatible safety tasksignature cannot be deleted while the project is safety locked Cancel the download To downl...

Page 174: ...e of the following Cancel the upload and connect to a matching controller Then start the upload procedure again Select a new project to upload into or select another project by choosing Select File Update the project serial number to match the controller by checking the Update Project Serial Number checkbox and choosing Upload 5 The software checks whether the open project matches the controller p...

Page 175: ...ecks for the following Do the offline project and controller serial numbers match if Project to Controller Match is selected Does the offline project contain changes that are not in the controller project Do the revisions of the offline project and controller firmware match Are either the offline project or the controller safety locked Do the offline project and the controller have compatible safe...

Page 176: ...se one of the following options Choose Update Firmware Choose the required revision and click Update Confirm your selection by clicking Yes IMPORTANT The online project is deleted To preserve the online project cancel the online process and install a version of the Logix Designer application that is compatible with the firmware revision of your controller You need to upload or download to go onlin...

Page 177: ... above the online bar shows the controller s mode RUN and status OK The I O indicator combines the status of standard and safety I O and behaves just like the status indicator on the controller The I O with the most significant error status is displayed next to the status indicator When the Safety Status button is selected as shown below the online bar displays the safety task signature Figure 40 ...

Page 178: ...mes out and the controller produces the following warnings An I O fault status code is indicated on the status display of the Compact GuardLogix 5370 controller The I O indicator on the front of the controller flashes green An alert symbol shows over the I O configuration folder and over the device that has timed out A module fault is produced which you can access through the Connections tab of th...

Page 179: ...nnection between the safety producer and the safety consumer is Valid 0 or Faulted 1 If ConnectionFaulted is set to Faulted 1 as a result of a loss of the physical connection the safety data is reset to zero The following table describes the combinations of the RunMode and ConnectionFaulted states If a module is inhibited the ConnectionFaulted bit is set to Faulted 1 and the RunMode bit is set to ...

Page 180: ...Logix Controllers Instructions Reference Manual publication 1756 RM009 Determine if I O Communication to a Specific I O Module has Timed Out If communication times out with a device module in the I O configuration of the controller the controller produces a fault code and fault information for the module You can use GSV instructions to get fault code and information via the FaultCode and FaultInfo...

Page 181: ...ts Type 14 on page 183 for fault codes and corrective actions Controller Faults Faults in the Compact GuardLogix system can be nonrecoverable controller faults nonrecoverable safety faults in the safety application or recoverable safety faults in the safety application Nonrecoverable Controller Faults These occur when the controller s internal diagnostics fail If a nonrecoverable controller fault ...

Page 182: ...ty application is not cleared programmatically a Type 14 Code 2 recoverable safety fault occurs The safety program execution is stopped and safety protocol connections are closed and reopened to re initialize them Safety outputs are placed in the safe state and the producer of safety consumed tags commands the consumers to also place them in a safe state Recoverable faults let you edit the standar...

Page 183: ...tions as described on page 184 Table 35 Major Safety Faults Type 14 Code Cause Status Corrective Action 01 Task watchdog expired User task has not completed in a specified period of time A program error caused an infinite loop the program is too complex to execute as quickly as specified a higher priority task is keeping this task from finishing Nonrecoverable Clear the fault If a safety task sign...

Page 184: ...ou can use the Get System Value GSV and Set System Value SSV instructions to retrieve and set controller data The GSV instruction retrieves the specified information and places it in the specified destination The SSV instruction changes the specified attribute with data from the source of the instruction When you enter a GSV or SSV instruction the programming software displays the object classes o...

Page 185: ...am X X X MaximumScanTime DINT Max recorded execution time ms for this program X X Safety Routine Instance DINT Provides the instance number for this routine object Valid values are 0 65 535 X Safety Controller SafetyLocked SINT Indicates whether the controller is safety locked or unlocked X X SafetyStatus 2 INT Specifies the safety status as thefollowing Safety task OK 1000000000000000 Safety task...

Page 186: ...ion about non recoverable faults Use a GSV instruction in the controller fault handler to capture and store fault information The GSV instruction can be used in a standard task in conjunction with a controller fault handler routine that clears the fault and lets the standard tasks continue executing Table 37 Parameters for Accessing FaultRecord Attributes Name Data Type Style Description TimeLow D...

Page 187: ...s you keep a copy of your project on the controller The controller does not need power or a battery to keep this copy Topic Page Use SD Cards for Nonvolatile Memory 187 Store a Safety Project 189 Load a Safety Project 192 Manage Firmware with Firmware Supervisor 195 IMPORTANT The life expectancy of nonvolatile media is dependent on the number of write cycles that are performed Nonvolatile media us...

Page 188: ...ject are not reflected in nonvolatile memory If you make changes to the project but do not store those changes you overwritethemwhenyouloadtheprojectfromnonvolatilememory If this occurs you have to upload or download the project to go online If you want to store changes such as online edits or tag values store the project again after you make the changes ATTENTION Do not remove the SD card while t...

Page 189: ... card If no application exists in the controller you can save just the firmware of the safety controller only if valid partnership exists A firmware only load will not clear a Safety Task Inoperable condition If a safety task signature exists when you store a project the following occurs Safety tags are stored with the value they had when the signature was first created Standard tags are updated T...

Page 190: ...at is Remote Program or Program 3 On the Online tool bar click the controller properties icon 4 Click the Nonvolatile Memory tab 5 Click Load Store TIP If Load Store is dimmed unavailable verify the following Youhavespecifiedthecorrectcommunicationpathandareonlinewith the controller The SD card is installed If the SD card is not installed a message in the lower left corner of the Nonvolatile Memor...

Page 191: ...se the default disable or choose the Firmware Supervisor option 8 Click Store A dialog box asks for confirmation of the store 9 To store the project click Yes TIP When you store a safety application project on a SD card we recommend thatyouselectProgram RemoteOnly astheLoadmode thatis themode that the controller should enter after the load IMPORTANT The Firmware Supervisor option is not used to up...

Page 192: ... time with the OK status indicator in the solid red state Wait for the controller to complete the sequence After the controller fully resets itself the OK indicator is solid green The SD indicator is off Load a Safety Project You can only initiate a load from nonvolatile memory if the following is true The controller type specified by the project stored in nonvolatile memory matches the controller...

Page 193: ...mory The controller updates the firmware on the controller if required The application stored in nonvolatile memory is also loaded and the controller enters the selected mode either Program or Run You can always use the programming software to load the project Only through RSLogix 5000 software User Initiated If the controller type as well as the major and minor revisions of the project in nonvola...

Page 194: ...ject is loaded into the controller as indicated by the controller status indicators These conditions can exist While the load is in progress the following occurs The controller resets itself When the controller is resetting itself the status indicators execute a sequence of state changes for example a brief time with the OK status indicator in the solid red state Wait for the controller to complet...

Page 195: ...t firmware updates via the ControlFLASH software Firmware Supervisor supports non modular distributed I O products that sit directly on the network without an adapter including CIP Safety I O modules on EtherNet IP networks Follow these steps to enable Firmware Supervisor 1 On the Controller Properties dialog box click the Nonvolatile Memory tab 2 Click Load Store 3 From the Automatic Firmware Upd...

Page 196: ...196 Rockwell Automation Publication 1769 UM022C EN P June 2018 Chapter 13 Store and Load Programs with a Secure Digital Card Notes ...

Page 197: ...xist Flashing yellow One or more input or output addresses havebeen forcedtoan On orOffcondition but the forces have not been enabled Table 41 I O State I O Status Indicator Status Description Off One of the following conditions exists There are no devices in the I O configuration of the controller The controller does not contain a project Green The controller is communicating with all devices in ...

Page 198: ...Flashing green The port has an IP address but no CIP connections are established Red The port has detected that the assigned IP address is already in use Flashing red green The port is performing its power up self test Table 44 Ethernet Link Status LINK 1 LINK 2 Status Indicator Status Description Off One of the following conditions exists No link Port administratively disabled Port disabled becau...

Page 199: ...fety controller status is OK The coordinated system time CST is synchronized and safety I O connections are established Flashing Green Safety controller status is OK The coordinated system time CST is not synchronized Red Safety partnership was lost Flashing Red Safety task is inoperable Table 48 SFTY LOCK Status Indicator Status Description Off Safety task is not locked Green Safety task is locke...

Page 200: ...200 Rockwell Automation Publication 1769 UM022C EN P June 2018 Appendix A Status Indicators Notes ...

Page 201: ...ndard to a Safety Controller Upon confirmation of a change from a standard controller to a safety controller project safety components are created to meet the minimum requirements for a safety controller Safety components are created that is safety task safety program and so forth The safety task is created only if the maximum number of downloadable tasks has not been reached The safety task is in...

Page 202: ...oducing module is deleted As a result of the above changes to the system safety specific instructions and safety I O tags will not verify If the safety controller project contains safety Add on Instructions you must remove them from the project or change their class to standard before changing the controller type Change Safety Controller Types When you change from one safety controller type to ano...

Page 203: ...trollers integrated motion over an EtherNet IP network 163 status indicators 197 CompactLogix 5370 L2 controllers integrated motion over an EtherNet IP network 163 status indicators 197 CompactLogix 5370 L3 controllers available local I O banks 25 calculatesystempowerconsumption89 91 connecting power 27 connections to I O modules 97 DIN rail use 30 direct connections 97 installation 21 minimum spa...

Page 204: ...rollers 25 download effect of controller match 169 effect of firmware revision match 170 effect of safety status 170 effect of safety task signature 171 effect of safety lock 171 process 172 173 E editing 161 electronic keying 195 elements control application 123 EtherNet IP network available network topologies 32 change IP address 45 via Logix Designer application 44 connection for CompactLogix 5...

Page 205: ... 36 L linear network topology 32 listen only connection 112 load a project 192 on corrupt memory 193 on power up 193 user initiated 193 local 1769 Compact I O modules CompactLogix 5370 L3 controllers 25 local I O banks CompactLogix 5370 L3 controllers 25 lock See safety lock Logix Designer application AutoFlash 45 change IP address 44 configure I O modules for use with CompactLogix 5370 L3 control...

Page 206: ...fault routine 184 programming 161 programming languages 134 programming restrictions 162 program scoped tags 147 project elements 123 project to controller match 169 protect signature in run mode 60 protectingthesafetyapplication 158 161 safety task signature 160 safety lock 158 security 159 R rack optimized connections CompactLogix 5370 L3 controllers 97 reaction time 143 reaction time limit CIP ...

Page 207: ... 109 142 148 safety task signature 148 copy 161 delete 161 effect on download 171 effect on upload 170 generate 160 restricted operations 161 restrictions 162 storing a project 189 view 177 safety lock 158 controller 159 effect on download 171 effect on upload 170 icon 159 password 159 SafetyTaskFaultRecord 186 safety unlock controller 159 icon 159 scan times reset 162 scheduled program 129 SD car...

Page 208: ...47 scope 146 See also safety tags type 145 task continuous 126 event 126 in project 124 periodic 126 priority 127 terminology 11 time slice 138 time synchronization 63 173 timeout multiplier 111 155 U unicast 11 connections 148 153 unlock controller 159 unscheduled program 129 upload effect of controller match 169 effect of safety task signature 170 effect of safety lock 170 process 174 USB cable ...

Page 209: ......

Page 210: ...ial page Literature Library Installation Instructions Manuals Brochures and Technical Data http www rockwellautomation com global literature library overview page Product Compatibility and Download Center PCDC Get help determining how products interact check features and capabilities and find associated firmware http www rockwellautomation com global support pcdc page Rockwell Otomasyon Ticaret A ...

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