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Rockwell Automation Publication IASIMP-QS005H-EN-P - April 2016
Appendix A
Robot Cell Application Example with GuardLogix® or SmartGuard™ 600 Controller
The completed worksheet for the 1791ES-IB8XOBV4 module is shown below.
Safety Module Configuration Worksheet
Zone Name
Module Name
Module Cat No./Safety Category
Zone1
CellGuard2
1791ES-IB8XOBV4/CAT 4
Safety
Inputs
Device Name
(If Dual Channel)
Device Name
(If Single Channel)
Device
Type
Channel
Tag Name
Input Interlock
Tag Name
Input 00
CONTACTORFB*
Feedback
CellGuard2
:I.Pt00Data
**Not Used
Input 01
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 02
[ModuleName
]:I.Pt02Data
[ModuleName
]:I.Pt01Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 03
[ModuleName
]:I.Pt03Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 04
[ModuleName
]:I.Pt04Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 05
[ModuleName
]:I.Pt05Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 06
[ModuleName
]:I.Pt06Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 07
[ModuleName
]:I.Pt07Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 08
[ModuleName
]:I.Pt08Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 09
[ModuleName
]:I.Pt09Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 10
[ModuleName
]:I.Pt10Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 11
[ModuleName
]:I.Pt11Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 12
[ModuleName
]:I.Pt12Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 13
[ModuleName
]:I.Pt13Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 14
[ModuleName
]:I.Pt14Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
Input 15
[ModuleName
]:I.Pt15Data
Sts_[ ZoneName
]_[DeviceName
].InputOK
** Contactor feedback only used in ROUT instruction.
* The auxiliary feedback contacts on both ROBOTCONTACTOR outputs are wired
in series to a single safety output.
Test
Outputs
Device
Name
Test Output Tag Name
Output 00
[ModuleName
]:O.Test00Data
Output 01
[ModuleName
]:O.Test01Data
Output 02
[ModuleName
]:O.Test02Data
Output 03
[ModuleName
]:O.Test03Data
Output 04
[ModuleName
]:O.Test04Data
Output 05
[ModuleName
]:O.Test05Data
Output 06
[ModuleName
]:O.Test06Data
Output 07
[ModuleName
]:O.Test07Data
Output 08
[ModuleName
]:O.Test08Data
Output 09
[ModuleName
]:O.Test09Data
Output 10
[ModuleName
]:O.Test10Data
Output 11
[ModuleName
]:O.Test11Data
Output 12
[ModuleName
]:O.Test12Data
Output 13
[ModuleName
]:O.Test13Data
Output 14
[ModuleName
]:O.Test14Data
Output 15
[ModuleName
]:O.Test15Data
Safety
Outputs
Device Name
(If Dual Channel)
Device Name
(If Single Channel)
Device
Type
Enable
Tag Name
ROUT
Tag Name
Output
Tag Name
Output 00
ROBOTCONTACTOR
Safety Contactor
Cmd_ ZONE1_ OutputEnable
Zone1_ROBOTCONTACTOR
CellGuard2
:O.Pt00Data
Output 01
Safety Contactor
†
† All safety outputs in the same zone have the same output enable tag name.
‡ Dual contactors for a single device are controlled by a single ROUT instruction.
‡
CellGuard2
:O.Pt01Data
Output 02
Cmd_[ ZoneName
]_OutputEnable
[ZoneName
]_[DeviceName
]
[ModuleName
]:O.Pt02Data
Output 03
Cmd_[ ZoneName
]_OutputEnable
[ZoneName
]_[DeviceName
]
[ModuleName
]:O.Pt03Data
Output 04
Cmd_[ ZoneName
]_OutputEnable
[ZoneName
]_[DeviceName
]
[ModuleName
]:O.Pt04Data
Output 05
Cmd_[ ZoneName
]_OutputEnable
[ZoneName
]_[DeviceName
]
[ModuleName
]:O.Pt05Data
Output 06
Cmd_[ ZoneName
]_OutputEnable
[ZoneName
]_[DeviceName
]
[ModuleName
]:O.Pt06Data
Output 07
Cmd_[ ZoneName
]_OutputEnable
[ZoneName
]_[DeviceName
]
[ModuleName
]:O.Pt07Data