GuardLogix Safety Application Instruction Set

Safety Reference Manual
GuardLogix Safety Application Instruction Set

Catalog Numbers 1756-L61S, 1756-L62S, 1756-L63S, 1756-LSP, 1756-L71S, 1756-L72S, 1756-L73S, 1756-L7SP, 1756-L73SXT,
1756-L7SPXT, 1768-L43S, 1768-L45S, 1756-L72EROMS, 1769-L30ERMS, 1769-L33ERMS, 1769-L36ERMS
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required
to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Allen-Bradley, ControlLogix, CompactBlock Guard I/O, Guard I/O, GuardLogix, Logix5000, RSLogix, Rockwell Automation, Rockwell Software, Studio 5000, Studio 5000 Automation Engineering & Design
Environment, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc
TVRheinland is a trademark of TV Rheinland of North America, Inc

CIP, ControlNet, DeviceNet and EtherNet/IP are trademarks of the ODVA.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Summary of Changes
This manual contains new and updated information. Changes throughout this
revision are marked by change bars, as shown to the right of this paragraph.
New and Updated This table contains the changes made in this revision.
Information Topic Page
Updates for grammar and readability throughout
Updates to some data types for most instructions throughout
Changed LO to low (0) throughout
Removed TV and DGUV marks from each instruction section throughout
Added a table that lists the certifications for each instruction 13
In this manual, programming software refers to both the Studio 5000 Logix 15
Designer application and RSLogix 5000 software.
Added controller and I/O manuals to the list of Additional Resources 16
Updated links in the Additional Resources 16
Correction to DCSTM Muting Lamp Status Fault Operation description and 84
timing diagram
Revised warning statement for Clutch Brake instructions 206, 215, 224
Correction to the Figure 253 Inputs Inconsistent Timing Diagram 354
Updated execution times table to reflect that Dual, Channel Analog Input 387
(Floating Point) instruction is not supported in 1756-L6xS controllers.
Added data for Compact GuardLogix 5370 controllers to the execution times Appendix B
tables
Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 3

Summary of Changes
Notes:
4 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

Table of Contents
Preface
GuardLogix Controller Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Certified Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Chapter 1
General Safety Application Dual Channel Input Start (DCSRT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Instructions DCSRT Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
DCSRT Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
DCSRT Input Status Fault Operation. . . . . . . . . . . . . . . . . . . . . . . . 22
DCSRT Discrepancy Fault Operation. . . . . . . . . . . . . . . . . . . . . . . . 23
DCSRT False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
DCSRT Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . 24
DCSRT Wiring and Programming Example . . . . . . . . . . . . . . . . . . 25
Dual Channel Input Monitor (DCM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
DCM Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
DCM Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
DCM Input Status Fault Operation. . . . . . . . . . . . . . . . . . . . . . . . . . 32
DCM Discrepancy Fault Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 33
DCM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
DCM Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
DCM Wiring and Programming Example . . . . . . . . . . . . . . . . . . . . 35
Dual Channel Input Stop (DCS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
DCS Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
DCS Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
DCS Input Status Fault (Manual Cold Start) . . . . . . . . . . . . . . . . . 46
DCS Cycle Inputs Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
DCS Discrepancy Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
DCS False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
DCS Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
DCS Wiring and Programming Example . . . . . . . . . . . . . . . . . . . . . 51
Dual Channel Input Stop with Test (DCST) . . . . . . . . . . . . . . . . . . . . . . . 54
DCST Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
DCST Functional Test Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
DCST False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
DCST Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . 59
DCST Wiring and Programming Example. . . . . . . . . . . . . . . . . . . . 60
Dual Channel Input Stop with Test and Lock (DCSTL) . . . . . . . . . . . . 64
DCSTL Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
DCSTL Start-up Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
DCSTL Device Not Tested After Unlock Fault . . . . . . . . . . . . . . . 70
DCSTL Functional Test After Fault Operation . . . . . . . . . . . . . . . 71
DCSTL False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
DCSTL Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . 72

Table of Contents
DCSTL Wiring and Programming Example . . . . . . . . . . . . . . . . . . 74

Dual Channel Input Stop with Test and Mute (DCSTM) . . . . . . . . . . . 79
DCSTM Instruction Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
DCSTM Normal Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
DCSTM Muting Lamp Status Fault Operation . . . . . . . . . . . . . . . 84
DCSTM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . 85
DCSTM Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . 85
DCSTM Wiring and Programming Example . . . . . . . . . . . . . . . . . 86
Dual Channel Analog Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
[(DCA) - integer version]
[(DCAF) - floating point version] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
DCA(F) Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
DCA(F) Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
DCA(F) Input Status Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
DCA(F) Discrepancy Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
DCA(F) False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . 100
DCA(F) Fault and Diagnostic Codes. . . . . . . . . . . . . . . . . . . . . . . . 101
DCA(F) Wiring and Programming Example . . . . . . . . . . . . . . . . . 101
Safety Mat (SMAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
SMAT Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
SMAT Circuit Verification Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
SMAT Manual Restart Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 109
SMAT Automatic Restart Operation. . . . . . . . . . . . . . . . . . . . . . . . 110
Safety Mat Occupied Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Safety Mat Unoccupied Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
SMAT Fault Detection Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 113
SMAT False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
SMAT Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . 114
SMAT Wiring and Programming Example . . . . . . . . . . . . . . . . . . 115
Two-hand Run Station Enhanced (THRSe) . . . . . . . . . . . . . . . . . . . . . 118
THRSe Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Disconnecting the Two-hand Run Station. . . . . . . . . . . . . . . . . . . . . 120
Connecting the Two-hand Run Station . . . . . . . . . . . . . . . . . . . . . . . 120
THRSe Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
THRSe Button Held Down Diagnostic Operation . . . . . . . . . . . 122
THRSe Button Glitch Diagnostic Operation . . . . . . . . . . . . . . . . 123
THRSe Button Discrepancy Fault (Channel-to-Channel)
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
THRSe Run Station Disconnected (Station Bypassed)
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
THRSe False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . 126
THRSe Fault and Diagnostic Codes. . . . . . . . . . . . . . . . . . . . . . . . . 126
THRSe Wiring and Programming Example. . . . . . . . . . . . . . . . . . 127
Configurable Redundant Output (CROUT) . . . . . . . . . . . . . . . . . . . . . . 131
CROUT Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
CROUT Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
CROUT Feedback Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Table of Contents
CROUT False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . 135

CROUT Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . 136
CROUT Wiring and Programming Example . . . . . . . . . . . . . . . . 137
Two-sensor Asymmetrical Muting (TSAM) . . . . . . . . . . . . . . . . . . . . . . . 141
TSAM Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
TSAM Normal Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
TSAM Invalid Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
TSAM Tolerated Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
TSAM Dangerous Portion of Cycle . . . . . . . . . . . . . . . . . . . . . . . . . 148
TSAM Override Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
TSAM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
TSAM Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
TSAM Diagnostic Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
TSAM Wiring and Programming Example . . . . . . . . . . . . . . . . . . 154
Two-sensor Symmetrical Muting (TSSM). . . . . . . . . . . . . . . . . . . . . . . . . 159
TSSM Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
TSSM Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
TSSM Invalid Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
TSSM Tolerated Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
TSSM Dangerous Portion of Cycle. . . . . . . . . . . . . . . . . . . . . . . . . . 167
TSSM Override Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
TSSM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
TSSM Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
TSSM Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
TSSM Wiring and Programming Example . . . . . . . . . . . . . . . . . . . 172
Four-sensor Bidirectional Muting (FSBM) . . . . . . . . . . . . . . . . . . . . . . . . 177
FSBM Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
FSBM Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
FSBM Invalid Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
FSBM Tolerated Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
FSBM Dangerous Portion of Cycle. . . . . . . . . . . . . . . . . . . . . . . . . . 186
FSBM Override Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
FSBM False Rung State Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
FSBM Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
FSBM Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
FSBM Wiring and Programming Example . . . . . . . . . . . . . . . . . . . 200
Chapter 2
Metal Form Instructions Clutch Brake Inch Mode (CBIM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
CBIM Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
CBIM Energizing Output 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
CBIM De-energizing Output 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
CBIM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
CBIM Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Clutch Brake Single Stroke Mode (CBSSM). . . . . . . . . . . . . . . . . . . . . . . 215
CBSSM Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
CBSSM Energizing Output 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Table of Contents
CBSSM De-energizing Output 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

CBSSM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . 221
CBSSM Diagnostic Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Clutch Brake Continuous Mode (CBCM) . . . . . . . . . . . . . . . . . . . . . . . . 224
CBCM Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
CBCM Energizing Output 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
CBCM Immediate Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
CBCM Immediate with Arming Mode . . . . . . . . . . . . . . . . . . . . . . 230
CBCM Half Stroke with Arming Mode . . . . . . . . . . . . . . . . . . . . . 231
CBCM Stroke-and-a-half with Arming Mode. . . . . . . . . . . . . . . . 232
CBCM De-energizing Output 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
CBCM Safety Enable and Takeover Mode . . . . . . . . . . . . . . . . . . . 234
CBCM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . 235
CBCM Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Crankshaft Position Monitor (CPM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
CPM Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
CPM Cam Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
CPM Normal Operation with Cam Profile A . . . . . . . . . . . . . . . . 243
CPM - Normal Operation with Cam Profile B . . . . . . . . . . . . . . . . . 244
CPM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
CPM Fault and Diagnostic Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Camshaft Monitor (CSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
CSM Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
CSM Input Pulse Conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
CSM Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
CSM Uncommanded Motion Fault . . . . . . . . . . . . . . . . . . . . . . . . . 251
CSM Start Time Exceeded Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
CSM Stop Time Exceeded Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
CSM Loss of Motion Fault (Case 1). . . . . . . . . . . . . . . . . . . . . . . . . 254
CSM Loss of Motion Fault (Case 2). . . . . . . . . . . . . . . . . . . . . . . . . 255
CSM Input Status Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
CSM False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
CSM Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Clutch Brake Wiring and Programming Example . . . . . . . . . . . . . . . . . . 259
Eight-position Mode Selector (EPMS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
EPMS Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
EPMS Lock Input OFF (0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
EPMS Lock Input ON (1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
EPMS False Rung State Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
EPMS Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . 272
EPMS Wiring and Programming Example . . . . . . . . . . . . . . . . . . . 272
Auxiliary Valve Control (AVC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
AVC Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Normal Auxiliary Valve Reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Immediate Auxiliary Valve Reaction . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Auxiliary Valve Feedback Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
AVC False Rung State Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

Table of Contents
AVC Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

AVC Wiring and Programming Example . . . . . . . . . . . . . . . . . . . . 284
Main Valve Control (MVC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
MVC Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
MVC Normal Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
MVC Feedback Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
MVC False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
MVC Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . 293
MVC Wiring and Programming Example . . . . . . . . . . . . . . . . . . . 294
Maintenance Manual Valve Control (MMVC) . . . . . . . . . . . . . . . . . . . . 298
MMVC Instruction Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
MMVC Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
MMVC Actuate in Non-permissive State . . . . . . . . . . . . . . . . . . . . 302
MMVC Fault After Output 1 Energized. . . . . . . . . . . . . . . . . . . . . 303
MMVC False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . 303
MMVC Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . 304
MMVC Wiring and Programming Example . . . . . . . . . . . . . . . . . 305
Appendix A
RSLogix 5000 Software, Version 14 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
and Later, Safety Application De-energize to Trip System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
System Dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Instructions
False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
I/O Point Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Diverse Input (DIN) Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Instruction Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Normal Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Operation with Inconsistent Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Operation with Circuit Reset Held On - Manual Reset Only . . . . 321
Cycle Inputs Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Diverse Input with Manual Reset Wiring Example . . . . . . . . . . . . . 322
Diverse Input with Manual Reset Programming Example . . . . . . . 322
Diverse Input with Automatic Reset Wiring Example . . . . . . . . . . 323
Diverse Input with Automatic Reset Programming Example . . . . 324
Redundant Input (RIN) Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Redundant Input with Manual Reset Wiring Example. . . . . . . . . . 330
Redundant Input with Manual Reset Programming Example. . . . 330
Redundant Input with Automatic Reset Wiring Example . . . . . . . 331
Redundant Input with Automatic Reset Programming Example . 332
Emergency Stop (ESTOP) Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

Table of Contents

Emergency Stop with Manual Reset Wiring Example . . . . . . . . . . . 338
Emergency Stop with Manual Reset Programming Example . . . . . 338
Emergency Stop with Automatic Reset Wiring Example . . . . . . . . 339
Emergency Stop with Automatic Reset Programming Example . . 340
Enable Pendant (ENPEN) Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Enable Pendant with Manual Reset Wiring Example . . . . . . . . . . . 346
Enable Pendant with Manual Reset Programming Example . . . . . 346
Enable Pendant with Automatic Reset Wiring Example . . . . . . . . 347
Enable Pendant with Automatic Reset Programming Example . . 348
Light Curtain (LC) Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Light Curtain Muting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Inputs Inconsistent Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Circuit Reset Held On Operation - Manual Reset Mode Only . . 355
Input Filter Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Light Curtain with Manual Reset Wiring Example . . . . . . . . . . . . . 356
Light Curtain with Manual Reset Programming Example . . . . . . . 357
Light Curtain with Automatic Reset Wiring Example . . . . . . . . . . 359
Light Curtain with Automatic Reset Programming Example . . . . 360
Five-position Mode Selector (FPMS) Instruction . . . . . . . . . . . . . . . . . . 362
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Five-position Mode Selector Wiring Example . . . . . . . . . . . . . . . . . . 364
Five-position Mode Selector Programming Example . . . . . . . . . . . . 364
Redundant Output with Continuous Feedback Monitoring
(ROUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Redundant Output with Negative Feedback Wiring Example . . . 370
Redundant Output with Negative Feedback Programming
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
Redundant Output with Positive Feedback Wiring Example . . . . 372
Redundant Output with Positive Feedback Programming
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
Two-hand Run Station (THRS) Instruction . . . . . . . . . . . . . . . . . . . . . . 374

Table of Contents
Button Tie-down Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

Cycle Buttons Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Button Fault Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Two-hand Run Station with Active Pin Disabled Wiring
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Two-hand Run Station with Active Pin Disabled Programming
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Two-hand Run Station with Active Pin Enabled Wiring
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Two-hand Run Station with Active Pin Enabled Programming
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
Appendix B
Execution Times for Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Application Instructions
Index

Table of Contents

Preface
Topic Page
GuardLogix Controller Operation 13
Certified Instructions 13
Terminology 15
Additional Resources 16
This reference manual is intended to describe the Rockwell Automation

GuardLogix Safety Application Instruction Set, which is type-approved and
certified for safety-related function in applications up to and including Safety
Integrity Level (SIL) 3 according to IEC61508, and Performance Level, PLe
(Cat.4), according to ISO13849-1.
The timing diagrams that are presented in the manual are for illustrative purposes
only. The actual response times are determined by the performance
characteristics of your application.
Use this manual if you are responsible for designing, programming, or

troubleshooting safety applications that use GuardLogix controllers.
You must have a basic understanding of electrical circuitry and familiarity with
relay ladder logic. You must also be trained and experienced in the creation,
operation, programming, and maintenance of safety systems.
GuardLogix Controller The GuardLogix safety controller is part of a de-energize to trip system, which
means that all of its outputs are set to zero when a fault is detected.
Operation
Certified Instructions The table below lists the instructions that are certified for use in GuardLogix
systems. For the latest information, see our safety certificates and revision release
lists at http://www.rockwellautomation.com/global/certification/safety.page.
Table 1 - RSLogix 5000 Software Version 17 and Later Metal Form and General Instructions
Instruction Instruction Name Certification
Abbreviation
AVC Auxiliary Valve Control TV
CBCM Clutch Brake Continuous Mode DGUV(1)
TV
CBIM Clutch Brake Inch Mode DGUV(1)
TV
CBSSM Clutch Brake Single Stroke Mode DGUV(1)
TV
CPM Crankshaft Position Monitor DGUV(1)
TV

Preface
Table 1 - RSLogix 5000 Software Version 17 and Later Metal Form and General Instructions
Abbreviation
CROUT Configurable Redundant Output DGUV(1)
TV
CSM Camshaft Monitor DGUV(1)
TV
DCM Dual Channel Input Monitor DGUV(1)
TV
DCS Dual Channel Input Stop DGUV(1)
TV
DCSRT Dual Channel Input Start DGUV(1)
TV
DCST Dual Channel Input Stop with Test DGUV(1)
TV
DCSTL Dual Channel Input Stop with Test and Lock DGUV(1)
TV
DCSTM Dual Channel Input Stop with Test and Mute TV
DCA Dual Channel Analog Input - integer version TV
DCAF Dual Channel Analog Input - floating point version TV
EPMS Eight Position Mode Selector DGUV(1)
TV
FSBM Four Sensor Bidirectional Muting TV
MMVC Maintenance Manual Valve Control DGUV(1)
TV
MVC Main Valve Control DGUV(1)
TV
SMAT Safety Mat TV
THRSe Two Hand Run Station Enhanced DGUV(1)
TV
TSAM Two Sensor Asymmetrical Muting TV
TSSM Two Sensor Symmetrical Muting TV
(1) At the time of publication, these instructions are not DGUV-certified for use with Compact GuardLogix 5370
controllers and are certified only for firmware versions 17...21 for GuardLogix and 1768 Compact GuardLogix
controllers.
Table 2 - RSLogix 5000 Software Version 14 and Later General Instructions

Abbreviation
DIN Diverse Input TV
ENPEN Enable Pendant TV
ESTOP Emergency Stop TV
FPMS Five-position Mode Selector TV
LC Light Curtain TV
RIN Redundant Input TV
ROUT Redundant Output TV
THRS Two-hand Run Station TV

Preface
Terminology In this manual, programming software refers to both the Studio 5000 Logix
Designer application and RSLogix 5000 software.
The following table defines abbreviations that are used in this manual.
Abbreviation Description
AOPD Active Opto-electronic Protective Device
BCAM Brake Cam
BDC Bottom Dead Center
CVT Circuit Verification Test
DCAM Dynamic Cam
ESPE Electro-sensitive Protective Equipment
TCAM Takeover Cam

Preface
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 Provides information on how to install, configure, and program the GuardLogix 5570 controllers
in the Logix Designer application.
Compact GuardLogix 5370 Controllers User Manual, publication 1769-UM022 Provides information on how to install, configure, and program the Compact GuardLogix 5370
controllers in the Logix Designer application.
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference Contains detailed requirements for how to achieve and maintain SIL 3 with the GuardLogix
Manual, publication 1756-RM099 5570 and Compact GuardLogix 5370 controller system in a Logix Designer application.
GuardLogix Controllers User Manual, publication 1756-UM020 Provides information on how to install, configure, and program the GuardLogix 5560 controllers
in RSLogix 5000 software.
GuardLogix Controller Systems Safety Reference Manual, publication 1756-RM093 Contains detailed requirements for how to achieve and maintain SIL 3 with the GuardLogix
5560 controller and the 1768 Compact GuardLogix system in RSLogix 5000 software.
CompactLogix Controllers Installation Instructions, Provides information on how to install 1768 Compact GuardLogix controllers
publication 1768-IN004
1768 Compact GuardLogix Controllers User Manual, Provides information on how to configure and program the
publication 1768-UM002 1768 Compact GuardLogix controller
CompactBlock Guard I/O DeviceNet Safety Module Installation Instructions, Provides information on how to install CompactBlock Guard I/O DeviceNet Safety modules
publication 1791DS-IN002
Guard I/O DeviceNet Safety Modules User Manual, Provides information on using Guard I/O DeviceNet Safety modules
publication 1791DS-UM001
Guard I/O EtherNet/IP Safety Modules Installation Instructions, publication Provides information on how to install CompactBlock Guard I/O EtherNet/IP Safety modules
1791ES-IN001
Guard I/O EtherNet/IP Safety Modules User Manual, Provides information on using Guard I/O EtherNet/IP Safety modules
publication 1791ES-UM001
POINT Guard I/O Safety Modules User Manual, publication 1734-UM013 Provides information on using POINT Guard I/O Safety modules
Using ControlLogix in SIL2 Applications Safety Reference Manual, publication Describes requirements for using ControlLogix controllers, and GuardLogix standard tasks, in
1756-RM001 SIL2 safety control applications
Logix Controllers Instructions Reference Manual, Provides information on the Logix5000 instruction set that includes general, motion, and
publication 1756-RM009 process instructions.
Logix Common Procedures Programming Manual, Provides information on programming Logix5000 controllers, including how to manage project
publication 1756-PM001 files, organize tags, program and test routines, and handle faults
ControlLogix System User Manual, publication 1756-UM001 Provides information on using ControlLogix in nonsafety applications
DeviceNet Modules in Logix5000 Control Systems User Manual, publication Provides information on using the 1756-DNB module in a Logix5000 control system
DNET-UM004
EtherNet/IP Modules in Logix5000 Control Systems User Manual, publication Provides information on using the 1756-ENBT module in a Logix5000 control system
ENET-UM001
ControlNet Modules in Logix5000 Control Systems User Manual, publication Provides information on using the 1756-CNB module in Logix5000 control systems
CNET-UM001
Logix5000 Controllers Execution Time and Memory Use Reference Manual, publication Provides information on how to estimatethe execution time and memory use for instructions
1756-RM087
Logix Import Export Reference Manual, publication 1756-RM084 Provides information on using RSLogix 5000 Import/Export utility
Product Certifications website, http://www.rockwellautomation.com/global/ Provides declarations of conformity, certificates, and other certification details
certification/overview.page
You can view or download publications at

http://www.rockwellautomation.com/global/literature-library/overview.page.
To order paper copies of technical documentation, contact your local Allen-
Bradley distributor or Rockwell Automation sales representative.

Chapter 1
General Safety Application Instructions
Topic Page
Dual Channel Input Start (DCSRT) 18
Dual Channel Input Monitor (DCM) 28
Dual Channel Input Stop (DCS) 38
Dual Channel Input Stop with Test (DCST) 54
Dual Channel Input Stop with Test and Lock (DCSTL) 64
Dual Channel Input Stop with Test and Mute (DCSTM) 79
Dual Channel Analog Input 91
Safety Mat (SMAT) 106
Two-hand Run Station Enhanced (THRSe) 118
Configurable Redundant Output (CROUT) 131
Two-sensor Asymmetrical Muting (TSAM) 141
Two-sensor Symmetrical Muting (TSSM) 159
Four-sensor Bidirectional Muting (FSBM) 177

Chapter 1 General Safety Application Instructions
Dual Channel Input Start

(DCSRT)
The dual channel Input Start instruction is for safety devices whose main
function is to start a machine safely, for example, an enable pendant. This
instruction energizes its output (O1) only if the Enable input is ON (1), and
both safety inputs, Channel A and Channel B, transition to the active state
within the Discrepancy Time.
DCSRT Instruction Parameters

IMPORTANT Do not use the same tag name for more than one instruction in the same
program. Do not write to any instruction output tag under any circumstances.
IMPORTANT Make sure that your safety input points are configured as single, not
Equivalent or Complementary. These instructions provide all dual channel
functionality necessary for PLd (Cat. 3) or PLe (Cat. 4) safety functions.
ATTENTION: If you change instruction parameters while in Run mode, you

must accept the pending edits and cycle the controller mode from Program to
Run for the changes to take effect.

General Safety Application Instructions Chapter 1
The following table provides the parameters that are used to configure the
instruction. These parameters cannot be changed at runtime.
Table 3 - DCSRT Configuration Parameters
Parameter Data Type Description
Safety Function DINT This parameter provides a text name for how this instruction is being used. Choices include enable pendant, start button, and user-
defined.
This parameter does not affect instruction behavior. It is for information/documentation purposes only.
Input Type DINT This parameter selects input channel behavior.
Equivalent - Active High: Inputs are in the active state when Channel A and Channel B inputs are 1.
Complementary: Inputs are in the active state when Channel A is 1 and Channel B is 0.
Discrepancy Time (ms) DINT The amount of time that the inputs are allowed to be in an inconsistent state before an instruction fault is generated. The
inconsistent state depends on the Input Type.
Equivalent: Inconsistent state is when either is true:
Channel A = 0 and Channel B = 1
Complementary: Inconsistent state is when either is true:
The valid range is 5...3000 ms.
The following table explains instruction inputs. The inputs can be field device
signals from input devices or derived from user logic.
Table 4 - DCSRT Inputs
Name Data Type Description
Enable Boolean This input enables or disables the instruction.
ON (1): The instruction is enabled. Output 1 is energized when Channel A and Channel B transition to the active state within the
Discrepancy Time.
OFF (0): The instruction is disabled. Output 1 is not energized.
Channel A(1) Boolean This input is one of the two safety inputs to the instruction.
Channel B(1) Boolean This input is one of the two safety inputs to the instruction.
Input Status Boolean If instruction inputs are from a safety I/O module, this value is the status from the I/O module or modules (Connection Status or
Combined Status). If instruction inputs are derived from internal logic, it is the application programmers responsibility to
determine the conditions.
ON (1): The inputs to this instruction are valid.
OFF (0): The inputs to this instruction are invalid.
Reset(2) Boolean This input clears instruction and circuit faults provided the fault condition is not present.
OFF (0) -> ON (1): The Fault Present and Fault Code outputs are reset.
(1) If this input is from a Guard I/O input module, make sure that the input is configured as single, not Equivalent or Complementary.
(2) ISO 13849-1 stipulates instruction reset functions must occur on falling edge signals. To comply with ISO 13849-1 requirements, add
this logic immediately before this instruction. Rename the Reset_Signal tag in this example to your reset signal tag name. Then use
the OSF instruction Output Bit tag as the instructions reset source.

The following table explains instruction outputs. The outputs can be used to
drive external tags (safety output modules) or internal tags for use in other logic
routines.
Table 5 - DCSRT Outputs
Output 1 (O1) Boolean This output is energized when the input conditions have been satisfied.
The output becomes de-energized when:
either Channel A or Channel B transitions to the safe state.
the Input Status input is OFF (0).
the Enable input turns OFF (0).
Fault Present (FP) Boolean ON (1): A fault is present in the instruction.
OFF (0): The instruction is operating normally.
Fault Code DINT This output indicates the type of fault that occurred. See Table 6 on page 24 for a list of fault codes.
This parameter is not safety-related.
Diagnostic Code DINT This output indicates the diagnostic status of the instruction. See Table 7 on page 24 for a list of diagnostic codes.
IMPORTANT Do not write to any instruction output tag under any circumstances.

DCSRT Normal Operation
The timing diagram in Figure 1 illustrates the normal operation for a start device,
for example, an enable pendant. At (A), Output 1 is not energized because the
Enable input is OFF (0). At (B), Output 1 is not energized because the transition
of the Enable signal ON (1) can never enable Output 1. At (C), Output 1 is
energized 50 ms after the safety inputs transition through the safe state and to the
active state with the Enable input ON (1). At (D), Output 1 is de-energized
when either one of the safety inputs transitions to the safe state. At (E), Output 1
is energized 50 ms after the safety inputs return to the active state. At (F), Output
1 is de-energized because the Enable input has transitioned to OFF (0).
Figure 1 - Normal Operation (Equivalent Inputs) Timing Diagram

1
Channel A
0
1
Channel B
0
1
Enable
0
1
Output 1 50 ms 50 ms
0
A B C D E F
Input Type = Equivalent - Active High Discrepancy Time = 250 ms
If the Input Status input is not shown, it is assumed that the input status is valid (ON = 1) for the entire timing diagram.
Figure 2 demonstrates the same behavior as in the previous timing diagram

except that the Input Type is Complementary.
Figure 2 - Normal Operation (Complementary Inputs) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Enable
0
1
50 ms 50 ms
Output 1
0
A B C D E F
Input Type = Complementary Discrepancy Time = 250 ms
If the Input Status input is not shown, it is assumed that the input status is valid (ON = 1) for the entire timing
diagram.

DCSRT Input Status Fault Operation
Figure 3 illustrates fault behavior when the Input Status becomes invalid. At (A),
Output 1 is not energized because the Input Status has not become active for the
first time. At (B), with the Input Status active and after a 50 ms delay, Output 1 is
energized because the safety inputs have transitioned through the safe state to the
active state. At (C), the Input Status becomes invalid, which immediately de-
energizes Output 1 and generates a fault. At (D), the fault cannot be reset because
the Input Status is still inactive. At (E), the fault is reset because the Input Status
is now active and a reset is triggered. At (F), Output 1 is active.
Figure 3 - Input Status Fault Timing Diagram
1
Channel A
0
1
Channel B
0
1
Enable
0
1
Input Status
0
1
Reset
0
1
Fault Present
0
1 50 ms 50 ms
Output 1
0
A B C D E F
Input Type = Equivalent - Active High
Discrepancy Time = 250 ms

DCSRT Discrepancy Fault Operation
Figure 4 illustrates a discrepancy fault occurring when Channel A and Channel B

are in an inconsistent state for longer than the configured Discrepancy Time. At
(A), a fault is generated when the safety inputs are in an inconsistent state for
longer than the Discrepancy Time, for example, 250 ms. At (B), the fault is
cleared because both safety inputs are inactive and the Reset input went active. At
(C), Output 1 is energized 50 ms after both safety inputs transition to the active
state together within the Discrepancy Time. At (D), Output 1 is de-energized
when Channel B transitions to the safe state. At (E), a fault is generated because
the safety inputs are again in an inconsistent state for longer than the
Discrepancy Time. At (F), the fault is cleared, but Output 1 is not energized until
both safety inputs transition to the active state together.
Figure 4 - Discrepancy Fault Timing Diagram
1
Channel A
0
250ms 250ms
1
Channel B
0
1
Enable
0
1
Reset
0
1
Fault Present
0
Output 1 1 50ms
0
A B C D E F
diagram.
DCSRT False Rung State Behavior
When the instruction is executed on a false rung, all instruction outputs are de-
energized.

DCSRT Fault and Diagnostic Codes

Table 6 - DSCRT Fault Codes and Corrective Actions
Fault Code Description Corrective Action
00H No fault. None.
20H The Input Status input transitioned from ON (1) to OFF (0) while the instruction Check the I/O module connection or the internal logic that is used to
was executing. source input status.
Reset the fault.
4000H Channel A and Channel B were in an inconsistent state for longer than the Check the wiring.
Discrepancy Time. At the time of the fault, Channel A was in the active state. Perform a functional test of the device
Channel B was in the safe state. (put Channel A and Channel B in a safe state).
Reset the fault.
4001H Channel A and Channel B were in an inconsistent state for longer than the
Discrepancy Time. At the time of the fault, Channel A was in the safe state.
Channel B was in the active state.
4002H Channel A went to the safe state and back to the active state while Channel B
remained active.
4003H Channel B went to the safe state and back to the active state while Channel A
remained active.
Table 7 - DSCRT Diagnostic Codes and Corrective Actions

Diagnostic Code Description Corrective Action
00H No fault. None.
20H The Input Status input was OFF (0) when the instruction Check the I/O module connection or the internal logic that is used to source
started. input status.
4000H The device is not in a safe state at startup. Release the start device (put Channel A and Channel B in a safe state).
4060H The device is not enabled. Enable the device (set Enable to 1).

DCSRT Wiring and Programming Example
This example complies with ISO 13849-1, Category 4 operation. The standard
control portion of the application is not shown.
Figure 5 - Wiring Diagram

24V DC
Momentary
Push Button
Momentary (reset)
Push Button
1 3 4 14 13 24
V I0 I1 T1 T0 I11
DeviceNet
1791-DS-IB12 Module 1
G
11
24V Ground
This programming diagram shows the instruction with inputs and test outputs.
Figure 6 - Programming Diagram

MomentaryPushButton
DCSRT
Equivalent Active High Input Type Output 1 See Note 2
TBD ms Discrepancy Time
See Note 1 Enable

Module1:I.Pt06Data Channel A
Module1:I.Pt07Data Channel B
Module1:I.Combined Status Input Status
See Note 3 Reset Fault Present
Note 1: This tag is an internal Boolean tag that has its value determined by other parts of the user application that are not shown
in this example.
Note 2: This tag is an internal Boolean tag that is used by other parts of the user application that are not shown in this example.
Note 3: The source can be mapped or safety data.
Key: Color code represents data or value typically used.

Tag-mapped Variable Standard Output
Safety Input Safety Output
Configuration Constant/Value Internal Safety Variable

Figure 7 - Ladder Logic

DCSRT
DCSRT MomentaryPushButton O1
Safety Function START BUTTON
Input Type EQUIVALENT - ACTIVE HIGH FP
Discrepancy Time (Msec) 500
Enable SeeNote1
0
Channel A Module1:I.Pt00Data
1
Channel B Module1:I.Pt01Data
1
Input Status Module1:I.CombinedStatus
1
Reset Module1:I.Pt11Data
0
Note 1: This tag is an internal Boolean tag that has its value determined by other parts of the user application that are not
shown in this example.
The programming software is used to configure the input and output parameters
of the Guard I/O module, as illustrated.
Figure 8 - Module Definition
Rockwell Automation suggests the use of Exact Match, as shown. However,

setting Electronic Keying to Compatible Match is allowed.

Figure 9 - Module Input Configuration
Figure 10 - Module Test Output Configuration

Dual Channel Input Monitor

(DCM)
The dual channel Input Monitor instruction monitors dual-input safety devices
and sets Output 1 based on the Input Type parameter and the combined state of
Channel A and Channel B.
DCM Instruction Parameters



Table 8 - DCM Configuration Parameters
Safety Function DINT This parameter provides a text name for how this instruction is being used. Choices include cam switch, position limit switch, and
user-defined.
Equivalent - Active Low: Inputs are in the active state when Channel A and Channel B inputs are 0.
If this parameter is 0, the Discrepancy Time checking is disabled (0 = infinite).
Table 9 - DCM Inputs
Channel A(1) Boolean This input is one of the two inputs being monitored. When either input is in the safe state, Output 1 is de-energized.
Channel B(1) Boolean This input is one of the two inputs being monitored. When either input is in the safe state, Output 1 is de-energized.
the OSF instruction output Bit tag as the instructions reset source.

The following table explains instruction outputs. The outputs can be external
tags (safety output modules) or internal tags for use in other logic routines.
Table 10 - DCM Outputs
Output 1 (O1) Boolean This output is energized when the input conditions are satisfied.
The output becomes de-energized when:
either Channel A or Channel B transitions to the safe state.
the Input Status input is OFF (0).
Instruction Status (IS) Boolean This output is ON (1) when Output 1 of this instruction is valid (no faults or diagnostics are present).
OFF (0): This instruction is operating normally.

DCM Normal Operation
The timing diagram in Figure 11 illustrates the normal monitoring of a dual

channel input with the Input Type configured as Equivalent - Active High.
Output 1 is ON (1) initially because the safety inputs are in the active state. At
(A), Channel A transitions to the safe state, which causes Output 1 to go to the
safe state. At (B), both of the safety inputs have transitioned to the active state,
which energizes Output 1. At (C), Output 1 is de-energized and energized again
at (D).
The Instruction Status output is ON (1) the entire time because no faults or
diagnostics occur.
Figure 11 - Normal Operation Timing Diagram
1
Channel A
0
1
Channel B
0
1
Instruction Status
0
1
Output 1
0
A B C D
diagram.

DCM Input Status Fault Operation
Figure 12 illustrates instruction behavior with fault conditions. At (A), Output 1

turns ON (1) when the Input Status becomes valid. This also energizes Output 1
because the safety inputs are in the active state. At (B), a fault is generated when
the Input Status becomes invalid. This also turns OFF (0) the Instruction Status
output. At (C), the fault cannot be reset because the Input Status is still invalid.
At (D), the fault is cleared when a reset is triggered with the Input Status being
valid, which also turns the Instruction Status output ON (1).
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Input Status
0
1
Instructions Status
0
1
Fault Present
0
1
Output 1
0
A B C D


DCM Discrepancy Fault Operation
Figure 13 illustrates a discrepancy fault occurring when Channel A and Channel

B are in an inconsistent state for longer than the configured Discrepancy Time.
At (A), a fault is generated when the safety inputs are in an inconsistent state for
longer than the Discrepancy Time. This also turns Output 1 OFF (0). At (B), the
fault is cleared because a Reset is triggered when the safety inputs are no longer in
an inconsistent state. At (C), a fault is generated when the safety inputs are again
in an inconsistent state for longer than the Discrepancy Time. At (D), the fault is
reset.
1
Channel A
0
250ms 250ms
1
Channel B
0
1
Reset
0
1
Instruction Status
0
1
Fault Present
0
1
Output 1
0
A B C D

diagram.
DCM False Rung State Behavior
energized.

DCM Fault and Diagnostic Codes

Table 11 - DCM Fault Codes and Corrective Actions
00H No fault. None.
Reset the fault.
Channel B was in the safe state. (put Channel A and Channel B in a safe state).
Reset the fault.
remained active.
remained active.
Table 12 - DCM Diagnostic Codes and Corrective Actions

00H No fault. None.

DCM Wiring and Programming Example

24V DC
Momentary
Push Button
(reset)
Cam Switch
1 3 4 14 13 24
V I0 I1 T1 T0 I11
DeviceNet
G
11
24V Ground
This programming diagram shows the instruction with inputs and outputs.

CamSwitch
DCM
Instruction Status
Module1:I.Pt11Data Reset Fault Present



DCM
Dual Channel Input Monitor
DCM CamSwitch O1
Safety Function CAM SWITCH
Input Type EQUIVALENT - ACTIVE HIGH IS
Channel A Module1:I.Pt00Data FP
1
1
1
0



Dual Channel Input Stop

(DCS)
The Dual Channel Input Stop instruction monitors dual-input safety devices
whose main function is to stop a machine safely, for example, an E-stop, light
curtain, or safety gate. This instruction can only energize Output 1 when both
safety inputs, Channel A and Channel B, are in the active state as determined by
the Input type parameter, and the correct reset actions are carried out.
DCS Instruction Parameters



Table 13 - DCS Configuration Parameters
Safety Function DINT This parameter provides a text name for how this instruction is being used. Choices include E-stop, safety gate, light curtain, area
scanner, safety mat, cable (rope) pull switch, and user-defined.

Restart Type List This input configures Output 1 for either Manual or Automatic Restart.
Manual A transition of the Reset input from OFF (0) to ON (1), while all Output 1 enabling conditions are met, is
required to energize Output 1.
Automatic Output 1 is energized 50 ms after all enabling conditions are met.
ATTENTION: Automatic Restart may be used only in application situations where you can prove
that no unsafe conditions can occur as a result of its use, or the reset function is being performed
! elsewhere in the safety circuit (for example, output function).
Cold Start Type Boolean This parameter specifies the Output 1 behavior when applying controller power or mode change to Run.
Manual Output 1 is not energized when the Input Status becomes valid or when the Input Status fault is cleared.
(The device must be tested before Output 1 can be energized.)
Automatic Output 1 is energized immediately when the Input Status becomes valid or when the Input Status fault is
cleared and both inputs are in their active state.

Table 14 - DCS Inputs
(1)
Channel A Boolean This input is one of the two safety inputs to the instruction.
(1)
Channel B Boolean This input is one of the two safety inputs to the instruction.
Reset(2) Boolean If Restart Type = Manual, this input is used to energize Output 1 once Channel A and Channel B are both in the active state.
If Restart Type = Automatic, this input is not used to energize Output 1.
This input clears instruction and circuit faults provided the fault condition is not present.
Table 15 - DCS Outputs
Output 1 (O1) Boolean The output is energized when the input conditions are satisfied.
The output becomes de-energized when the following occurs:
Either Channel A or Channel B transitions to the safe state.
The Input Status input is OFF (0).
Fault Preset (FP) Boolean ON (1): A fault is present in the instruction.

DCS Normal Operation
The timing diagram in Figure 20 illustrates normal operation with Restart Type
configured for Manual and Cold Start Type configured for Manual. At (A),
Output 1 is not energized because the safety inputs have not been through the
safe state (0 in this case). At (B), Output 1 is energized because the safety inputs
have been cycled through the safe state and are in the active state when the reset is
triggered. At (C), Output 1 is de-energized because one of the safety inputs
(Channel A) has transitioned to a safe state. At (D), Output 1 is once again
energized when a reset is triggered with both safety inputs in the active state.
Figure 20 - Normal Operation (Manual Restart, Manual Cold Start) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Output 1
0
A B C D

Restart Type = Manual
Cold Start Type = Manual

Figure 21 demonstrates the same behavior as in the previous timing diagram

except that the Input Type is Complementary.
Figure 21 - Normal Operation (Manual Restart, Manual Cold Start, Complementary) Timing
Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Output 1
0
A B C D
Input Type = Complementary

Figure 22 illustrates normal operation with Cold Start Type configured for
Automatic. When Cold Start Type is Automatic, Output 1 is energized as soon as
the Input Status becomes valid [OFF (0) to ON (1) transition] for the first time,
such as when power is applied to a PLC controller. At (A), Output 1 is energized
when the Input Status becomes valid with the safety inputs in the active state. At
(B), Output 1 is de-energized when one of the safety inputs transitions to the safe
state. Output 1 is not energized again until (C), when the reset is triggered with
the safety inputs in the active state.
The Automatic Cold Start only has effect the first time the Input Status becomes
valid.
Figure 22 - Normal Operation (Manual Restart, Automatic Cold Start) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Input Status
0
1
Output 1
0
A B C

Cold Start Type = Automatic

Figure 23 illustrates normal operation with Automatic Restart and Manual Cold
Start. Because Cold Start Type is Manual, both safety inputs must go through the
safe state before Output 1 can be energized. At (A), Output 1 is energized
automatically 50 ms after the safety inputs transition to the active state (1 in this
case). At (B), Output 1 is de-energized when one of the safety inputs transitions
to the safe state. At (C), Output 1 is automatically energized 50 ms after both
safety inputs transition back to the active state.
Figure 23 - Normal Operation (Automatic Restart, Manual Cold Start)

Timing Diagram
1
Channel A
0
1
Channel B
0
1
Output 1 50 ms 50 ms
0
A B C

Restart Type = Automatic
diagram.
There is always a 50 ms delay before energizing Output 1 when it is configured to be energized automatically
(Restart Type = Automatic).

Figure 24 illustrates normal operation with Automatic Restart and Automatic

Cold Start. Here the instruction does not have to wait for the safety inputs to go
through the safe state. At (A), Output 1 is energized immediately after the Input
Status becomes valid for the first time with the safety inputs in the active state.
Figure 24 - Normal Operation (Automatic Restart, Automatic Cold Start) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Input Status
0
1
Output 1 50 ms
0
A B C


DCS Input Status Fault (Manual Cold Start)
The timing diagram in Figure 25 illustrates a fault occurring when the Input
Status becomes invalid. When Cold Start Type is configured for Manual, the
safety inputs must go through the safe state after a fault has been cleared. At (A),
Output 1 is energized when a reset is triggered with the safety inputs in the active
state. At (B), a fault occurs because the Input Status becomes invalid, which de-
energizes Output 1. At (C), the fault cannot be cleared because the Input Status is
still invalid. At (D), the fault is cleared, but Output 1 cannot yet be energized
because the safety inputs must transition through the safe state when Cold Start
Type is Manual. At (E), the safety inputs have gone through the safe state. At (F),
Output 1 is once again energized when the reset is triggered.
Figure 25 - Input Status Fault (Manual Cold Start) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Input Status
0
1
Fault Present
0
Output 1 1
0
A B C D E F

Figure 26 illustrates a fault occurring when the Input Status becomes invalid.
When Cold Start Type is configured for Automatic, the safety inputs are not
required to go through the safe state after a fault has been cleared. At (A), Output
1 is energized when the Input Status becomes valid because the Cold Start Type is
Automatic. At (B), a fault occurs because the Input Status becomes invalid, which
de-energizes Output 1. At (C), the fault cannot be cleared because the Input
Status is still invalid. At (D), the fault is cleared because the Input Status is valid
and a reset occurred. Output 1 is then energized because the Cold Start Type is
Automatic.
It is not necessary for the Safety Inputs to go through the safe state after an Input
Status fault is cleared when the Cold Start Type is Automatic.
Figure 26 - Input Status Fault (Automatic Cold Start) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Input Status
0
1
Fault Present
0
1
Output 1
0
A B C D

If the Input Status input is not shown, it is assumed that the input status is valid (=1) for the entire timing diagram.

DCS Cycle Inputs Fault
Figure 27 illustrates one of the two safety inputs transitioning to the safe state
and back to the active state while Output 1 is energized. At (A), Output 1 is
energized in the normal way. At (B), Channel A transitions to the safe state,
which immediately de-energizes Output 1. At (C), Channel A transitions back to
the active state before the 250 ms Discrepancy Time causes a fault. At (D),
Output 1 is energized because the safety inputs have cycled through the safe state,
and a reset has been triggered.
Figure 27 - Cycle Inputs Fault Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D

DCS Discrepancy Fault
Figure 28 illustrates a fault occurring when Channel A and Channel B are in an

inconsistent state for longer than the configured Discrepancy Time. At (A), a
Discrepancy fault occurs because Channel A has been in the active state and
Channel B has been in the safe state for 250 ms (Discrepancy Time). At (B), the
fault is reset, but Output 1 is not energized because the safety inputs must cycle
through the safe state after a Discrepancy fault is cleared, to energize Output 1.
At (C), Output 1 is energized because the safety inputs have transitioned through
the safe state and a reset has been triggered. At (D), another Discrepancy fault
occurs when the safety inputs are again in an inconsistent state for longer than
250 ms.
1
Channel A
0
250ms 250ms
1
Channel B
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D
DCS False Rung State Behavior
energized.

DCS Fault and Diagnostic Codes

Table 16 - DCS Fault Codes and Corrective Actions
00H No fault. None.
Reset the fault.
Channel B was in the safe state. (bring Channel A and Channel B to the safe state).
Reset the fault.
remained active.
remained active.
Table 17 - DCS Diagnostic Codes and Corrective Actions

00H No fault. None.
05H The Reset input is held ON (1). Set the Reset input to OFF (0).
started input status.
4000H The device was not functionally tested at startup. Perform a functional test of the device
(bring Channel A and Channel B to the safe state).
4001H The device was not functionally tested after a fault occurred. Check the wiring.
Perform a functional test of the device

DCS Wiring and Programming Example

24V DC
Momentary
Push Button
(reset)
Latching E-stop
1 3 4 14 13 24
V I0 I1 T1 T0 I11
DeviceNet
G
11
24V Ground

MainPanelEStop
DCS
Manual Restart Type
Manual Coldstart Type


DCS
DCS MainPanelEStop O1
Safety Function EMERGENCY STOP
Restart Type MANUAL
Cold Start Type MANUAL
1
1
1
0



Dual Channel Input Stop with

Test (DCST)
The Dual Channel Input Stop with Test instruction monitors dual-input safety
devices whose main function is to stop a machine safely, for example, an E-stop,
light curtain, or safety gate. This instruction can only energize Output 1 when
both safety inputs, Channel A and Channel B, are in the active state as
determined by the Input Type parameter, and the correct reset actions are carried
out.
In addition, this instruction can force a functional test of the stop device upon
request.
The timing diagrams from the Dual Channel Input Stop (DCS) instruction are
applicable to this instruction as well.
DCST operation diagrams, beginning on page 57, highlight the features of the
test-related parameters such as Test Request and Test Command.
DCST Instruction Parameters

program. Do not write to any instruction output tag under any
circumstances.


Table 18 - DCST Configuration Parameters
Safety Function DINT This parameter provides a text name for how this instruction is being used. Choices include E-stop, safety gate, light curtain, area
scanner, safety mat, cable (rope) pull switch, and user-defined.
Equivalent - Active High: The inputs are in the active state when Channel A and Channel B inputs are 1.
Complementary: The inputs are in the active state when Channel A is 1 and Channel B is 0.

Restart Type Boolean This input configures Output 1 for either Manual or Automatic Restart.
! that no unsafe conditions can occur as a result of its use, or the reset function is being performed
elsewhere in the safety circuit (for example, output function).
(The device must be tested before Output 1 can be energized.)
Automatic Output 1 is energized immediately when the Input Status becomes valid or when the Input Status fault is
cleared and both inputs are in their active state.

Table 19 - DCST Inputs
Test Request Boolean This signal forces a functional test to occur.
ON (1) -> OFF (0): Triggers a functional test. Output 1 is de-energized and the Test Command output is energized, which prompts
you to perform a functional test.
The functional test is complete and the Test Command output is de-energized when Channel A and Channel B go to the safe state.
If Restart Type = Automatic, this input is used to energize Output 1.
Table 20 - DCST Outputs
A functional test is requested [Test Request->OFF (0)].
Test Command (TC) Boolean This output is energized when a functional test must be conducted.

DCST Functional Test Operation
The timing diagram in Figure 35 illustrates a manual function test being

performed on a safety device, for example, a safety gate, with the instruction
configured for Manual Restart. At (A), a manual functional test is requested
because the Test Request input transitions from ON (1) to OFF (0). This
immediately de-energizes Output 1 and energizes the Test Command output,
which prompts you to test the device. At (B), the functional test is complete, so
the Test Command output is de-energized. At (C), Output 1 is energized again
when a reset is triggered.
Figure 35 - Functional Test Operation (Manual Restart) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Test Request
0
1
Test Command
0
1
Output 1
0
A B C

Figure 36 illustrates a manual function test being performed with Restart Type
equal to Automatic. At (A), Output 1 is de-energized because the Test Request
transitions from ON (1) to OFF (0). The Test Command output is also
energized. At (B), the Test Command output is de-energized because the
functional test is complete. At (C), Output 1 is automatically energized 50 ms
after the safety inputs enter the active state because the Restart Type is
Automatic.
Figure 36 - Functional Test Operation (Automatic Restart) Timing Diagram

1
Channel A
0
1
Channel B
0
1
Test Request
0
1
Test Command
0
1
Output 1 50 ms
0
A B C
diagram.
DCST False Rung State Behavior
energized.

DCST Fault and Diagnostic Codes

Table 21 - DCST Fault Codes and Corrective Actions
00H No fault. None.
Reset the fault.
Discrepancy Time. At the time of the fault, Channel A was in the active state. Perform a functional test of the device (bring Channel A and Channel B to
Channel B was in the safe state. the safe state).
Reset the fault.
remained active.
remained active.
Table 22 - DCST Diagnostic Codes and Corrective Actions

00H No fault. None.
(put Channel A and Channel B in a safe state).
Perform a functional test of the device
4030H Waiting for the manual functional test to occur. Perform a functional test of the device

DCST Wiring and Programming Example

24V DC
Safety Gate Momentary

Push Button
(reset)
Stop 1 3 13 4 14 24
V I0 T0 I1 T1 I11
DeviceNet
G T2
11 25
Test Prompt
Lamp
24V Ground


MainGate
DCST
Manual Restart Type Test Command Module1:O.Test02Data
Manual Coldstart Type
See Note 1 Test Request
Note 1: This tag is an internal Boolean tag that has its value determined by other parts of the user application that are not shown in
this example. The falling edge (0->1) of the Test Request input forces a test to be executed (safe state must be observed).
Connecting this input to the output that enables the hazard forces a test to be executed every time that the hazard is stopped.


DCST
Dual Channel Input Stop With Test
DCST MainGate O1
Safety Function SAFETY GATE
Input Type EQUIVALENT - ACTIVE HIGH TC
Restart Type MANUAL FP
1
1
Test Request SeeNote1
0
1
0
MainGate.TC Module1:O.Test02Data
Note 1:This is an internal Boolean tag that has its value determined by other parts of the user application not shown in this example.
The falling edge (0->1) of the Test Request input forces a test to be executed (safe state must be observed). Connecting this
input to the output that enables the hazard forces a test to be executed every time the hazard is stopped.





Test and Lock (DCSTL)
The Dual Channel Input Stop with Test and Lock instruction monitors dual-
input safety devices whose main function is to stop safely, for example, an E-stop,
determined by the Input type parameter, and the correct reset actions are carried
out.
In addition, this instruction can monitor a locked feedback signal from a safety
device and issue a lock request to a safety device, for example a safety gate with
guard locking. The Unlock Request input is used to request an electromagnetic
lock or unlock. However, the hazard that is protected by this instruction must be
stopped for the instruction to issue an unlock command. The Lock Feedback
input is used to determine whether the safety device is locked. To energize
Output 1, the Lock Feedback input must be ON (1) in addition to the
requirements of the DCST instruction.
The operation timing diagrams from the Dual Channel Input Stop (DCS)
instruction and the Dual Channel Input Stop Test (DCST) instruction are
applicable to this instruction as well.
DCSTL operation diagrams, beginning on page 68, highlight the features of the
lock-related parameters such as Unlock Request, Lock Feedback, Hazard
Stopped, and Unlock Command.

DCSTL Instruction Parameters


Table 23 - DCSTL Configuration Parameters
Safety Function DINT This parameter provides a text name for how this instruction is being used. Choices include slide lock, safety gate and user-defined.
Discrepancy Time (ms) DINT The amount of time that inputs are allowed to be in an inconsistent state before an instruction fault is generated. The inconsistent state
depends on the Input Type.

Manual A transition of the Reset input from OFF (0) to ON (1), while all Output 1 enabling conditions are met, is required to
energize Output 1.
ATTENTION: Automatic Restart may be used only in application situations where you can prove that no
! unsafe conditions can occur as a result of its use, or the reset function is being performed elsewhere in the
safety circuit (for example, output function).
Manual Output 1 is not energized when the Input Status becomes valid or when the Input Status fault is cleared. (The device
must be tested before Output 1 can be energized.)
Automatic Output 1 is energized immediately when the Input Status becomes valid or when the Input Status fault is cleared and
both inputs are in their active state.

Table 24 - DCSTL Inputs
(1)
Channel B Boolean This input is one of the two safety inputs to the instruction.
Test Request Boolean This signal forces a functional test to occur. See the Test Type parameter for more information.
ON (1) -> OFF (0): Triggers a functional test. Output 1 is de-energized and the Test Command output is energized, which
prompts you to perform a functional test.
IMPORTANT: Do not request a test when a hazard is present (Hazard Stopped = 0) because the machine stops and causes
a fault in this instruction.
Unlock Request Boolean This input is used to request a lock and unlock of electromechanical locking devices.
OFF (0): Lock is requested (the Unlock command is de-energized).
ON (1): Unlock is requested if the machine hazard is stopped. The Unlock command is energized if the Hazard Stopped
input equals ON (1).
This signal must also be used before locking and unlocking manual locks. Otherwise, a fault can occur because of invalid
sequencing.
Lock Feedback Boolean This input is the current state of the locking device. This input must be ON (1) to energize Output 1.
OFF (0): The safety monitoring device is not locked.
ON (1): The safety monitoring device is locked.
Hazard Stopped Boolean This input is the hazard condition feedback signal. This input must be ON (1) for the instruction to issue an unlock
command (energize the Unlock Command output).
OFF (0): The Unlock Command output cannot be energized.
ON (1): The Unlock Command output can be energized.
Input Status Boolean If instruction inputs are from a safety I/O module, this value is the status from the I/O module or modules (Connection
Status or Combined Status). If instruction inputs are derived from internal logic, it is the application programmers
responsibility to determine the conditions.

Table 25 - DCSTL Outputs

A functional test is requested, that is Test Request -> OFF (0).
The Lock Feedback signal turns OFF (0).
An unlock is requested and the hazard stops, that is Unlock Request -> ON (1) and Hazard Stopped -> ON (1).
Test Command (TC) Boolean This output is energized when a functional test must be conducted.
Unlock Command (ULC) Boolean This output is an unlock signal for an electromechanical locking device or to prompt for manual unlock.

DCSTL Start-up Operation
The timing diagram in Figure 43 illustrates Output 1 being energized when the
Cold Start Type is Manual. At (A), the gate is closed and requested to lock. At
(B), the gate is considered locked when the Lock Feedback input transitions from
OFF (0) to ON (1). At (C), Output 1 is energized when a reset is triggered. At
(D), an unlock is requested when the Unlock Request signal transitions from
OFF (0) to ON (1). At (E), the Unlock Command output is not energized until
the Hazard Stopped input transitions from OFF (0) to ON (1). Output 1 is also
de-energized. At (F), Output 1 is energized again when the gate is opened, closed,
and locked, and a reset is triggered.
The devices being monitored in these timing diagrams are assumed to be a safety
gate with lock.
Figure 43 - Start-up Operation (Manual Cold Start) Timing Diagram

1
Channel A
0
1
Channel B
0
1
Reset
0
1
Unlock Request
0
1
Lock Feedback
0
1
Hazard Stopped
0
1
Unlock Command
0
1
Output 1
0
A B C D E F

Figure 44 illustrates start-up operation when the Cold Start Type is Automatic.
At (A), Output 1 is immediately energized when power is first applied because
the gate is closed and locked, and the Cold Start Type is Automatic. At (B), an
unlock is requested when the Unlock Request signal transitions from OFF (0) to
ON (1). At (C), the Unlock Command output is not energized until the Hazard
Stopped input transitions from OFF (0) to ON (1). Output 1 is also de-
energized. At (D), Output 1 is energized when the gate is opened, closed, and
locked, and a reset is triggered.
gate with lock.
Figure 44 - Start-up Operation (Automatic Cold Start) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Unlock Request
0
1
Lock Feedback
0
1
Hazard Stopped
0
1
Unlock Command
0
1
Output 1
0
A B C D


DCSTL Device Not Tested After Unlock Fault
Figure 45 illustrates how a gate must be tested each time after it is unlocked if the
Cold Start Type is Manual. At (A), Output 1 is energized when a reset is
triggered. At (B), a fault is generated when the device is unlocked and relocked
without the gate being opened. At (C), the fault is cleared when a reset is
triggered. Output 1 does not become energized because a functional test has not
been performed on the gate.
gate with lock.
Figure 45 - Device Not Tested After Unlock Fault (Manual Cold Start) Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Unlock Request
0
1
Lock Feedback
0
1
Hazard Stopped
0
1
Fault Present
0
1
Unlock Command
0
1
Output 1
0
A B C

diagram.

DCSTL Functional Test After Fault Operation
The timing diagram in Figure 46 illustrates how the gate must be functionally
tested after a fault occurs. At (A), Output 1 is energized when a reset is triggered
with the gate closed and locked. At (B), a fault occurs because the gate is
unlocked because the Unlock request never transitioned from OFF (0) to ON
(1). At (C), the fault is reset when the reset is triggered, but Output 1 cannot be
energized because the gate was not functionally tested after the fault occurred. At
(D), the gate has been functionally tested and the gate is opened, unlocked, and
the hazard has stopped, but Output 1 cannot be energized because the gate is not
locked. At (E), Output 1 is energized when a reset is triggered with the gate now
locked.
gate with lock.
Figure 46 - Functional Test After Fault Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Unlock Request
0
1
Lock Feedback
0
1
Hazard Stopped
0
1
Fault Present
0
1
Unlock Command
0
1
Output 1
0
A B C D E

diagram.

DCSTL False Rung State Behavior
energized.
DCSTL Fault and Diagnostic Codes

Table 26 - DSCTL Fault Codes and Corrective Actions
00H No fault. None.
Reset the fault.
Channel B was in the safe state. (bring Channel A and Channel B to the safe state).
Reset the fault.
remained active.
remained active.
4040H The device is locked in a non-active state. For example, a gate is open and locked. Check the wiring.
Make sure that the device is unlocked.
Reset the fault.
4041H The device was not functionally tested after being unlocked. Unlock the device.
Put the device in the safe state, for example, open gate.
Reset the fault.
4042H The Lock Feedback input turned ON (1) without request. For example, the device Check the wiring.
became locked, but lock was not requested. Check the mechanical lock components.
Unlock Request input = 1 Unlock the device.
Put the device in the safe state, for example, open gate.
4043H The Lock Feedback input turned OFF (0) without request. For example, the device Reset the fault.
became unlocked, but unlock was not requested.
Unlock Request input = 0
4044H The Hazard Stopped input was OFF (0) and Output 1 was not energized. Make sure that the hazard has stopped.
Check the wiring.
Make sure that the hazard protected by this device cannot become active
without Output 1 being ON (1).
Reset the fault.
4045H The Lock Feedback input turned OFF (0) when the hazard was present. For Make sure that the hazard has stopped.
example, the device became unlocked, and the Hazard Stopped input was OFF Check the wiring.
(0). Make sure that the device cannot become unlocked while the hazard is
running.
Reset the fault.

Table 27 - DSCTL Diagnostic Codes and Corrective Actions

00H No fault. None.
Perform a functional test of the device (bring Channel A and Channel B to
the safe state with the device unlocked).
4030H Waiting for the manual functional test to occur. Perform a functional test of the device
4040H The device is unlocked. Output 1 cannot be energized until the Reset the Unlock Request input to 0 or manually lock the device.
device is locked. Check the wiring of the Lock Feedback input.
4041H Waiting for the device to lock. The Unlock Request input has If the device has a manual lock, make sure that it has been locked.
been set to 0, but the Lock Feedback input has not yet Check the wiring of the Lock Feedback input.
indicated that the device is unlocked.
4042H Waiting for the device to unlock. The Unlock Request input has If the device has a manual lock, make sure that it has been unlocked.
been set to 1, but the Lock Feedback input has not yet Check the wiring of the Lock Feedback input.
indicated that the device is unlocked.
4043H Waiting for the hazard to stop. The Unlock Request input has Make sure that any machine hazard has completely stopped.
been set to 1, but the Unlock Command cannot be issued until Check the wiring of the Hazard Stopped input.
the Hazard Stopped input transitions to 1.
4044H The device is not functionally tested after it was unlocked. Perform a functional test of the device
(put Channel A and Channel B in a safe state).

DCSTL Wiring and Programming Example

24V DC
A1 42 54
A2
Momentary
53
Push Button
22 34
(reset)
11 21 33
Safety Gate
(MaintenanceGate)
1 5 3 4 14 13 15 23 24
V I2 I0 I1 T1 T0 T0 O0 I11
DeviceNet
1791-DS-IB8XOB8 Module 1
G T2
11 25
Test Prompt
Lamp
24V Ground


MaintenanceGate
DCSTL
Manual Coldstart Type Unlock Command Module1:O.Pt00Data
See Note 1 Test Request
See Note 2 Unlock Request
Module1:I.Pt02Data Lock Feedback
MotionStopped 2 Hazard Stopped
this example. The falling edge (0->1) of the Test Request input forces a test to be executed (safe state must be observed).
Connecting this input to the output that enables the hazard forces a test to be executed every time that the hazard is stopped.
this example.



DCSTL
Dual Channel Input Stop With Test And L...
DCSTL MaintenanceGate O1
Safety Function SAFETY GATE
Restart Type AUTOMATIC ULC
0
0
Test Request SeeNote1
0
Unlock Request SeeNote2
0
Lock Feedback Module3:I.Pt02Data
0
Hazard Stopped MotionStopped
0
Input Status Module3:I.InputStatus
0
0
MaintenanceGate.TC Module3:O.Test02Data
MaintenanceGate.ULC Module3:O.Pt00Data
in this example. The falling edge (0->1) of the Test Request input forces a test to be executed (safe state must be
observed). Connecting this input to the output that enables the hazard forces a test to be executed every time that the
hazard is stopped.
in this example.



Figure 53 - Module Output Configuration


Test and Mute (DCSTM)
The Dual Channel Input Stop with Test and Mute instruction monitors dual-
input safety devices whose main function is to stop safely, for example, an E-stop,
determined by the Input type parameter, and the correct reset actions are carried
out.
In addition, this instruction can mute a safety device such as a light curtain.
When muting is enabled, a safety device sensing field can be broken, where
Channel A and Channel B can go to the safe state without de-energizing Output
1. The Muting Lamp Status input is used to monitor the status of the Muting
Lamp output. If this input is ever OFF (0), a fault is generated.
ATTENTION: When muting a safety device, the device is no longer

protecting the hazard, so some other protection must be in place.
The timing diagrams from the Dual Channel Input Stop (DCS) instruction and
the Dual Channel Input Stop Test (DCST) instruction are applicable to this
instruction as well.
DCSTM operation diagrams, beginning on page 83, highlight the features of the
mute-related parameters such as Mute, Muting Lamp Status, and Muting Lamp.

DCSTM Instruction Description


Table 28 - DCSTM Configuration Parameters
Safety Function DINT This parameter provides a text name for how this instruction is being used. Choices include area scanner, safety mat, light
curtain, and user-defined.
Equivalent - Active High: The inputs are in the active state when Channel A and Channel B inputs are 1.
Complementary: The inputs are in the active state when Channel A is 1 and Channel B is 0.


Manual A transition of the Reset input from OFF (0) to ON (1), while all Output 1 enabling conditions are
met, is required to energize Output 1.
ATTENTION: Automatic Restart may be used only in application situations where you can
! prove that no unsafe conditions can occur as a result of its use, or the reset function is being
performed elsewhere in the safety circuit (for example, output function).
Manual Output 1 is not energized when the Input Status becomes valid or when the Input Status fault is
cleared. (The device must be tested before Output 1 can be energized.)
Automatic Output 1 is energized immediately when the Input Status becomes valid or when the Input Status
fault is cleared and both inputs are in their active state.

Table 28 - DCSTM Configuration Parameters

Test Type DINT The parameter defines which type of test occurs when the Test Request input transitions from ON (1) to OFF (0).
None Turns off the testing feature.
Manual Output 1 is de-energized immediately when Test Request input transitions from ON (1) to OFF (0).
The Test Command output is energized until a functional test is conducted, such as an open and
close safety gate, break and clear light curtain, and reset actions are carried out depending on the
setting of the Restart Type parameter.
Active Output 1 remains energized when the Test Request input transitions from ON (1) to OFF (0) and the
Test Command output is energized, which should force an automatic test of the safety device. For
example, a light curtain that has test capability. If the Channel A and Channel B outputs correctly
transition to the safe state and back to the active state before Test Time expires, the Test Command
output is de-energized and the safety device continues normal operation. If the safety inputs do not
correctly transition before Test Time expires, Output 1 is de-energized immediately and a fault is
generated.
Test Time DINT The maximum allowed time for an active test to complete. If the test does not complete within this time, a fault is
generated. See the Test Type parameter for more information.
IMPORTANT: This time cannot exceed 150 ms for type-2 light curtains as specified by EN-61496-1.
Table 29 - DCSTM Input
Test Request Boolean This signal forces a functional test to occur. See the Test Type parameter for more information.
ON (1) -> OFF (0): Triggers a functional test.
Mute Boolean This input is used to mute the safety device.
OFF (0): Mute is not activated.
ON (1): Mute is activated. The Muting Lamp output is energized and Output 1 is not de-energized when the safety device is
tripped (Channel A or Channel B enters the safe state).
Muting Lamp Status Boolean This input is the status of the muting lamp. If this status is not valid, Output 1 is de-energized immediately and a fault is
generated.
OFF (0): The Muting Lamp Status is invalid. A fault is generated.
ON (1): The Muting Lamp Status is valid.
OFF (0) -> ON (1): the Fault Present and Fault Code outputs are reset.

Table 30 - DCSTM Outputs
A manual test is requested (Test Request turns OFF (0) when Test Type = Manual).
An Active Test fault occurs (the Active Test does not complete with Active Test Time).
The Mute input transitions from ON (1) to OFF (0) when Channel A or Channel B is in the safe state.
The Muting Lamp Status input is OFF (0).
Test Command (TC) Boolean If Test Type = Manual, this output is energized when a manual functional test must be conducted.
If Test Type = Active, this output is energized to notify a safety device, such as light curtain, that an automatic test should
be implemented.
Muting Lamp (ML) Boolean This output is intended to drive a muting lamp.(1) The status of the muting lamp should be fed into the Muting Lamp
Status input.
ON (1): Muting is active. The Muting Lamp is turned ON (1).
OFF (0): Muting is not active.
Safe State (SS) Boolean This output turns ON (1) when the inputs are in a safe state regardless of whether the instruction is muted or not.
ON (1): The inputs are currently in the safe state.
OFF (0): The inputs are not currently in the safe state.
Fault Code Integer This output indicates the type of fault that occurred. See Table 31 on page 85 for a list of fault codes.
Diagnostic Code Integer This output indicates the diagnostic status of the instruction. See Table 32 on page 85 for a list of diagnostic codes.
(1) Guard I/O module test outputs that are configured for muting can be used for this purpose.

DCSTM Normal Operation
The timing diagram in Figure 54 illustrates the normal muting behavior. At (A),
the Muting Lamp output is energized when the Mute input turns ON (1). At (B),
Output 1 is not de-energized because the instruction is muted. At (C), muting is
turned OFF (0) but Output 1 remains energized because the safety inputs are
now in the active state. At (D), Output 1 is de-energized because safety inputs
transition to the safe state and muting is no longer turned ON (1). At (E), muting
is activated again, but does not energize Output 1 because the Mute signal is
never allowed to energize Output 1. At (F), Output 1 is energized 50 ms after the
safety inputs enter the active state. At (G), Output 1 is de-energized when muting
is disabled and the safety inputs are in the safe state.
1
Channel A
0
1
Channel B
0
1
Mute
0
1
Muting Lamp Status
0
1
Muting Lamp
0
1
Output 1 50 ms
0
A B C D E F G
Test Type = Manual
Test Time = Not Applicable
diagram.

DCSTM Muting Lamp Status Fault Operation
Figure 55 illustrates the Muting Lamp Status fault. At (A), the safety inputs enter
the safe state, but Output 1 remains energized because the instruction is muted.
At (B), the Muting Lamp Status input transitions to an invalid state, which
immediately de-energizes Output 1 and generates a fault. At (C), the fault cannot
be reset because the Muting Lamp Status is still invalid. At (D), the fault is cleared
because a reset is triggered and the Muting Lamp Status is now valid. This also
energizes Output 1 because the safety inputs are in the active state.
Figure 55 - Muting Lamp Status Fault Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Mute
0
1
Muting Lamp Status
0
1
Muting Lamp
0
1
Fault Present
0
1
Output 1
0
A B C D
Test Type = Manual
Test Time = Not Applicable

DCSTM False Rung State Behavior
energized.
DCSTM Fault and Diagnostic Codes

Table 31 - DCSTM Fault Codes and Corrective Actions
00H No fault. None.
01H The Muting Lamp Status transitioned to an invalid state while the instruction was Check the status of the Mute input.
running. Reset the fault.
Reset the fault.
Discrepancy Time. At the time of the fault, Channel A was in the active state. Perform a functional test of the device (bring Channel A and Channel B to
Channel B was in the safe state. the safe state).
Reset the fault.
remained active.
remained active.
4030H The Active test did not complete within the Test Time. Check the device.
Make sure that the test feature is working properly.
Reset the fault.
Table 32 - DCSTM Diagnostic Codes and Corrective Actions

00H No fault. None.
4000H The device was not functionally tested at startup. Perform a functional test of the device (bring Channel A and Channel B to
the safe state).
Perform a functional test of the device (bring Channel A and Channel B to
the safe state).
4030H Waiting for the manual functional test to occur. Perform a functional test of the device (bring Channel A and Channel B to
the safe state).
4031H The Active test is in progress. Information only.

DCSTM Wiring and Programming Example
In this example, the safety function of the Two-hand Run Station lets the light
curtain safety function be muted when both buttons are pressed. This assumes
that all user-responsible clauses in EN 574 are met.
This example also uses the inverted output of the Two-hand Run Station to drive
the Test Request input of the Dual Channel Input Stop with Test and Mute
instruction (DCSTM). This causes the light curtain and its associated input
points and wiring to be tested every time both buttons on the Two-hand Run
Station are pressed.

24V DC
+24V DC 1 Aux Out

1 +24V DC
2 Momentary
Ground Push Button
3
2 EDM
Two-hand Run Station (reset)
4
OSSD 2
Test 5
4 OSSD 1
6
0V DC 0V DC
7
3
8 Start/Restart
Light Curtain
1 4 3 5 6 15 17 7 8 16 18 24
V I1 I0 I2 I3 T0 T0 I4 I5 T1 T1 I11
DeviceNet
G T2 T3
11 25 28
Muting Lamp
24V Ground

This programming diagram shows the DCSTM instruction being used with the
THRSe instruction.

OperatorStationLightCurtain
DCSTM
Manual Coldstart Type Muting Lamp Module1:O.Test03Data
Active Test Type Safety State
TBD ms
THRSe Test Request
TBS ms Discrepancy Time Output 1 Mute
See Note 1 Enable Station Bypassed Module1:MutingStatus Muting Lamp Status

0 Disconnected Buttons Released Input Status
Module1:I.Pt02Data Right Button Normally Open
Module1:I.Pt03Data Right Button Normally Closed Reset Fault Present
Module1:I.Pt04Data Left Button Normally Open
Module1:I.Pt05Data Left Button Normally Closed
Input Status
Reset Fault Present
Module1:I.Combined Status
Module1:I.Pt11Data
this example.



THRSe
Two Hand Run Station Enhanced
THRSe OperatorStationPalmButtons O1
Enable SeeNote1 BR
0
Disconnected ALWAYS_CONNECTED SB
0
Right Button Normally Open Module1:I.Pt02Data FP
0
Right Button Normally Closed Module1:I.Pt03Data
1
Left Button Normally Open Module1:I.Pt04Data
0
Left Button Normally Closed Module1:I.Pt05Data
0
1
0
OperatorStationPalmButtons.O1 OperatorStationLightCurtain.TestRequest
/
DCSTM
Dual Channel Input Stop With Test And Mute
DCSTM OperatorStationLightCurtain O1
Safety Function LIGHT CURTAIN
Restart Type MANUAL ML
Test Type ACTIVE SS
Test Time (Msec) 150
1
1
Test Request Module1:I.Pt02Data
0
Mute OperatorStationPalmButtons.O1
0
Muting Lamp Status Module1:I.MutingStatus
1
1
0
OperatorStationLightCurtain.TC Module1:O.Test02Data
OperatorStationLightCurtain.ML Module1:O.Test03Data
this example.




Dual Channel Analog Input

[(DCA) - integer version]
[(DCAF) - floating point version]
The Dual Channel Analog Input instruction monitors two analog input channels
originating from an analog input module. Output 1 turns on when both analog
inputs, Channel A and Channel B, are within the Tolerance and the High and
Low Limit settings, and the correct reset actions have been performed.
IMPORTANT Do not use the DCA instruction with the Guard I/O analog modules dual
channel feature. Set Guard I/O module inputs to single-channel when using
the DCA or DCAF instruction.
DCA(F) Instruction Parameters



Table 33 - DCA(F) Configuration Parameters
Restart Type List This parameter configures Output 1 for either Manual or Automatic Restart.
Manual When both Channel A and Channel B are within the Tolerance setting and within the High and Low Limit
settings, a transition of the Reset input from OFF (0) to ON (1) is required to energize Output 1.
Automatic Output 1 is energized 50 ms after both Channel A and Channel B are within the Tolerance setting and
within the High and Low Limit settings.
that no unsafe conditions can occur as a result of its use, or the reset function is being performed
! elsewhere in the safety circuit (for example, output function).
Cold Start Type List This parameter specifies the Output 1 behavior when applying controller power or mode change to Run.
Automatic When both Channel A and Channel B are within the Tolerance setting and within the High and Low Limit
settings, Output 1 is energized immediately when the Input Status becomes valid or when the Input
Status fault is cleared.
Table 34 - DCA(F) Inputs
Channel A Integer (DCA) This input is one of the two safety analog inputs to the instruction.
REAL (DCAF)
Channel B Integer (DCA) This input is one of the two safety analog inputs to the instruction.
REAL (DCAF)
Discrepancy Time (ms) Integer The amount of time that the Channel A and Channel B inputs are allowed to be out of tolerance before an instruction fault is
generated.
The valid range is 0, 5...3000 ms. A setting of 0 disables the timer. The value of 0 can only be applied via the use of a tag.
IMPORTANT: Values from 1 4 are reset to the minimum value (5). Values greater than 3000 are reset to the maximum value
(3000).
High Limit Integer (DCA) The HTP Output turns ON when the Channel A or Channel B input exceeds this value.
REAL (DCAF)
Low Limit Integer (DCA) The LTP Output turns ON when the Channel A or Channel B input drops below this value.
REAL (DCAF)
Tolerance Integer (DCA) The number of counts that Channel A and Channel B can differ by without affecting Output 1.
REAL (DCAF)

The following table explains instruction outputs. The outputs can be used to
drive external tags (safety output modules) or internal tags for use in other logic
routines.
Table 35 - DCA(F) Outputs
Output 1 (O1) Boolean This output is energized when the input conditions have been satisfied.
The difference between the Channel A and Channel B input values exceeds the Tolerance setting for longer than the
Discrepancy Time.
Channel A and or Channel B exceed the High or Low Limit settings.
High Trip Point (HTP) Boolean ON (1): The Channel A or Channel B input exceeds the High Limit input value.
OFF (0): The Channel A or Channel B input is less than or equal to the High Limit input value.
Low Trip Point (LTP) Boolean ON (1): The Channel A or Channel B input drops below the Low Limit input value.
OFF (0): The Channel A or Channel B input is greater than or equal to the Low Limit input value.
O1 On Time Integer This output represents the length of time in hours that Output 1 has been ON.
Fault Code Integer This output indicates the type of fault that occurred. See Table 36 on page 101 for a list of fault codes.
Revision Constant This output contains the firmware revision level of the instruction.

DCA(F) Normal Operation
The timing diagram in Figure 62 illustrates normal operation with Restart Type
configured for Manual and Cold Start Type configured for Manual. At (A),
Output 1 is energized because the Channel A and Channel B inputs are within
the Tolerance setting and within the High and Low Limits settings when the
reset is triggered. At (B), Output 1 is de-energized because the Channel A input
has gone below the Low Limit. Output 1 is energized at (C) when a reset is
triggered because Channel A is now within the Tolerance and Limit settings.
Figure 62 - Normal Operation (Manual Restart, Manual Cold Start) Timing Diagram
High Limit
Channel A
Channel B
Low Limit
1
Reset
0
1
HTP
0
1
LTP
0
1
Output 1
0
A B C
If the Input Status input is not shown, it is assumed that the input status is valid (ON = 1)
for the entire timing diagram.

Figure 63 illustrates normal operation with Restart Type configured for Manual
and Cold Start Type configured for Automatic. When the Cold Start Type is
Automatic, Output 1 is energized as soon as the Input Status input becomes valid
[OFF (0) to ON (1) transition] for the first time, such as when power is applied
to a PLC controller.
At (A), Output 1 is energized immediately after the Input status becomes valid
while the Channel A and Channel B inputs are within Tolerance and within the
High and Low Limits. At (B), Output 1 is de-energized when the Channel B
input falls below the Low Limit. Output 1 cannot be energized again until (C),
when a reset is triggered while the Channel A and Channel B inputs are within
the Tolerance and Limit settings.
Figure 63 - Normal Operation (Manual Restart, Automatic Cold Start) Timing Diagram
High Limit
Channel A
Channel B
Low Limit
1
Reset
0
1
Input Status
0
1
HTP
0
1
LTP
0
1
Output 1
0
A B C

Figure 64 illustrates normal operation with Automatic Restart and Manual Cold
Start. At (A), Output 1 is energized when a reset is triggered while the Channel A
and Channel B inputs are within Tolerance and within the High and Low Limits.
Output 1 is de-energized at (B) when the Channel B input drops below the Low
Limit. Output 1 is automatically energized again at (C), 50 ms after the
Channel B input is back within the Tolerance and Limit settings.
Figure 64 - Normal Operation (Automatic Restart, Manual Cold Start) Timing Diagram
High Limit
Channel A
Channel B
Low Limit
1
Reset 50 ms
0
1
Input Status
0
1
HTP
0
1
LTP
0
1
Output 1
0
Discrepancy Time = 250 ms A B C

Figure 65 illustrates normal operation with Automatic Restart and Automatic

Cold Start. When the Cold Start Type is Automatic, Output 1 is energized as
soon as the Input Status input becomes valid [OFF (0) to ON (1) transition] for
the first time, such as when power is applied to a PLC controller. Channel A and
Channel B must be within Tolerance and within the High and Low Limits for
Output 1 to be energized.
At (A), Output 1 is energized when the Input Status input becomes valid while
the Channel A and Channel B inputs are within Tolerance and within the High
and Low Limits. At (B), Output 1 is de-energized when the Channel A and
Channel B inputs go above the High Limit. Output 1 is automatically energized
at (C), 50 ms after the Channel A and Channel B inputs fall back within the
Limits while remaining within Tolerance.
Figure 65 - Normal Operation (Automatic Restart, Automatic Cold Start) Timing Diagram
High Limit
Channel A
50 ms
Channel B
Low Limit
1
Input Status
0
1
HTP
0
1
LTP
0
1
Output 1
0
A B C

DCA(F) Input Status Fault
Figure 66 shows a fault occurring when the Input Status input becomes invalid.
Output 1 is energized at (A), when a reset is triggered and the Channel A and
Channel B inputs are within the Tolerance and the High and Low Limits. A fault
occurs at (B) because the Input Status input becomes invalid, which de-energizes
Output 1. The fault cannot be cleared at (C) because the Input Status is still
invalid. At (D), Input Status is valid, the fault is cleared, and Output 1 is
energized when the reset is triggered.
Figure 66 - Input Status Fault (Manual Restart, Manual Cold Start) Timing Diagram
High Limit
Channel A
Channel B
Low Limit
1
Reset
0
1
Input Status
0
1
HTP
0
1
LTP
0
1
Fault Present
0
1
Output 1
0
A B C D

Figure 67 illustrates a fault occurring when the Input Status input becomes
invalid. Output 1 is energized at (A), when the Input Status becomes valid
because the Cold Start Type is Automatic and the Channel A and Channel B
inputs are within Tolerance and within the High and Low Limits. A fault occurs
at (B) when the Input Status becomes invalid, which de-energizes Output 1. The
fault cannot be cleared at (C) because the Input Status is still invalid. At (D),
Input Status is valid, the fault is cleared, and Output 1 is energized when the reset
is triggered.
Figure 67 - Input Status Fault (Manual Restart, Automatic Cold Start) Timing Diagram
High Limit
Channel A
Channel B
Low Limit
1
Reset
0
1
Input Status
0
1
HTP
0
1
LTP
0
1
Fault Present
0
1
Output 1
0
A B C D

DCA(F) Discrepancy Fault
Figure 68 illustrates a fault occurring when the difference between Channel A

and Channel B exceeds the Tolerance for longer than the Discrepancy Time. At
(A), Channel A and Channel B go out of Tolerance and the discrepancy timer
starts. At (B), a discrepancy fault occurs because Channel A and Channel B have
been out of Tolerance for at least 250 ms, the configured Discrepancy Time. At
(C), the fault is not cleared because the difference between the Channel A and
Channel B inputs is still greater than the Tolerance. The fault is cleared and
Output 1 is energized at (D) when a reset is triggered and the difference between
the Channel A and Channel B inputs falls within the Tolerance. At (E), the
difference between Channel A and Channel B again goes beyond the Tolerance
and the discrepancy timer starts. Another discrepancy fault occurs at (F) when
the Discrepancy Time is exceeded.
Figure 68 - Discrepancy Fault (Manual Restart) Timing Diagram
High Limit
Channel A
Channel B 250 ms 250 ms
Low Limit
1
Reset
0
1
Input Status
0
1
HTP
0
1
LTP
0
1
Fault Present
0
1
Output 1
0
A B C D E F
DCA(F) False Rung State Behavior
energized.

DCA(F) Fault and Diagnostic Codes

Table 36 - DCA(F) Fault Codes and Corrective Actions
00H No fault. None.
20H The Input Status input transitioned from ON (1) to OFF (0) while the Check the I/O module connection or the internal logic that is used to
instruction was executing. source input status.
Reset the fault.
4050H The difference between Channel A and Channel B input values exceeded the Check the wiring.
Tolerance setting for longer than the Discrepancy Time. Bring Channel A and Channel B to within the tolerance level.
Reset the fault.
Table 37 - DCA(F) Diagnostic Codes and Corrective Actions

00H No fault. None.
20H The Input Status input was OFF (0) when the instruction started Check the I/O module connection or the internal logic that is used to source
input status.
4050H At startup, the difference between Channel A and Channel B input values is Verify that Channel A and Channel B inputs are valid and adjust the tolerance
greater than the Tolerance setting. setting appropriately for the application.
4051H The Low Limit setting is greater than the High Limit setting. Adjust the settings so that the Low Limit setting is less than the High Limit
setting.
4052H The Channel A input value is less than the Low Limit setting.
4053H The Channel B input value is less than the Low Limit setting. Verify that the Channel A and Channel B inputs are valid and adjust the High
4054H The Channel A input value is greater than the High Limit setting. and Low Limit settings appropriately for the application.
4055H The Channel B input value is greater than the High Limit setting.
4056H The Tolerance input value is a negative number. Change the Tolerance input value to a positive number.
4057H The difference between Channel A and Channel B input values is greater Verify that Channel A and Channel B inputs are valid and adjust the tolerance
than the Tolerance setting. setting appropriately for the application.
4058H The Discrepancy Time setting is not within the allowable range and is being Adjust the Discrepancy Time setting to within the allowable range of
forced to the minimum or maximum value. 53000 ms.
DCA(F) Wiring and Programming Example

This example complies with ISO13849 PLe and IEC61511 SIL 3 operation. It is
an example of a relatively simple safety application where temperature sensors are
represented by the two 4-wire sensors.
The example shows how to interface the field devices to a 1734-IE4S

POINTGuard Analog Input module. The example illustrates how to configure
the I/O modules and use I/O tags in the associated logic for this simple
application, including how to use the Dual Channel Analog input instruction to
control the safety aspects of this application. The standard/control part of this
application is not shown.

This example does not include I/O conditioning and fault latching logic, which
can be desired for diagnostic reasons.

+24V
1734-AENT Safety Analog Input

000
1734-IE4S SIL 2
4-Wire Sensor1
NC NC V0 V1 V2 V3 Signal (V)
0 1 0 1 0 1
Signal Return
GND GND I0 I1 I2 I3 +24V
2 3 2 3 2 3
Common
COM COM COM COM COM COM
4 5 4 5 4 5
V V S0 S1 S2 S3
6 7 6 7 6 7
COM COM COM COM SIL 2

8 9 8 9
4-Wire Sensor1
S0 S1 S2 S3 Signal (V)
10 11 10 11
Signal Return
+24V
Common
24V Ground
(1) Signal Return and Common are at the same potential.

(2) If the sensor has a digital output for use with the Tachometer mode, it must be a push-pull type or have appropriate pull-up or pull-down resistors for
NPN or PNP type. The 1734-IE4S module does not provide low impedance of these pull-up or pull-down resistors.
(3) This wiring configuration is also used for SIL 2 redundant Tachometer mode.
(4) For analog voltage output sensors, the signal levels for operation for the application must be outside the signal level when the signal is not present, for
example, when the wire is broken.

This programming diagram shows the instruction with inputs.

Dual Channel Input
500 ms Discrepancy Time O1 See Note 1
Manual Restart Type High Trip Point (HTP)
Manual Cold Start Type Low Trip Point (LTP)
100 Tolerance
Fault Present
Module1:1:I.Ch0Data Channel A
Module1:1:I.Ch1Data Channel B
O1 On Time
8000 High Limit
2000 Low Limit Fault Code
Module1:1:I.Ch0InputStatus Status & Diagnostic Code
Input Status
Module1:1:I.Ch1InputStatus
Revision
See Note 2 Reset
Note 1: This tag is an internal Boolean tag that has its value determined by other parts of the user application that are not shown in this example.
Note 2: The source can be mapped or safety data.


Module1:1:I.Ch0InputStatus Module1:1:I.Ch1InputStatus CombinedStatus
DCA
Dual Channel Analog Input
DCA Temperature_Sensor O1
Revision 0
Restart Type MANUAL HTP
Channel A Module1:1:I.Ch0Data LTP
0
Channel B Module1:1:I.Ch1Data FP
0
Tolerance 100
High Limit 8000
Low Limit 2000
Input Status CombinedStatus

0
Reset Temperature_Sensor_Reset
0
Diagnostic Code 0
Fault Code 0
The programming software is used to configure the input parameters of the

Guard I/O module, as illustrated.
Configure the module definition as shown in Figure 72 on page 104.


Configure the modules inputs as shown in Figure 73 and Figure 74.
Figure 73 - Module Safety Input Configuration

Configure Module1 Alarm Configuration for Channel 0 and 1. Configure

Channel 0 as shown in Figure 75, and then configure Channel 1 identical to
Channel 0.
IMPORTANT Do not check the Alarm checkboxes, because it enables the Analog Modules
dual channel feature, which must not be used with the DCA instruction.
Figure 75 - Alarm Configuration

Safety Mat (SMAT)
The Safety Mat instruction indicates, through Output 1, whether the safety mat
is occupied.
Safety mats typically consist of two conductive plates that are held apart by
nonconductive separators. Each conductive plate, Channel A and Channel B of
the safety mat, are alternately sourced by the safety-mat instructions Source A
and Source B outputs. Output A and Output B of the safety mat are routed to the
safety mat instructions Channel A and Channel B inputs.
SMAT Instruction Parameters

functionality necessary for PLd (Cat. 3) or
PLe (Cat. 4) safety functions.


instruction.
Table 38 - SMAT Configuration Parameters
Restart Type DINT Configures Output 1 for either Manual or Automatic Restart.
Manual A transition of the Reset input from OFF (0) to ON (1), while all Output 1 enabling conditions are met,
is required to energize Output 1.
ATTENTION: Automatic Restart may be used only in application situations where you can
! prove that no unsafe conditions can occur as a result of its use, or the reset function is being
performed elsewhere in the safety circuit (for example, output function).
Short Circuit Detect Delay Time DINT This parameter is the time (5...250 ms) that the instruction uses to determine the difference between a short circuit and
the safety mat being occupied.
When using this instruction with 1791DS I/O modules, the short-circuit detection-delay time has to be greater than the
associated modules input-error latch time. The modules input-error latch time holds the test output fault generated by
the two channels being shorted together for the configured amount of time. Output 1 goes to the safe state as soon as
possible (task period and input filter dependent), only the declaration of a fault is delayed by this time. It has no effect on
the safety reaction time.
The following table explains instruction inputs. The inputs are typically used to
select different modes of application operation by enabling other instructions.
Table 39 - SMAT Inputs
Channel A(1) Boolean This input is sourced by the Channel A output of the safety mat.
Channel B(1) Boolean This input is sourced by the Channel B output of the safety mat.
Reset(2) Boolean If the Restart Type = Manual, this input is used to energize Output 1.

The following table provides the outputs to the instruction. In many applications,
the output tags can represent the state of actual field devices. They can also be
internal tags that are used to represent machine state information for use with
other instructions.
Table 40 - SMAT Outputs
Output 1 (O1) Boolean This output is energized when all input conditions are satisfied.
An instruction detects an open or a short circuit condition.
The normal operation of the instruction causes Output 1 to be de-energized.
Source A (SRCA) Boolean This output is used to source the Channel A input of the safety mat.
Source B (SRCB) Boolean This output is used to source the Channel B input of the safety mat.
SMAT Circuit Verification Test
The Safety Mat instruction monitors the Channel A and Channel B Safety Mat
inputs. Before Output 1 can be energized, a verification of the safety mat circuit
must be completed, verifying that the Source A and Source B output to Channel
A and Channel B input connections are good. This process is referred to as the
circuit verification test (CVT) and is identified by the shaded areas in the timing
diagrams. Output 1 can be energized when the CVT test is successful and the
proper Restart Type conditions are met.

SMAT Manual Restart Operation
Figure 76 illustrates the instruction being configured for Manual Restart. At (A),
Output 1 is energized when the Reset input transitions from OFF (0) to ON (1)
after the circuit verification test (CVT).
Figure 76 - Manual Restart Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Source A
0
1
Source B
0
1
Output 1
0
The shaded area is the CVT. A

SMAT Automatic Restart Operation
The timing diagram illustrates the instruction being configured for Automatic
Restart. At (A), Output 1 is energized 50 ms after the circuit verification test
(CVT).
Figure 77 - Automatic Restart Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Source A
0
1
Source B
0
50 ms
1
Output 1
0
The shaded area is the CVT.

Safety Mat Occupied Operation
Figure 78 illustrates Output 1 being de-energized when the safety mat becomes
occupied. At (A), the safety mat is considered occupied and Output 1 is de-
energized when the Channel A and Channel B inputs are both ON (1). At (B),
the Channel A and Channel B inputs follow the Source A output for as long as
the safety mat is occupied.
Figure 78 - Safety Mat Occupied Timing Diagram
0
Channel A
1
0
Channel B
1
0
Reset
1
0
Source A
1
0
Source B
1
0
Output 1
A B

Safety Mat Unoccupied Operation
Figure 79 illustrates the safety mat being unoccupied and the Safety Mat
instruction is initializing. At (A), the Channel A and Channel B inputs begin
tracking the Source A and Source B outputs. Output 1 can then be energized
based on the configured Restart Type and after the circuit verification test
(CVT).
Figure 79 - Safety Mat Unoccupied Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Source A
0
1
Source B
0
1
Output 1
0

SMAT Fault Detection Operation
This instruction detects source output to channel input open circuits and short
circuits. A short circuit between Channel A and Channel B appears to the
instruction as though the mat is occupied, where Output 1 is de-energized.
Figure 80 illustrates the safety mat being occupied and the connection between
Source A and Channel A is opened. The Restart Type is configured for Manual.
At (A), the circuit is opened and the Channel A input stops following the Source
A output. Output 1 is de-energized and the short-circuit detect delay timer is
started. At (B), the timer expires and a fault is generated. At (C), the opened
circuit is corrected and the fault is reset when an OFF (0) to ON (1) transition is
detected on the Reset input. At (D), the Safety Mat instruction completes the
circuit verification test (CVT), and an OFF (0) to ON (1) transition is detected
on the Reset input, energizing Output 1.
Figure 80 - Fault Detection Timing Diagram
1
Channel A
0
1
Channel B
0
1
Reset
0
1
Source A
0
1
Source B
0
1
Output 1
0
>t
1
Fault Present
0
A B C D
t = Short Circuit Detect Delay Time

SMAT False Rung State Behavior
energized.

SMAT Fault and Diagnostic Codes

Table 41 - SMAT Fault Codes and Corrective Actions
00H No fault. None.
20H The Input Status input transitioned from ON (1) to OFF (0) while the instruction Check the I/O module connection.
was executing. Reset the fault.
8000H Channel A is shorted to power. Correct the short or open circuit.
Reset the fault.
8001H Channel B is shorted to power.
8002H Channels A and B are shorted to power.
8003H Channel A is shorted to power and Channel B is either shorted to ground or open.
8004H Channel A is either shorted to ground or is open.
8005H Channel A is either shorted to ground or is open and Channel B is shorted to
power.
8006H Channel B is either shorted to ground or open.
Table 42 - SMAT Diagnostic Codes and Corrective Actions

00H No fault. None.
20H The Input Status input was OFF (0) when the instruction Check the I/O module connection.
started.

SMAT Wiring and Programming Example
The standard control portion of the application is not shown.

24V DC
Safety Mat Momentary

Push Button
(reset)
1 3 4 28 25 24
V0 I0 I1 T3 T2 I11
DeviceNet
G0
11
24V Ground

OperatorSafetyMat
SMAT
Manual Restart Type Output 1 See Note 1
TBD ms Short Circuit Time Delay
Source A Module 1:O.Test02Data
Module 1:I.Pt00Data Channel A Source B Module 1:O.Test03Data
Module 1:I.Pt01Data Channel B
Module 1:I.CombinedStatus Input Status

Module 1:I.Pt11Data Reset Fault Present



SMAT
Safety Mat
SMAT OperatorSafetyMat O1
Restart Type MANUAL
Short Circuit Detect Delay Time (Msec) 500 SRCA
Channel A Module1:I.Pt00Data SRCB

1
Channel B Module1:I.Pt01Data FP
1
1
0
OperatorSafetyMat.SRCA Module1:O.Test02Data
OperatorSafetyMat.SRCB Module1:O.Test03Data



Two-hand Run Station

Enhanced (THRSe)
This instruction monitors the inputs of a Two-hand Run Station. Each run
station button has two inputs; one normally closed (N.C.) contact and one
normally open (N.O.) contact. To energize Output 1, the instruction must be
enabled and connected with no faults present. Then, both buttons must be
pressed within 500 ms of one another.
IMPORTANT The right and left buttons of the Two-hand Run Station must be pressed
within 500 ms of one another to energize Output 1. To make sure that this
situation can be properly detected, the safety task period cannot exceed
40 ms and the input devices requested packet interval (RPI) cannot exceed
20 ms.
See the GuardLogix Controller manuals listed in the Additional Resources
on page 16 for more information on the safety task period and the RPI.
The Buttons Released output turns ON (1) whenever the Two-hand Run Station
is connected and enabled, no faults are present, and both the right and left
buttons are in the released (safe) state. In this case, all four contacts are in the safe
state.
The Two-hand Run Station can be disconnected when not in use. To disconnect
the Two-hand Run Station properly, the Disconnected input must be ON (1)
and all button inputs must be OFF (0). When the Two-hand Run Station is
disconnected, the Station Bypassed output turns ON (1).

THRSe Instruction Parameters

IMPORTANT Make sure that your safety input points are configured as Single, not Equivalent
or Complementary. These instructions provide all dual channel functionality
necessary for PLd (Cat. 3) or PLe (Cat. 4) safety functions.
ATTENTION: If you change instruction parameters while in Run mode, you must
accept the pending edits and cycle the controller mode from Program to Run for
the changes to take effect.
The following table provides the parameter that is used to configure the
instruction. This parameter cannot be changed at runtime.
Table 43 - THRSe Configuration Parameter
Discrepancy Time DINT The amount of time that the instruction lets the normally open and normally closed button contacts be inconsistent
before generating a fault.
The inconsistent state occurs when the normally open contact and the normally closed contact have the same logical
value; that is, both are ON (1) or both are OFF (0).
The valid range is 1003000 ms.
The following table explains the instruction inputs.

Table 44 - THRSe Inputs
Enable Boolean ON (1): The device is enabled. Output 1 is energized when both buttons are pressed within 500 ms of one another.
OFF (0): The device is disabled. Output 1 stays de-energized.
Disconnected Boolean This input indicates whether the run station is disconnected. When this input is ON (1) and all button inputs (Right
Button Normally Open, Right Button Normally Closed, Left Button Normally Open, Left Button Normally Closed) are OFF
(0), the Station Bypassed output turns ON (1).
ON (1): The run station is disconnected. Output 1 cannot be energized.
OFF (0): The run station is not disconnected. Output 1 may be energized.
Right Button Normally Open(1) Boolean This input is the normally open contact for the right button.
(1)
Right Button Normally Closed Boolean This input is the normally closed contact for the right button.
(1)
Left Button Normally Open Boolean This input is the normally open contact for the left button.
(1)
Left Button Normally Closed Boolean This input is the normally closed contact for the left button.

The following table explains the instruction outputs.

Table 45 - THRSe Outputs
Output 1 (O1) Boolean This output is energized when the run station is enabled and connected, and both buttons are pressed within 500 ms of one
another.
Output 1 is de-energized when one or more of the following occurs:
The right or the left button is released, or any one of the four contacts transitions to the safe state.
The Input Status input turns OFF (0), which indicates the inputs have become invalid.
The Enable input turns OFF (0).
The Disconnected input turns ON (1).
Buttons Released (BR) Boolean This output is ON (1) when both buttons are released, the run station is connected and enabled, and no faults are present.
Station Bypassed (SB) Boolean This output is ON (1) when the run station has been properly disconnected and no faults are present. See Disconnecting the
Two-hand Run Station on page 120.
Fault Code DINT This output indicates the type of fault that occurred. See Table 46 on page 126 for the list of fault codes.
Disconnecting the Two-hand Run Station
To energize the Station Bypassed Output (disconnect the Two-hand Run

Station), the Disconnected input must be ON (1), and all button inputs must be
OFF (0).
If a fault occurs while disconnecting the Two-hand Run Station, trigger a reset
after the inputs are in the correct state.
Connecting the Two-hand Run Station
To de-energize the Station Bypassed Output (connect the Two-hand Run

Station), the Disconnected input must be OFF (0), and the button inputs must
be in the released safe state.
If a fault occurs while connecting the Two-hand Run Station, trigger a reset after
the inputs are in the correct state.

THRSe Normal Operation
As shown in Figure 87, the Buttons Released output turns ON (1) whenever
both buttons are released, the run station is connected and enabled, and no faults
are present.
Before (A), the left and right buttons are both pressed, but Output 1 has not yet
been energized because the Enable input is OFF (0). When the Enable input
transitions from OFF (0) to ON (1) at (A), Output 1 is not energized because the
buttons must be pressed while the Enable input is ON (1). At (B), the right
button is pressed but the left button is still released, which turns OFF (0) the
Buttons Released output. At (C), both buttons have been pressed within 500 ms
of one another, which energizes Output 1 after a 50 ms delay. Output 1 is de-
energized when the left button is released at (D). Output 1 is energized 50 ms
after both buttons are pressed at (E). Lastly, at (F), Output 1 is de-energized
because the Enable input turns OFF (0).
1
Enable
0
1
Disconnected
0
1
Right Button Normally Open
0
1
Right Button Normally Closed
0
1
Left Button Normally Open
0
1
Left Button Normally Closed
0
1
Input Status
0
1
Fault Present
0
1
Buttons Released
0
1
Station Bypassed
0
1 50 ms 50 ms
Output 1
0
Discrepancy Time = 250 ms A B C D E F

THRSe Button Held Down Diagnostic Operation
Output 1 cannot be energized when the right and left buttons are not pressed
within 500 ms of one another.
At (A), the right button is pressed while the left button remains released. At (B),
the buttons have been in an inconsistent state for 500 ms, which generates a
diagnostic signal that requires both buttons be released before Output 1 can be
energized again. At (C), the left button is pressed, but Output 1 is not energized
because both buttons have not been released after the right button was held down
longer than 500 ms. Both buttons are released, which clears the diagnostic signal
at (D). Output 1 is energized after a 50 ms delay when both buttons are pressed
within 500 ms of one another at (E).
Figure 88 - Button Held Down Timing Diagram
1
0
500 ms
1
0
1
0
1
0
1
Fault Present
0
1
Buttons Released
0
1
Station Bypassed
0
1 50 ms
Output 1 50 ms
0
Discrepancy Time = 250 ms A B C D E

For simplicity, the Enable and Input Status inputs are not shown and are assumed to be ON (1). Similarly, the
Disconnected input is assumed to be OFF (0).

THRSe Button Glitch Diagnostic Operation
When one button is released while the other button remains pressed, both
buttons must be released to the safe state before Output 1 can be energized again.
At (A), Output 1 is de-energized because the right button is released. At (B), the
right button is pressed, but the left button remained released since (A). This
generates a diagnostic signal that requires both buttons to be released before
Output 1 can be energized again. Both buttons are released at (C), which clears
the diagnostic signal. At (D), Output 1 is energized after a 50 ms delay when both
buttons are pressed within 500 ms of one another.
Figure 89 - Button Glitch Timing Diagram

1
0
1
0
1
0
1
0
1
Fault Present
0
1
Buttons Released
0
1
Station Bypassed
0
1 50 ms
Output 1 50 ms
0
Discrepancy Time = 250 ms A B C D


THRSe Button Discrepancy Fault (Channel-to-Channel) Operation
A discrepancy fault occurs when the two channels of one button are in an
inconsistent state for more than the configured Discrepancy Time (250 ms in
this example).
At (A), the right button is pressed, but only the normally open contact of the left
button turns ON (1) while the normally closed contact remains OFF (0). After
the Left Button Normally Open and the Left Button Normally Closed inputs
have been inconsistent for 250 ms, the fault occurs at (B). At (C), the fault is
cleared by a Reset. Lastly, at (D), Output 1 is energized 50 ms after both buttons
are pressed.
Figure 90 - Button Discrepancy Fault Timing Diagram
1
0
1
0
1
Left Button Normally Open 250ms
0
1
0
1
Reset
0
1
Fault Present
0
1
Buttons Released
0
1
Station Bypassed
0
1 50ms
Output 1 50ms
0
Discrepancy Time = 250 ms A B C D


THRSe Run Station Disconnected (Station Bypassed) Operation
When the run station is properly disconnected, Output 1 cannot be energized.

The Station Bypassed output is energized whenever the run station is properly
disconnected.
At (A), Output 1 is energized 50 ms after both buttons are pressed. At (B),

Output 1 is de-energized and a fault occurs when the Disconnected input turns
ON (1). To clear the fault, both buttons must be released and a reset triggered at
(C). The Station Bypassed output turns ON (1). At (D), the Station Bypassed
output turns OFF (0) and a fault occurs when the Right Button Normally Open
input turns ON (1) while the Disconnected input is ON (1). At (E), the fault is
cleared and the Station Bypassed output is turned ON (1) when a reset is
triggered with the Disconnected input ON (1) and all button inputs OFF (0).
Lastly, at (F), the Enable input transitions from ON (1) to OFF (0) to ON (1),
but has no effect on the Station Bypassed output, which remains ON (1).
Figure 91 - Run Station Disconnected Timing Diagram

1
Enable
0
1
Disconnected
0
1
0
1
0
1
0
1
0
1
Reset
0
1
Fault Present
0
1
Buttons Released
0
1
Station Bypassed
0
1 50 ms
Output 1
0
Discrepancy Time = 250 ms A B C D E F

For simplicity, the Input Status input is not shown and is assumed to be ON (1), which indicates the inputs are
valid.

THRSe False Rung State Behavior
energized.
THRSe Fault and Diagnostic Codes

Table 46 - THRSe Fault Codes and Corrective Actions
00H No fault. None.
20H The Input Status input transitioned from ON (1) to OFF (0) while the instruction was Check the I/O module connection.
executing. Reset the fault.
7001H The right button contacts were in an inconsistent state for longer than the Discrepancy Check the wiring.
Time. At the time of the fault, the Right Button Normally Open was ON (1) and the Right Bring the right button contacts to a consistent state.
Button Normally Closed was OFF (0). Reset the fault.
7002H The right button contacts were in an inconsistent state for longer than the Discrepancy
Time. At the time of the fault, the Right Button Normally Closed was ON (1) and the Right
Button Normally Open was OFF (0).
7003H The left button contacts were in an inconsistent state for longer than the Discrepancy Check the wiring.
Time. At the time of the fault, the Left Button Normally Open was ON (1) and the Left Bring the left button contacts to a consistent state.
Button Normally Closed was OFF (0). Reset the fault.
7004H The left button contacts were in an inconsistent state for longer than the Discrepancy
Time. At the time of the fault, the Left Button Normally Closed was ON (1) and the Left
Button Normally Open was OFF (0).
7005H The Right Button Normally Open input transitioned from ON (1) to OFF (0) to ON (1) while Check the wiring.
the Right Button Normally Closed input remained ON (1). Release the right button, bringing both contacts to the OFF (0)
state.
7006H The Right Button Normally Closed input transitioned from ON (1) to OFF (0) to ON (1) Reset the fault.
while the Right Button Normally Open input remained ON (1).
7007H The Left Button Normally Open input transitioned from ON (1) to OFF (0) to ON (1) while Check the wiring.
the Left Button Normally Closed input remained ON (1). Release the left button, bringing both contacts to the OFF (0)
state.
7008H The Left Button Normally Closed input transitioned from ON (1) to OFF (0) to ON (1) while Reset the fault.
the Left Button Normally Open input remained ON (1).
7030H The Disconnected input was ON (1), but all button inputs were not OFF (0). To disconnect the Two-hand Run Station, set all button inputs to
OFF (0) and reset the fault.
To connect the run station, set the Disconnected input to OFF (0)
and reset the fault.
7031H The button inputs were disconnected for longer than the Discrepancy Time, but the To disconnect the Two-hand Run Station, set the Disconnected
Disconnected input was OFF (0). input to ON (1) and reset the fault.
To connect the Two-hand Run Station, set all button inputs to
their normal state and reset the fault.

Table 47 - THRSe Diagnostic Codes and Corrective Actions

00H No fault. None.
20H The Input Status was OFF (0) when the instruction started. Check the I/O module connection.
7001H The device is not in the safe state for startup. Release both buttons to OFF (0).
7002H The right button is held down. The left and right buttons have been in an inconsistent state for longer than 500 ms. Release both buttons to OFF (0).
7003H The left button is held down. The left and right buttons have been in an inconsistent state for longer than 500 ms. Release both buttons to OFF (0).
7004H The right button was released and then pressed while the left button remained pressed. Release both buttons to OFF (0).
7005H The left button was released and then pressed while the right button remained pressed. Release both buttons to OFF (0).
7060H The run station is not enabled. Enable or disconnect the run station.
7061H The run station is bypassed. No action is required.
THRSe Wiring and Programming Example
This example complies with ISO 13849-1 Category 4 operation. The standard
control portion of the application is not shown. Two two-hand run stations are
shown connected to a 1791DS-IB12 module.

24V DC
RunStand1 Momentary
Push Button
(reset)
Dummy Plug
1 3 4 15 13 5 6 16 14 7 17 24
V I0 I1 T0 T0 I2 I3 T1 T1 I4 T0 I11
DeviceNet
1791DS-IB12 Module 1
G I7 I6 T0 T0 I9 I8 T1 T1 I10 T0
11 8 7 19 31 22 21 18 20 23 33
Dummy Plug
RunStand2
24V Ground

This programming diagram logically illustrates the use of two THRSe

instructions. If one of the Two-hand Run Stations buttons is released, the output
is de-energized and the other Two-hand Run Stations buttons must also be
released before the output can be energized again.

RunStand1
THRSe
Discrepancy Time &
500 ms Output 1 &
Station Bypassed RunStationStart

1 Enable
Module1:I.Pt04Data Disconnected Buttons Released
Module1:I.Pt00Data Right Button Normally Open
Module1:I.Pt01Data Right Button Normally Closed
Module1:I.CombinedStatus Input Status
RunStand2
THRSe
>=1
500 ms Discrepancy Time Output 1
ButtonsReleased
1 Enable Station Bypassed
>=1
Module1:I.Pt10Data Disconnected Buttons Released &
>=1
Module1:I.Pt06Data Right Button Normally Open S Q
Module1:I.Pt07Data Right Button Normally Closed

R Q
Input Status
Reset Fault Present
NOTE 1: This tag is an internal Boolean tag that has its value determined by other parts of the user application that are not shown in this example.



THRSe
THRSe RunStand1 O1
Enable ALWAYS_ENABLED BR
1
Disconnected Module1:I.Pt04Data SB
0
1
1
0
1
1
0
THRSe
THRSe RunStand2 O1
Enable ALWAYS_ENABLED BR
1
Disconnected Module1:I.Pt10Data SB
0
0
1
0
1
1
0
RunStand1.BR RunStand2.BR ButtonsReleased

L
RunStand2.SB
ButtonsReleased RunStand1.O1 RunStand2.O1 RunStationStart
RunStationStart RunStand2.SB ButtonsReleased

U
The programming software is used to configure the input and test output
parameters of the Guard I/O module, as illustrated.



Configurable Redundant
Output (CROUT)
The Configurable Redundant Output instruction controls and monitors

redundant outputs. The reaction time for output feedback is configurable. The
instruction supports positive and negative feedback signals.
CROUT Instruction Parameters



Table 48 - CROUT Configuration Parameters

Feedback Type Boolean This parameter defines the feedback ON and OFF states.
Positive ON (1): Feedbacks ON / Outputs ON
OFF (0): Feedbacks OFF / Outputs OFF
Negative ON (1): Feedbacks OFF / Outputs ON
OFF (0): Feedbacks ON / Outputs OFF
Feedback DINT This parameter specifies the amount of time that the instruction waits for Feedback 1 and Feedback 2 to reflect the state of Output 1 and
Reaction Time Output 2 as specified by the configured Feedback Type.
Table 49 - CROUT Inputs

Actuate Boolean This input controls the energizing and de-energizing of Output 1 and Output 2.
ON (1): Output 1 and Output 2 are energized if no faults exist.
OFF (0): Output 1 and Output 2 are de-energized.
Feedback 1 Boolean This input is constantly monitored to make sure that it reflects the state of Output 1. When Output 1 transitions, this input must detect
the transition within the Feedback Reaction Time.
Feedback 2 Boolean This input is constantly monitored to make sure that it reflects the state of Output 2. When Output 2 transitions, this input must detect
the transition within the Feedback Reaction Time.
Combined Status). If instruction inputs are derived from internal logic, it is the application programmers responsibility to determine the
conditions.
Output Status Boolean The output status of the I/O module or modules that are used for Output 1 and Output 2 signals.
ON (1): The I/O connection and the I/O module are operational.
OFF (0): The module has a fault or the connection to the module has been lost.

Table 50 - CROUT Outputs

Output 1 (O1) Boolean This output is typically used to control channel A of the output device. Output 1 is de-energized when one or more of the following
occurs:
A feedback fault occurs.
Input Status or Output Status inputs become invalid (OFF = 0).
The Actuate input turns OFF (0).
Output 2 (O2) Boolean This output is typically used to control channel B of the output device. Output 2 is de-energized when one or more of the following
occurs:
A feedback fault occurs.
Input Status or Output Status inputs become invalid (OFF = 0).
The Actuate input turns OFF (0).
Fault Code DINT This output indicates the type of fault that occurred. See Table 51 on page 136 for the list of fault codes.

CROUT Normal Operation
This timing diagram in Figure 98 shows normal operation of this instruction to

control dual channel outputs when the Feedback Type is Positive. Outputs 1 and
2 are energized at (A) when the Actuate input turns ON (1). Both feedback
inputs react before the Feedback Reaction timer has expired, so Output 1 and
Output 2 remain energized in steady state at (B). Outputs 1 and 2 are de-
energized at (C) when the Actuate input turns OFF (0). At (D), both feedback
inputs react before the Feedback Reaction timer has expired, so Output 1 and
Output 2 remain de-energized in steady state.
1
Actuate
0
1
Feedback 1
0
1
Feedback 2 Feedback Reaction
0 Time
1
Output 1
0
1
Output 2
0
A B C D
Input Status and Output Status inputs (not shown) are assumed to be valid (ON = 1).

CROUT Feedback Fault
A feedback fault can occur when either Feedback 1 or Feedback 2 fails to reflect
the state of Output 1 and Output 2 correctly. The Feedback Type is configured as
Positive in this diagram example. Output 1 and Output 2 are energized at (A),
but at (B), Feedback 2 has not turned ON (1) before the Feedback Reaction
timer expires, generating a feedback fault. The fault cannot be cleared at (C),
because Feedback 1 and Feedback 2 do not yet reflect the state of Output 1 and
Output 2. The fault is cleared at (D) when the Reset input turns ON (1) and
both Feedback 1 and Feedback 2 are OFF (0), correctly reflecting the state of
Output 1 and Output 2.
Figure 99 - Feedback Fault Timing Diagram
1
Actuate
0
1
Feedback 1
0
Feedback Reaction
1 Time
Feedback 2
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
1
Output 2
0
A B C D
Input Status and Output Status inputs (not shown) are assumed to be valid (ON = 1).
CROUT False Rung State Behavior
energized.

CROUT Fault and Diagnostic Codes

Table 51 - CROUT Fault Codes and Corrective Actions
00H No fault. None.
20H The Input Status input transitioned from ON (1) to OFF (0) while the instruction Check the I/O module connection.
21H The Output Status input transitioned from ON (1) to OFF (0) while the instruction Check the I/O module connection.
5000H Feedback 1 and Feedback 2 turned OFF (0) unexpectedly. Check the feedback signals.
Reset the fault.
5001H Feedback 1 turned OFF (0) unexpectedly. Check the Feedback 1 signal.
Reset the fault.
Reset the fault.
5003H Feedback 1 and Feedback 2 turned ON (1) unexpectedly. Check the feedback signals.
Reset the fault.
5004H Feedback 1 turned ON (1) unexpectedly. Check the Feedback 1 signal.
Reset the fault.
Reset the fault.
5006H Feedback 1 and Feedback 2 did not turn ON (1) within the Feedback Reaction Check the feedback signals or adjust the Feedback Reaction Time.
Time. Reset the fault.
5007H Feedback 1 did not turn ON (1) within the Feedback Reaction Time. Check the Feedback 1 signal or adjust the Feedback Reaction Time.
Reset the fault.
5008H Feedback 2 did not turn ON (1) within the Feedback Reaction Time. Check the Feedback 2 signal or adjust the Feedback Reaction Time.
Reset the fault.
5009H Feedback 1 and Feedback 2 did not turn OFF (0) within the Feedback Reaction Check the feedback signals or adjust the Feedback Reaction Time.
Time. Reset the fault.
500AH Feedback 1 did not turn OFF (0) within the Feedback Reaction Time. Check the Feedback 1 signal or adjust the Feedback Reaction Time.
Reset the fault.
500BH Feedback 2 did not turn OFF (0) within the Feedback Reaction Time. Check the Feedback 2 signal or adjust the Feedback Reaction Time.
Reset the fault.
Table 52 - CROUT Diagnostic Codes and Corrective Actions

00H No fault. None.
21H The Output Status input transitioned from ON (1) to OFF (0) Check the I/O module connection.
while the instruction was executing.
5000H The Actuate input is held ON (1). Set the Actuate input to OFF (0).

CROUT Wiring and Programming Example
This wiring diagram shows how to use the Configurable Redundant Output
instruction with a 1791DS-IB8XOB8 module for motor control. The
application includes a momentary push button for reset.

24V DC
L1 L2 L3
Fuses
Momentary
K1 Push Button
(reset)
K2
Contact Protection
(for example, thermal cut-out or
suppression)
1 21 13 3 14 4 10
V0 V1 T0 I0 T1 I1 I07
DeviceNet
1791DS-IB8XOB8 Module 1
G0 G1 O0 O1
11 31 23 24
Fuses
K1 K2
24V Ground

This programming diagram logically illustrates the instruction with inputs and
outputs.

MotorControl
CROUT
Negative Feedback Type Output 1 Module1:O.Pt00Data
TBD ms Feedback Reaction Time Output 2 Module1:O.Pt01Data
See Note 1 Actuate

Module1:I.Pt00Data Feedback 1
Module1:I.InputStatus Input Status

Module1:I.OutputStatus Output Status


CROUT
Configurable Redundant Output
CROUT MotorControl O1
Feedback Type NEGATIVE
Feedback Reaction Time (Msec) 250 O2
Actuate SeeNote1
0 FP
Feedback 1 Module3:I.Pt00Data
0
0
0
Output Status Module3:I.OutputStatus
0
0
MotorControl.O1 Module3:O.Pt00Data
MotorControl.O2 Module3:O.Pt01Data
NOTE 1: This tag is an internal Boolean tag that has its value determined by other parts of the user
application that are not shown in this example.




Two-sensor Asymmetrical
Muting (TSAM)
This instruction provides a temporary, automatic disabling of the protective

function of a light curtain, which allows material to be transported though the
light-curtain sensing field without stopping the machine. Muting sensors
differentiate between materials and personnel, and must act together along with
the light curtain, in a specific switching sequence when the appropriate material
passes the sensing field.

Two-sensor Asymmetrical Muting uses two muting sensors that are arranged
asymmetrically on either side of the light curtain. Their sensors intersect just
behind the light curtain in the center of the protected opening.
Figure 107 - Two-sensor Asymmetrical Muting Application

Muting Lamp
Sensor
1
Material
Sensor
2
ATTENTION: The muting sensors must be arranged so a person cannot activate

the muting sensors in the same switching sequence as the material and enter
the area when a hazardous condition exists. Sensor setup must take into
account material size, shape, and speed. Additional guarding may also be
necessary.
Specific guarding requirements should be identified through a hazard or risk
assessment of your application.
TSAM Instruction Parameters

circumstances.


instruction. The parameters cannot be changed at runtime.
Table 53 - TSAM Configuration Parameters
Restart Type Boolean Configures Output 1 for either Manual or Automatic Restart.
! that no unsafe conditions can occur as a result of its use.
S1-S2 Time DINT The maximum amount of time that is allowed between clearing or blocking of the muting sensor inputs (Sensor 1 and
Sensor 2) before generating a fault.
The valid range is 5180,000 ms. Setting this input to 0 disables the S1-S2 timer.
S2-LC Time DINT The maximum amount of time that is allowed between clearing or blocking of the Sensor 2 muting sensor and the Light
Curtain before generating a fault.
The valid range is 5180,000 ms. Setting this input to 0 disables the S2-LC timer.
Maximum Mute Time DINT The maximum amount of time during which the instruction lets the protective function of the light curtain be disabled
The valid range is 03600 s. Setting this input to 0 disables the Maximum Mute timer.
Maximum Override Time DINT The maximum amount of time that the instruction lets the override feature energize the Output 1 output.
The valid range is 030 s. Setting this input to 0 disables the Maximum Override timer.

Table 54 - TSAM Inputs
Parameters Data Type Description
Light Curtain Boolean An input channel with OFF (0) as its safe state, this input represents the current state of the physical light curtain. You are
responsible for properly conditioning this input. Typically conditioning is accomplished by using Dual Channel Input Stop
instruction controlling a light curtain.
ON (1): The light curtain is clear.
OFF (0): The light curtain is blocked.
Sensor 1 Boolean One of two muting sensors, Sensor 1 must be the first sensor to be blocked and the last to be cleared in the muting sequence.
ON (1): Sensor 1 is clear.
OFF (0): Sensor 1 is blocked.
Sensor 2 Boolean One of two muting sensors, Sensor 2 must be the second sensor to be blocked and the first to be cleared in the muting sequence.
Enable Mute Boolean This input allows the protective function of the light curtain to be disabled (muted) when the correct muting sequence occurs.
ON (1): The protective function of the light curtain is disabled when the correct muting sequence occurs.
OFF (0): The protective function of the light curtain is always enabled.
Override Boolean This input allows a temporary bypass of the muting instructions function. Output 1 is energized regardless of the status of the
Input Status input or the existence of faults.
OFF (0): Override function is disabled.
OFF (0) -> ON (1): Output 1 is energized regardless of the status of the Input Status input or the existence of faults. Output 1
remains energized while the Override input remains ON (1) or until the Maximum Override timer expires.
ATTENTION: Activation of the override function requires the use of a hold-to-run device where the
! operator can see the point of hazard, that is, the light-curtain sensing field.
Input Status Boolean If the instruction inputs are from a safety I/O module, this value is the status from the I/O module or modules (Connection Status or
Combined Status). If the instruction inputs are derived from internal logic, it is the application programmers responsibility to

Table 54 - TSAM Inputs

Muting Lamp Status Boolean This input represents the status of the muting lamp.
ON (1): The muting lamp is operating properly. The light curtains protective function is disabled (muted) after the correct muting
sequence is followed.
OFF (0): The muting lamp is defective or missing. The light curtains protective function is always enabled.
Output 1 is energized when the Restart Type is Manual. Output 1 is not energized at the same time faults are cleared.

Table 55 - TSAM Outputs
Output 1 (O1) Boolean ON (1): The light-curtain sensing field is not obstructed, the light curtain is being muted, or the light curtain is being overridden.
Muting Lamp (ML) Boolean This output indicates the status of the light curtains protective function.
ON (1): The light curtains protective function is disabled.
OFF (0): The light curtains protective function is enabled.
Clear Area (CA) Boolean This output indicates when the light-curtain sensing field must be cleared (all muting sensors and the light curtain are ON) before
processing can continue.
ON (1): The light-curtain sensing field must be cleared.
Fault Code DINT This output indicates the type of fault that occurred. See TSAM Fault Codes on page 150 for the list of fault codes.
TSAM Normal Operation
One sequence of muting sensor and light-curtain input transitions lets the
protective function of the light curtain be disabled (muted). That sequence must
start with both of the muting sensors and the light curtain in their ON (1) state,
which indicates that the light-curtain sensing field is clear of all personnel and
material.
At (A), the Sensors and the Light Curtain are cleared and the Output 1 output is
energized when the Reset input turns ON (1). At (B), the material blocks Sensor
1, starting the S1-S2 timer. At (C), the material blocks Sensor 2 within the S1-S2
Time period, so the S1-S2 timer stops. The S2-LC and Maximum Mute timers
start. The Muting Lamp output turns ON (1), indicating that muting is enabled.
At (D), the material blocks the Light Curtain within the S2-LC Time period, so
the S2-LC timer stops. From (D) to (E), Output 1 remains energized while the
material passes through the Light Curtain. At (E), the material clears the Light

Curtain, starting the LC-S2 timer. At (F), the material clears Sensor 2 within the
S2-LC and Maximum Mute time periods, so both timers stop. The S2-S1 timer
starts and the Muting Lamp output turns OFF (0), indicating that muting is
disabled. At (G), the material clears Sensor 1, stopping the S2-S1 timer.
1
Enable Mute
0
1
Sensor 1
0
t1 t1
1
Sensor 2
0
t2 t2
1
Light Curtain
0
t3
1
Reset
0
Muting Lamp Status 1

0
1
Output 1
0
1
Muting Lamp
0
A B C D E F G
t1: S1-S2 Time t2: S2-LC Time
t3: Maximum Mute Time Restart Type = Manual

TSAM Invalid Sequence
Any input sequence other than the normal operation sequence results in Output
1 being de-energized.
At (A), Output 1 is energized as in a normal sequence of operation. At (B),

Sensor 1 and Sensor 2 are simultaneously blocked, causing Output 1 to be de-
energized and the Fault Present and Clear Area outputs to turn ON (1). The
override feature can be used to clear the material from the light-curtain sensing
field and de-energize the Clear Area output.
Figure 109 - Invalid Sequence Timing Diagram

1
Enable Mute
0
1
Sensor 1
0
1
Sensor 2
0
1
Light Curtain
0
1
Reset
0

0
1
Clear Area
0
1
Output 1
0
1
Fault Present
0
A B

TSAM Tolerated Sequence
The Two-sensor Asymmetrical Muting (TSAM) instruction tolerates application

dynamics that might cause an input to oscillate due to overtravel or load
vibration.

Sensor 1 turns OFF (0), starting the S1-S2 timer. Sensor 1 turns ON (1) at (C),
stopping the S1-S2 timer. At (D), the material completely blocks Sensor 1,
turning it OFF (0), and the normal muting sequence continues. A sensor can
glitch, as illustrated from (B) to (C), as a result of overtravel or load vibration. As
long as the final input sequence is valid, the instruction lets the muting function
occur.
Figure 110 - Tolerated Sequence Timing Diagram
1
Enable Mute
0
1
Sensor 1
0
t1 t1
1
Sensor 2
0
t2 t2
1
Light Curtain
0
t3
1
Reset
0

0
1
Output 1
0
1
Muting Lamp
0
A B C D

TSAM Dangerous Portion of Cycle
The Enable Mute input enables or disables the protective function of the light
curtain. When the Enable Mute input is OFF (0), the protective function of the
light curtain is enabled and material may not pass through the light-curtain
sensing field.
At (A), Output 1 is energized as in a normal sequence of operation. At (B), the

material blocks Sensor 1, turning it OFF (0) and starting the S1-S2 timer. At (C),
the material blocks Sensor 2 within the S1-S2 time period so the S1-S2 timer
stops and the S2-LC timer starts. Because the Enable Mute input is OFF (0),
muting is disabled and the Muting Lamp output remains OFF (0). The material
blocks the Light Curtain at (D), and Output 1 is de-energized.7
Figure 111 - Dangerous Portion of Cycle Timing Diagram

1
Enable Mute
0
1
Sensor 1
0
t1
1
Sensor 2
0
t2
1
Light Curtain
0
1
Reset
0
1
Muting Lamp Status
0
1
Output 1
0
1
Muting Lamp
0
A B C D

TSAM Override Operation
The override feature lets an operator manually energize Output 1 so that material
can be cleared from the sensing field.
ATTENTION: The Override function may be used only with a hold-to-

run device where the operator can see the point of hazard, that is, the
light-curtain sensing field.
At (A), the Override input turns ON (1). Output 1 is energized and the
Maximum Override timer starts. At (B), the material clears Sensor 1 and the
Clear Area output is turned OFF (0). At (C), the Override input turns OFF (0)
within the Maximum Override time period. Output 1 is de-energized and the
Maximum Override timer stops.
Figure 112 - Override Timing Diagram

1
Override
0
t1
1
Enable Mute
0
1
Sensor 1
0
1
Sensor 2
0
1
Light Curtain
0
1
Reset
0

0
1
Clear Area
0
1
Output 1
0
A B C
t1: Maximum Override Time Restart Type = Manual
TSAM False Rung State Behavior
energized.

TSAM Fault Codes

Table 56 - TSAM General Fault Codes
00H No fault. None.
20H The Input Status input went from ON (1) to OFF (0) while the instruction was Check the I/O module connection or the internal logic that is used to source
executing. input status.
Reset the fault.
Table 57 - TSAM Sensor Input Pattern Fault Codes

9600H An illegal input pattern was detected. Sensor 1 and the Light Curtain are Sensor 2 should also be blocked.
blocked and Sensor 2 is cleared. Check the Sensor 2 circuit.
Reset the fault.
S1 S2 LC
0 1 0
9601H An illegal input pattern was detected. Sensor 2 and the Light Curtain are Sensor 1 should also be blocked.
blocked and Sensor 1 is cleared. Check the Sensor 1 circuit.
Reset the fault.
S1 S2 LC
1 0 0
9602H An illegal input pattern was detected. Sensor 2 is blocked when Sensor 1 Sensor 2 should also be clear. Sensor 1 should be the first to be blocked.
and the Light Curtain are cleared. Check the Sensor 2 circuit and the alignment of Sensors 1 and 2.
Reset the fault.
S1 S2 LC
1 0 1
9603H An illegal input pattern was detected. Sensor 1 and Sensor 2 are cleared and The Light Curtain should not be blocked when Sensors 1 and 2 are clear.
the Light Curtain is blocked. Check the Light Curtain circuit.
Reset the fault.
S1 S2 LC
1 1 0
Figure 113 - Normal and Tolerated Muting Sequences

S1 S2 LC Step
Normal 1 1 1 1
Tolerated 0 1 1 2
Illegal 0 0 1 3
An illegal muting sequence is a legal input combination 0 0 0 4
that deviates from the normal or tolerated sequences.
0 0 1 5
0 1 1 6
1 1 1 1

Table 58 - TSAM Muting Sequence Fault Codes

Fault Description Fault Description
Code Code
9500H An illegal muting sequence was detected when Sensor 1 (S1) and Sensor 2 9501H An illegal muting sequence was detected when Sensor 1, Sensor 2, and the
(S2) are simultaneously blocked in step 1. Light Curtain (LC) are simultaneously blocked in step 1.
S1 S2 LC Step S1 S2 LC Step
1 1 1 1 1 1 1 1
0 0 1 0 0 0
9502H An illegal muting sequence was detected when Sensor 2 and the Light 9503H An illegal muting sequence was detected when Sensor 1 and Sensor 2 are
Curtain are simultaneously blocked in step 2. simultaneously cleared in step 3.
1 1 1 1 1 1 1 1
0 1 1 2 0 1 1 2
0 0 0 0 0 1 3
1 1 1
9504H An illegal muting sequence was detected when Sensor 1, Sensor 2, and the 9505H An illegal muting sequence was detected when Sensor 2 and the Light
Light Curtain are simultaneously cleared in step 4. Curtain are simultaneously cleared in step 4.
1 1 1 1 1 1 1 1
0 1 1 2 0 1 1 2
0 0 1 3 0 0 1 3
0 0 0 4 0 0 0 4
1 1 1 0 1 1

Table 58 - TSAM Muting Sequence Fault Codes

Code Code
9506H An illegal muting sequence was detected when Sensor 1 and Sensor 2 are 9507H An illegal muting sequence was detected when Sensor 2 and the Light
simultaneously cleared in step 5. Curtain are simultaneously blocked in step 6.
1 1 1 1 1 1 1 1
0 1 1 2 0 1 1 2
0 0 1 3 0 0 1 3
0 0 0 4 0 0 0 4
0 0 1 5 0 0 1 5
1 1 1 0 1 1 6
0 0 0
9508H An illegal muting sequence was detected after the sequence transitions 9509H An illegal muting sequence was detected after the sequence transitions
from step 5 to step 6 to step 5 (a tolerated sequence) when Sensor 1 and from step 5 to step 6 to step 5 (a tolerated sequence) when the Light Curtain
Sensor 2 are cleared. is blocked.
1 1 1 1 1 1 1 1
0 1 1 2 0 1 1 2
0 0 1 3 0 0 1 3
0 0 0 4 0 0 0 4
0 0 1 5 0 0 1 5
0 1 1 6 0 1 1 6
0 0 1 5 0 0 1 5
1 1 1 0 0 0

To correct an invalid sequence fault, check the alignment of the sensors with the
material being moved and the system timing and then reset the fault.
Table 59 - Correcting Invalid Sequence Faults
9000H The Light Curtain was muted for longer than the configured Maximum Mute The Maximum Mute Time parameter is set too short or there is an anomaly
Time. with the sensors.
9410H Too much time has elapsed between Sensor 1 and Sensor 2 being blocked. The S1-S2 Time parameter is set too short or there is an anomaly with
Sensor 2.
9411H Too much time has elapsed between Sensor 2 and the Light Curtain being The S2-LC Time parameter is set too short or there is an anomaly with Sensor
blocked. 2.
9412H Too much time has elapsed between the Light Curtain and Sensor 2 being The S2-LC Time parameter is set too short or there is an anomaly with Sensor
cleared. 2.
9413H Too much time has elapsed between Sensor 2 and Sensor 1 being cleared. The S1-S2 Time parameter is set too short or there is an anomaly with
Sensor 2.
TSAM Diagnostic Codes

Table 60 - TSAM Diagnostic Codes and Corrective Actions
00H No fault. None.
01H The Muting Lamp Status input is OFF (0). Check the muting lamp and replace it, if necessary.
If a muting lamp is not required, set the Muting Lamp Status input to ON
(1).

TSAM Wiring and Programming Example
This wiring diagram shows how to wire a light curtain and two muting sensors to
a 1791DS-IB12 module to illustrate the use of the Two-sensor Asymmetrical
Muting instruction. The application includes a hold-to-run switch and a
momentary push button for reset.

24V DC
Momentary
Muting Sensors
Push Button
(reset)
+ 24V DC + 24V DC
OSSD 1
OSSD 2 Hold-to-run
Key Switch
0V DC 0V DC
Light Curtain
1 3 4 5 6 20 19 9 10 24
V I0 I1 I2 I3 T1 T0 I6 I7 I11
DeviceNet
G T2 T3
11 25 28
Clear Area Muting Lamp

Lamp
24V Ground

The programming diagram logically illustrates how the Two-sensor

Asymmetrical Muting instruction is typically used with a DCI Stop (light
curtain) and DCI Start (hold-to-run switch) instruction.

Light Curtain1
DCS
Equivalent Active High Input Type Output 1
Automatic Restart Type
Automatic Coldstart Type
TwoSensorAsymmetricalMutingFunction
Module1:I.CombinedStatus Input Status TSAM
Module1:I.Pt11Data Reset Fault Present TBD ms S1-S2 Time Muting Lamp Module1:O.Test03Data
TBD ms S2-LC Time Clear Area Module1:O.Test02Data
TBD ms Maximum Mute Time
TBD ms Maximum Override Time
Light Curtain
Module1:I.Pt02Data Sensor 1
See Note 1 Enable Mute
Override
Input Status
Module1:I.MutingStatus Muting Lamp Status
Reset Fault Present
HoldToRunKeySwitch
DCSRT
1 Enable
Input Status
Reset Fault Present
Note 1: This tag is an internal Boolean tag that represents the nonhazardous portion of the machine cycle. Its value is determined by other parts of the user application that are not shown in this example.
When the protected hazard is present, this tag value should be False (0). When the protected hazard is not present, this tag value should be True (1). When the value of this tag is True (1), the
muting instruction allows the light curtain to become muted only if the proper input sequence is detected. When the value of this tag is False (0), the muting instruction does not allow the light
curtain to become muted, even if the proper input sequence is detected.



DCS
DCS LightCurtain1 O1
Restart Type AUTOMATIC
Cold Start Type AUTOMATIC
1
1
1
0
DCSRT
DCSRT HoldToRunKeySwitch O1
Safety Function USER DEFINED
Enable ALWAYS_ENABLED
1
0
1
1
0
TSAM
Two Sensor Asymmetrical Muting
TSAM TwoSensorAsymmetricalMutingFunction O1
Restart Type MANUAL
S1-S2 Time (Msec) 5000 ML
S2-LC Time (Msec) 5000
Maximum Mute Time (Sec) 20 CA
Maximum Override Time (Sec) 10
Light Curtain LightCurtain1.O1 FP
0
Sensor 1 Module1:I.Pt02Data
0
1
Enable Mute SeeNote1
0
Override HoldToRunKeySwitch.O1
0
1
1
0
TwoSensorAsymmetricalMutingFunction.ML Module1:O.Test03Data
TwoSensorAsymmetricalMutingFunction.CA Module1:O.Test02Data
Note 1: This tag is an internal Boolean tag that represents the nonhazardous portion of the machine cycle. Its value is determined by other
parts of the user application that are not shown in this example. When the protected hazard is present, this tag value should be
False (0). When the protected hazard is not present, this tag value should be True (1). When the value of this tag is True (1), the
muting instruction allows the light curtain to become muted only if the proper input sequence is detected. When the value of this
tag is False (0), the muting instruction does not allow the light curtain to become muted, even if the proper input sequence is
detected.

When defining the module, selecting Combined Status-Muting lets the muting
lamp be monitored. Choosing Test for Output Data lets safety logic control Test
Output 3 to drive the Muting Lamp and Test Output 2 to drive the Clear Area
lamp.

The safety inputs that interface with the Light Curtain (Points 1 and 2) are not
pulse-tested because the Light Curtain pulse-tests its own signals.

Configuring Test Output 3 for Muting Lamp causes the I/O module to monitor
the lamp that is connected to this output.

Two-sensor Symmetrical
Muting (TSSM)

differentiate between materials and personnel, and must act together along with

Two-sensor Symmetrical Muting uses two muting sensors that are arranged
symmetrically on either side of the light curtain. Their sensors intersect at or just
behind the light curtain in the center of the protected opening.
Figure 120 - Two-sensor Symmetrical Muting Application

Sensor Muting Lamp
1
Material
Sensor
2

the area when a hazardous condition exists. Sensor setup must take into account
material size, shape, and speed. Additional guarding may also be necessary.
TSSM Instruction Parameters

circumstances.


Table 61 - TSSM Configuration Parameters
! that no unsafe conditions can occur as a result of its use.
S1S2 Discrepancy Time DINT The maximum amount of time the muting sensors (Sensor 1 and Sensor 2) may be inconsistent before a fault occurs.
The valid range is 5180,000 ms.
S1S2-LC Minimum Time DINT When material is entering the light-curtain sensing field, this time specifies how long to wait before the material is
allowed to block the Light Curtain after Sensor 1 and Sensor 2 have been blocked. When material is exiting the light-
curtain sensing field, this time specifies how long to wait before the material is allowed to clear Sensor 1 and Sensor 2 after
clearing the Light Curtain. If the S1S2-LC Minimum Time is exceeded, a fault occurs.
S1S2-LC Maximum Time DINT When material is entering the light-curtain sensing field, this time specifies the maximum time to wait for the material to
block the Light Curtain after Sensor 1 and Sensor 2 have been blocked. When material is exiting the light-curtain sensing
field, this time specifies the maximum time to wait for the material to clear Sensor 1 and Sensor 2 after clearing the Light
Curtain. If the S1S2-LC Maximum Time is exceeded, a fault occurs.
Maximum Mute Time DINT The maximum amount of time during which the instruction lets the protective function of the light curtain be disabled


Table 62 - TSSM Inputs
responsible for properly conditioning this input. Typically conditioning is accomplished by using Dual Channel Input Stop
Sensor 1 Boolean One of two muting sensors, Sensor 1 must be blocked or cleared within the S1S2 Discrepancy Time of Sensor 2 being
blocked or cleared.
Sensor 2 Boolean One of two muting sensors, Sensor 2 must be blocked or cleared within the S1S2 Discrepancy Time of Sensor 1 being
blocked or cleared.
Enable Mute Boolean This input allows the protective function of the light curtain to be disabled (muted) when the correct muting sequence
occurs.
Override Boolean This input allows a temporary bypass of the muting instructions function.
OFF (0) -> ON (1): Output 1 is energized regardless of the status of the Input Status input or the existence of faults. Output
1 remains energized while the Override input remains ON (1) or until the Maximum Override timer expires.
ATTENTION: Activation of the override function requires the use of a hold-to-run device where
! the operator can see the point of hazard, that is, the light-curtain sensing field.
Input Status Boolean If the instruction inputs are from a safety I/O module, this value is the status from the I/O module or modules (Connection
Status or Combined Status). If the instruction inputs are derived from internal logic, it is the application programmers
ON (1): The muting lamp is operating properly. The light curtains protective function is disabled (muted) after the correct
muting sequence is followed.


Table 63 - TSSM Outputs
Output 1 (O1) Boolean ON (1): The light-curtain sensing field is not obstructed, the light curtain is being muted, or the light curtain is being
overridden.
Muting Lamp (ML) Boolean This output indicates the status of the light curtains protective function.
ON (1): The light curtains protective function is disabled.
Clear Area (CA) Boolean This output indicates when the light-curtain sensing field must be cleared (all muting sensors and the light curtain are ON)
before processing can continue.
Fault Code DINT This output indicates the type of fault that occurred. See TSSM Fault Codes on page 169 for the list of fault codes.
TSSM Normal Operation
One sequence of muting sensor and light-curtain input transitions lets the
protective function of the light curtain be disabled (muted). That sequence must
start with both of the muting sensors (S1, S2) and the light curtain in their ON
(1) state, which indicates that the light-curtain sensing field is clear of all
personnel and material.
See Figure 121 on page 164.

At (A), the Sensors and the Light Curtain are cleared and the Output 1 output is
energized when the Reset input turns ON (1). The material blocks Sensor 1 at
(B), starting the S1S2 Discrepancy timer. At (C), the material blocks Sensor 2,
stopping the S1S2 Discrepancy timer and starting the S1S2-LC Minimum, the
S1S2-LC Maximum, and the Maximum Mute timers. At (D), the S1S2-LC
Minimum time period expires, starting the Maximum Mute timer and turning
the Muting Lamp output ON (1). At (E), the material blocks the Light Curtain
within the S1S2-LC Maximum time period, stopping the S1S2-LC Maximum
timer. From (E) to (F), Output 1 remains energized while the material passes
through the Light Curtain. At (F), the material clears the Light Curtain and the
S1S2-LC Minimum timer starts. At (G), the S1S2-LC Minimum time period
expires. The Muting Lamp output turns OFF (0) and the Maximum Mute timer
is stopped, indicating that muting is disabled. The material clears Sensor 2 at (H),
starting the S1S2 Discrepancy timer. At (I), the material clears Sensor 1 within
the S1S2-LC Maximum time period, stopping the S1S2 Discrepancy timer.

1
Enable Mute
0
1
Sensor 1
0
t1 t1
1
Sensor 2
0
> t2 > t2
1
Light Curtain
0
t3 t3
1
Reset t4
0

0
1
Output 1
0
1
Muting Lamp
0
A B C D E F G H I
t1: S1S2 Discrepancy Time t2: S1S2-LC Minimum Time
t3: S1S2-LC Maximum Time t4: Maximum Mute Time

TSSM Invalid Sequence

material blocks Sensor 1, starting the S1S2 Discrepancy timer. The material
blocks Sensor 2 at (C), stopping the S1S2 Discrepancy timer, starting the S1S2-
LC Minimum timer and the S1S2 Maximum timer. At (D), the Light Curtain is
blocked during the S1S2-LC Minimum Time period, causing Output 1 to be de-
energized. The S1S2-LC Maximum timer stops.
1
Enable Mute
0
1
Sensor 1
0
< t1
1
Sensor 2
0
< t2
1
Light Curtain
0
t3
1
Reset
0
uting Lamp Status 1

0
1
Output 1
0
1
Muting Lamp
0
A B C D
t3: S1S2-LC Maximum Time Restart Type = Manual

TSSM Tolerated Sequence
The Two-sensor Symmetrical Muting (TSSM) instruction tolerates application

vibration.

Sensor 2 turns OFF (0), starting the S1S2 Discrepancy timer. Sensor 2 turns ON
(1) at (C), stopping the S1S2 Discrepancy timer. At (D), the material completely
blocks Sensor 2, turning it OFF (0), and the normal muting sequence continues.
A sensor can glitch, as illustrated from (B) to (C), as a result of overtravel or load
vibration. As long as the final input sequence is valid, the instruction lets the
muting function occur.
1
Enable Mute
0
1
Sensor 1
0 t1
t1 t1
1
Sensor 2
0
> t2 > t2
1
Light Curtain
0
t3 t3
1
Reset t4
0

0
1
Output 1
0
1
Muting Lamp
0
A B C D
t3: S1S2-LC Maximum Time t4: Maximum Mute Time

TSSM Dangerous Portion of Cycle
sensing field.

material blocks Sensor 1 and Sensor 2, turning them OFF (0), and starting the
S1S2-LC Minimum, the S1S2-LC Maximum, and the Maximum Mute timers.
Because the Enable Mute input is OFF (0), muting is disabled and the Muting
Lamp output remains OFF (0). At (C), the S1S2-LC Minimum time period
expires. The material blocks the Light Curtain at (D), and Output 1 is de-
energized.
1
Enable Mute
0
1
Sensor 1
0
1
Sensor 2
0
> t1
1
Light Curtain
0
t2
1
Reset t3
0

0
1
Output 1
0
1
Muting Lamp
0
A B C D
t1: S1S2-LC Minimum Time t2: S1S2-LC Maximum Time

TSSM Override Operation
The override feature lets an operator manually energize Output 1 so that material
can be cleared from the light-curtain sensing field.
ATTENTION: The Override function may be used only with a hold-to-run device
where the operator can see the point of hazard, that is, the light-curtain sensing
field.
Maximum Override timer starts. At (B), the material clears Sensor 1 and the
Clear Area output turns OFF (0). At (C), the Override input turns OFF (0)
within the Maximum Override time period. Output 1 is de-energized and the

1
Override
0
t1
1
Enable Mute
0
1
Sensor 1
0
1
Sensor 2
0
1
Light Curtain
0
1
Reset
0

0
1
Clear Area
0
1
Output 1
0
A B C
TSSM False Rung State Behavior
energized.

TSSM Fault Codes

Table 64 - TSSM General Fault Codes
00H None. None.
20H The Input Status input went from ON (1) to OFF (0) while the instruction was Check the I/O module connection or the internal logic that is used to
executing. source input status.
Reset the fault.
Table 65 - TSSM Sensor Input Pattern Fault Codes

9A00H An illegal input pattern was detected. Sensor 1 and the Light Curtain are blocked Sensor 2 should also be blocked.
and Sensor 2 is cleared. Check the Sensor 2 circuit.
Reset the fault.
S1 S2 LC
0 1 0
9A01H An illegal input pattern was detected. Sensor 2 and the Light Curtain are blocked Sensor 1 should also be blocked.
and Sensor 1 is cleared. Check the Sensor 1 circuit.
Reset the fault.
S1 S2 LC
1 0 0
9A02H An illegal input pattern was detected. Sensor 1 and Sensor 2 are cleared and the The Light Curtain should not be blocked when Sensors 1 and 2 are clear.
Light Curtain is blocked. Check the Light Curtain circuit.
Reset the fault.
S1 S2 LC
1 1 0

Figure 126 - Normal and Tolerated Muting Sequences

S1 S2 LC Step
Normal
1 1 1 1
Tolerated 0 0 1 2
Illegal INC 1 3
INC = Inconsistent state where Sensor 1 and Sensor 2 are not
both ON (1) or both OFF (0).
0 0 0 4
An illegal muting sequence is a legal input combination that 0 0 1 5
deviates from the normal or tolerated sequences.
1 1 1 6
Table 66 - TSSM Muting Sequence Fault Codes
Code Code
9900H An illegal muting sequence was detected when Sensor 1, Sensor 2, and 9901H An illegal muting sequence was detected while the S1S2-LC Minimum timer is
the Light Curtain are simultaneously blocked in step 1. timing and the Light Curtain becomes blocked in step 2.
S1 S2 LC Step
S1 S2 LC Step
1 1 1 1 1 1 1 1
0 0 0 0 0 1 2
0 0 0
9902H An illegal muting sequence was detected after the S1S2-LC Minimum Time 9903H An illegal muting sequence was detected when Sensor 1, Sensor 2, and the
expires and Sensor 1 and Sensor 2 are simultaneously cleared in step 2. Light Curtain are simultaneously cleared in step 3.
1 1 1 1 1 1 1 1
0 0 1 2 0 0 1 2
1 1 1 0 0 0 3
1 1 1

Table 66 - TSSM Muting Sequence Fault Codes

Code Code
9904H An illegal muting sequence was detected when Sensor 1 and Sensor 2 9905H An illegal muting sequence was detected while the LC-S1S2 Minimum timer is
became inconsistent while the Light Curtain was blocked in step 4. timing and Sensor 1 and Sensor 2 are cleared in step 4.
1 1 1 1 1 1 1 1
0 0 1 2 0 0 1 2
0 0 0 3 0 0 0 3
INC 0 0 0 1 4
1 1 1
9906H An illegal muting sequence was detected while the LC-S1S2 Minimum 9907H An illegal muting sequence was detected while the S1S2 Discrepancy timer is
timer is timing and Sensor 1 and Sensor 2 become inconsistent in step 4. timing in step 2 (a tolerated sequence) when Sensor 1, Sensor 2, and the light
curtain are simultaneously blocked.
S1 S2 LC Step
S1 S2 LC Step
1 1 1 1
1 1 1 1
0 0 1 2
INC 1 2
0 0 0 3
0 0 0
0 0 1 4
INC 1
To correct an invalid sequence fault, check the alignment of the sensors with the
material being moved and the system timing and then reset the fault.
9000H The Light Curtain was muted for longer than the configured Maximum Mute The Maximum Mute Time parameter is set too short or there is an anomaly with
Time. the sensors.
9810H Too much time has elapsed between Sensor 1 and Sensor 2 becoming The S1S2 Discrepancy Time parameter is set too short or there is an anomaly with
consistent. the sensors.
9811H Too much time has elapsed between Sensor 1 and Sensor 2 being blocked
and the Light Curtain being blocked. The S1S2-LC Maximum Time parameter is set too short or there is an anomaly
9812H Too much time has elapsed between the Light Curtain being cleared and with the sensors.
Sensor 1 or Sensor 2 being cleared.

TSSM Diagnostic Codes

Table 68 - TSSM Diagnostic Codes and Corrective Actions
00H No fault. None.
(1).
20H The Input Status input was OFF (0) when the instruction Check the I/O module connection or the logic that is used to source input
started. status.
TSSM Wiring and Programming Example
This wiring diagram shows how to wire a light curtain and two muting sensors to
a 1791DS-IB12 module to illustrate the use of the Two-sensor Symmetrical
Muting instruction.

24V DC
Muting Sensors Momentary

Push Button
(reset)
+ 24V DC + 24V DC
OSSD 1
OSSD 2 Hold-to-run
Key Switch
0V DC 0V DC
Light Curtain
1 3 4 5 6 20 19 9 10 24
V I0 I1 I2 I3 T1 T0 I6 I7 I11
DeviceNet
G T2 T3
11 25 28

Lamp
24V Ground

This programming diagram logically illustrates how the Two-sensor Symmetrical

Muting instruction is typically used with a DCI Stop (light curtain) and DCI
Start (hold-to-run switch) instruction.

Light Curtain1
DCS
Automatic Coldstart Type
TwoSensorSymmetricalMutingFunction
Module1:I.Pt00Data Channel A TSSM
Module1:I.CombinedStatus Input Status TBD ms S1-S2 Discrepancy Time Muting Lamp Module1:O.Test03Data
TBD ms S1, S2-LC Minimum Time Clear Area Module1:O.Test02Data
Module1:I.Pt11Data Reset Fault Present TBD ms S1, S2-LC Maximum Time
TBD ms Maximum Mute Time
Light Curtain
Override
Input Status
Reset Fault Present
HoldToRunKeySwitch
DCSRT
1 Enable
Input Status
Reset Fault Present
Note 1: This tag is an internal Boolean tag that represents the nonhazardous portion of the machine cycle. Its value is determined by other parts of the user application that are not shown in this example.
When the protected hazard is present, this tag value should be False (0). When the protected hazard is not present, this tag value should be True (1). When the value of this tag is True (1), the



DCS
1
1
1
0
DCSRT
1
0
1
1
0
TSSM
Two Sensor Symmetrical Muting
TSSM TwoSensorSymmetricalMutingFunction O1
Restart Type MANUAL
S1-S2 Discrepancy Time (Msec) 1000 ML
S1,S2-LC Minimum Time (Msec) 5000
S1,S2-LC Maximum Time (Msec) 8000 CA
Maximum Mute Time (Sec) 20
Maximum Override Time (Sec) 10 FP
Light Curtain LightCurtain1.O1
0
0
1
0
0
1
1
0
TwoSensorSymmetricalMutingFunction.ML Module1:O.Test03Data
TwoSensorSymmetricalMutingFunction.CA Module1:O.Test02Data
Note 1:This tag is an internal Boolean tag that represents the nonhazardous portion of the machine cycle. Its value is determined by
other parts of the user application that are not shown in this example. When the protected hazard is present, this tag value
should be False (0). When the protected hazard is not present, this tag value should be True (1). When the value of this tag is
True (1), the muting instruction allows the light curtain to become muted only if the proper input sequence is detected. When
the value of this tag is False (0), the muting instruction does not allow the light curtain to become muted, even if the proper
input sequence is detected.

When defining the module, setting the Input Status to Combined Status-Muting
provides the smallest input packet possible and lets the muting lamp status be
monitored. Choosing Test for Output Data lets safety logic control Test Output
3 to drive the Muting Lamp and Test Output 2 to drive the Clear Area Lamp.



Four-sensor Bidirectional
Muting (FSBM)

differentiate between materials and personnel and must act together along with
The Direction input sets the expected direction from which the material passes
through the sensing field. Once this direction is established, and providing the
proper sequencing of the sensors and light curtain is maintained, bidirectional
movement of the material is permitted.

Four-sensor Bidirectional Muting uses four muting sensors that are arranged
sequentially before and after the light curtains center of the protected opening.
Figure 133 - Four-sensor Bidirectional Muting Application

Muting Lamp
Sensor Sensor Sensor Sensor
1 2 3 4
Material

the area when a hazardous condition exists. Sensor setup must take into
account material size, shape, and speed. Additional guarding may also be
necessary.
FSBM Instruction Parameters



Table 69 - FSBM Configuration Parameters
Manual A transition of the Reset input from OFF (0) to ON (1), while all Output 1 enabling conditions are met, is required
to energize Output 1.
ATTENTION: Automatic Restart may be used only in application situations where you can prove that no
! unsafe conditions can occur as a result of its use.
S1-S2 Time DINT The maximum amount of time that is allowed between Sensor 1 being blocked and Sensor 2 being blocked before a fault occurs.
S2-LC Time DINT The maximum amount of time that is allowed between Sensor 2 being blocked and the Light Curtain being cleared before a fault
occurs.
The valid range is 5180,000 ms. Setting this input to 0 disables the S2-LC timer.
LC-S3 Time DINT The maximum amount of time that is allowed between Sensor 3 being blocked and the Light Curtain being blocked before a fault
occurs.
The valid range is 5180,000 ms. Setting this input to 0 disables the LC-S3 timer.
S3-S4 Time DINT The maximum amount of time that is allowed between Sensor 3 being blocked and Sensor 4 being blocked before a fault occurs.
Maximum Mute Time DINT The maximum amount of time during which the instruction lets the protective function of the light curtain be disabled before
generating a fault.

Table 70 - FSBM Inputs
Direction Boolean This input specifies the sequencing direction.
ON (1): Forward. The muting sequence begins with the blocking of Sensor 1.
OFF (0): Reverse. The muting sequence begins with the blocking of Sensor 4.
responsible for properly conditioning this input. Typically, conditioning is accomplished by using Dual Channel Input Stop
Sensor 1 Boolean One of four muting sensors. When material is moving in the forward direction, it is the first sensor to be blocked and cleared. When
material is moving in the reverse direction, it is the fourth to be blocked and cleared.
Sensor 2 Boolean One of four muting sensors. When material is moving in the forward direction, it is the second sensor to be blocked and cleared.
When material is moving in the reverse direction, it is third to be blocked and cleared.
Sensor 3 Boolean One of four muting sensors. When material is moving in the forward direction, it is the third sensor to be blocked and cleared. When
material is moving in the reverse direction, it is second to be blocked and cleared.

Table 70 - FSBM Inputs

Sensor 4 Boolean One of four muting sensors. When material is moving in the forward direction, it is the fourth sensor to be blocked and cleared.
When material is moving in the reverse direction, it is first to be blocked and cleared.
Enable Mute Boolean This input allows the protective function of the light curtain to be disabled (muted) when the correct muting sequence occurs.
Override Boolean This input allows a temporary bypass of the muting instructions function. Output 1 is energized regardless of the status of the Input
Status input or the existence of faults.
OFF (0) -> ON (1): Output 1 is energized regardless of the status of the Input Status input or the existence of faults. Output 1
remains energized while the Override input remains ON (1) or until the Maximum Override timer expires.
ATTENTION: Activation of the override function requires the use of a hold-to-run device where the
! operator can see the point of hazard, that is, the light-curtain sensing field.
Input Status Boolean If the instruction inputs are from a safety I/O module, this value is the status from the I/O module or modules (Connection Status or
Combined Status). If the instruction inputs are derived from internal logic, it is the application programmers responsibility to
ON (1): The muting lamp is operating properly. The light curtains protective function is disabled (muted) after the correct muting
sequence is followed.

Table 71 - FSBM Outputs
Output 1 (O1) Boolean ON (1): The light-curtain sensing field is not obstructed, the light curtain is being muted, or the light curtain is being
overridden.
OFF (0): The light-curtain sensing field is obstructed or the muting sensors sequence is incorrect.FS
Muting Lamp (ML) Boolean ON (1): The light curtains protective function is disabled.
Clear Area (CA) Boolean This status output indicates when the light-curtain sensing field and all muting sensors must be cleared (ON) before processing
can continue.
OFF (0): Normal operation.
Fault Code DINT This output indicates the type of fault that occurred. See FSBM Fault Codes on page 188 for the list of fault codes.

FSBM Normal Operation
One forward direction and one reverse direction sequence of muting sensor and
light-curtain input transitions let the protective function of the light curtain be
disabled (muted). Both sequences start with the four muting sensors and the light
curtain in their ON (1) state, which indicates that the light-curtain sensing field
is clear of all personnel and material.
At (A), when Sensors 1 through 4 and the Light Curtain are clear, the Output 1
output is energized when the Reset input turns ON (1). At (B), material blocks
Sensor 1, starting the S1-S2 timer. At (C), the material blocks Sensor 2, stopping
the S1-S2 timer. The S2-LC and Maximum Mute timers start. The Muting Lamp
turns ON (1), indicating that muting is enabled. At (D), the material blocks the
Light Curtain, stopping the S2-LC timer and starting the LC-S3 timer. At (E),
the material blocks Sensor 3, stopping the LC-S3 timer and starting the S3-S4
timer. At (F), the material blocks Sensor 4, stopping the S3-S4 timer. The
material is blocking all of the Sensors and the Light Curtain. From (G) through
(K), the material clears the sensors and the Light Curtain in the same order in
which they were blocked, starting and stopping the timers, until the material
clears all sensors and the Light Curtain.
Figure 134 on page 182 shows this sequence as described for the forward
direction. Figure 135 on page 183 shows this sequence in reverse direction.

Figure 134 - Normal Operation, Forward Direction Timing Diagram
1
Direction
0
1
Enable Mute
0
1
Sensor 1
0
t1 t1
1
Sensor 2
0
t2 t2
1
Light Curtain
0
t3 t3
1
Sensor 3
0
t4 t4
1
Sensor 4
0
t5
1
Reset
0

0
1
Muting Lamp
0
1
Output 1
0
A B C D E F G H I J K
t1: S1-S2 Time t2: S2-LC Time t3: LC-S3 Time
t4: S3-S4 Time t5: Maximum Mute Time

Figure 135 - Normal Operation, Reverse Direction Timing Diagram

1
Direction
0
1
Enable Mute
0
1
Sensor 1
0
< t1 < t1
1
Sensor 2
0
< t2 < t2
1
Light Curtain
0
< t3 < t3
1
Sensor 3
0
< t4 < t4
1
Sensor 4
0
< t5
1
Reset
0

0
1
Muting Lamp
0
1
Output 1
0
A B C D E F G H I J K
t3: LC-S3 Time t4: S3-S4 Time
t5: Maximum Mute Time

FSBM Invalid Sequence

material blocks Sensor 1, starting the S1-S2 timer. At (C), the material
simultaneously blocks Sensor 2 and the Light Curtain, stopping the S1-S2 timer.
Output 1 is de-energized and the Clear Area and Fault Present outputs turn ON
(1). The override feature can be used to clear the material from the sensing field
and turn the Clear Area output OFF (0).

1
Direction
0
1
Enable Mute
0
1
Sensor 1
0
<t1
1
Sensor 2
0
1
Light Curtain
0
1
Sensor 3
0
1
Sensor 4
0
1
Reset
0
1
Muting Lamp Status
0
1
Fault Present
0
1
Clear Area
0
1
Output 1
0
A B C
t1: S1-S2 Time Restart Type = Manual

FSBM Tolerated Sequence
The Four-sensor Bidirectional Muting (FSBM) instruction tolerates application

vibration.

Sensor 1 turns OFF (0), starting the S1-S2 timer. Sensor 1 turns ON (1) at (C),
stopping the S1-S2 timer. At (D), the material completely blocks Sensor 1,
turning it OFF (0), and the normal muting sequence continues. A sensor can
glitch, as illustrated from (B) to (C), as a result of overtravel or load vibration. As
long as the final input sequence is valid, the instruction lets the muting function
occur.

1
Direction
0
1
Enable Mute
0
1
Sensor 1
0
< t1 < t1
1
Sensor 2
0
< t2 < t2
1
Light Curtain
0
< t3 < t3
1
Sensor 3
0
< t4 < t4
1
Sensor 4
0
< t5
1
Reset
0

0
1
Muting Lamp
0
1
Output 1
0
A B C D
t1: S1-S2 Time t2: S2-LC Time t3: LC-S3 Time
t4: S3-S4 Time t5: Maximum Mute Time Restart Type = Manual

FSBM Dangerous Portion of Cycle
sensing field.

material blocks Sensor 1, starting the S1-S2 timer. At (C), the material blocks
Sensor 2, stopping the S1-S2 timer and starting the S2-LC timer. Because the
Enable Mute input is OFF (0), muting is disabled and the Muting Lamp output
remains OFF (0). The material blocks the Light Curtain at (D), stopping the S2-
LC timer. Output 1 is de-energized because the Enable Mute input is OFF (0).
1
Direction
0
1
Enable Mute
0
1
Sensor 1
0
< t1 < t1
1
Sensor 2
0
< t2 < t2
1
Light Curtain
0
< t3 < t3
1
Sensor 3
0
< t4 < t4
1
Sensor 4
0
1
Reset
0

0
1
Muting Lamp
0
1
Output 1
0
A B C D
t1: S1-S2 Time t2: S2-LC Time t3: LC-S3 Time t4: S3-S4 Time Restart Type = Manual

FSBM Override Operation
The override feature that lets an operator manually energize Output 1 so that
material can be cleared from the light-curtain sensing field.
ATTENTION: The Override function may be used only with a hold-to-

run device where the operator can see the point of hazard, that is, the
light-curtain sensing field.
Maximum Override timer starts. At (B), the material clears Sensor 3 and Sensor 4
and the Clear Area output turns OFF (0). At (C), the Override input turns OFF
(0) within the Maximum Override time period. Output 1 is de-energized and the

1
Override
0
t1
1
Direction
0
1
Enable Mute
0
1
Sensor 1
0
1
Sensor 2
0
1
Light Curtain
0
1
Sensor 3
0
1
Sensor 4
0
1
Reset
0

0
1
Clear Area
0
1
Output 1
0
A B C

FSBM False Rung State Behavior
energized.
FSBM Fault Codes

Table 72 - FSBM General Fault Codes
00H No fault. None.
20H The Input Status input went from ON (1) to OFF (0) while the instruction was executing. Check the I/O module connection or the logic that is used to
source input status.
Reset the fault.
Table 73 - FSBM Sensor Input Fault Codes

Fault Code Description
9200H The Light Curtain, Sensors 1, 2, and 4 are blocked, while Sensor 3 is clear.
S1 S2 LC S3 S4
0 0 0 1 0
9201H Sensors 1, 2, 3, and 4 are blocked and the Light Curtain is clear.
S1 S2 LC S3 S4
0 0 1 0 0
9202H Sensors 1, 2, and 3 are blocked and the Light Curtain and Sensor 4 are clear.
S1 S2 LC S3 S4
0 0 1 0 1
9203H Sensors 1, 2, and 4 are blocked and the Light Curtain and Sensor 3 are clear.
S1 S2 LC S3 S4
0 0 1 1 0
9204H Sensors 1, 3, and 4 and the Light Curtain are blocked and Sensor 2 is clear.
S1 S2 LC S3 S4
0 1 0 0 0
9205H Sensors 1, 3, and the Light Curtain are blocked and sensors 2 and 4 are clear.
S1 S2 LC S3 S4
0 1 0 0 1
9206H Sensors 1, 4 and the Light Curtain are blocked and Sensors 2 and 3 are clear.
S1 S2 LC S3 S4
0 1 0 1 0
9207H Sensor 1 and the Light Curtain are blocked and Sensors 2, 3, and 4 are clear.
S1 S2 LC S3 S4
0 1 0 1 1
S1 S2 LC S3 S4
0 1 1 0 0
9209H Sensors 1 and 3 are blocked and Sensors 2 and 4 and the Light Curtain are clear.
S1 S2 LC S3 S4
0 1 1 0 1

Table 73 - FSBM Sensor Input Fault Codes

Fault Code Description
920AH Sensors 1 and 4 are blocked and Sensors 2 and 3 and the Light Curtain are clear.
S1 S2 LC S3 S4
0 1 1 1 0
920BH Sensors 2 and 3 and the Light Curtain are blocked and Sensors 1 and 4 are clear.
S1 S2 LC S3 S4
1 0 0 0 1
920CH Sensors 2 and 4 and the Light Curtain are blocked and Sensors 1 and 3 are clear.
S1 S2 LC S3 S4
1 0 0 1 0
920DH Sensor 2 and the Light Curtain are blocked and Sensors 1, 3, and 4 are clear.
S1 S2 LC S3 S4
1 0 0 1 1
920EH Sensors 2, 3, and 4 are blocked and Sensor 1 and the Light Curtain are clear.
S1 S2 LC S3 S4
1 0 1 0 0
920FH Sensors 2 and 3 are blocked and Sensors 1 and 4 and the Light Curtain are clear.
S1 S2 LC S3 S4
1 0 1 0 1
9210H Sensors 2 and 4 are blocked and Sensors 1 and 3 and the Light Curtain are clear.
S1 S2 LC S3 S4
1 0 1 1 0
9211H Sensor 2 is blocked and Sensors 1, 3, and 4 and the Light Curtain are clear.
S1 S2 LC S3 S4
1 0 1 1 1
S1 S2 LC S3 S4
1 1 0 0 1
S1 S2 LC S3 S4
1 1 0 1 0
9214H The Light Curtain is blocked and Sensors 1, 2, 3, and 4 are clear.
S1 S2 LC S3 S4
1 1 0 1 1
9215H Sensor 3 is blocked and Sensors 1, 2, and 4 and the Light Curtain are clear.
S1 S2 LC S3 S4
1 1 1 0 1
Follow these steps to recover from an illegal input fault.
1. Check that the sensors and the light curtain are properly aligned, are
applied to the appropriate instruction inputs, and are not being improperly
blocked.
2. Reset the fault.

Figure 140 - Normal Muting Sequences

S1 S2 LC S3 S4 Step
1 1 1 1 1 0
Normal 0 1 1 1 1 1
Illegal 0 0 1 1 1 2
An illegal muting sequence is 0 0 0 1 1 3
a legal input combination that
deviates from the normal 0 0 0 0 1 4
sequences.
0 0 0 0 0 5
1 0 0 0 0 6
1 1 0 0 0 7
1 1 1 0 0 8
1 1 1 1 0 9
1 1 1 1 1 10
Table 74 - FSBM Muting Sequence Fault Codes

Fault Description Fault Description Fault Description
Code Code Code
An illegal muting sequence was detected in step 0 when the Sensors and the Light Curtain transitioned to one of the following invalid sequence states.
9100H S1 S2 LC S3 S4 Step 9101H S1 S2 LC S3 S4 Step 9102H S1 S2 LC S3 S4 Step
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 0 1 1 1 0 0 0 1 1 0 0 0 0 1
9103H S1 S2 LC S3 S4
9104H S1 S2 LC S3 S4
9105H
Step Step S1 S2 LC S3 S4 Step
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 0 0 0 0 1 0 0 0 0 1 1 0 0 0
9106H S1 S2 LC S3 S4 Step
1 1 1 1 1 0
1 1 1 0 0


Code Code Code
9110H 9111H 9112H
S1 S2 LC S3 S4 Step S1 S2 LC S3 S4 Step S1 S2 LC S3 S4 Step
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 0 1 1 0 0 0 0 1 0 0 0 0 0
9113H 9114H 9115H

S1 S2 LC S3 S4 Step S1 S2 LC S3 S4 Step S1 S2 LC S3 S4 Step
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
1 0 0 0 0 1 1 0 0 0 1 1 1 0 0
9116H
S1 S2 LC S3 S4 Step
1 1 1 1 1 0
0 1 1 1 1 1
1 1 1 1 0
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
1 1 1 1 1 0 0 0 0 1 0 0 0 0 0
9123H S1 S2 LC S3 S4
9124H S1 S2 LC S3 S4
9125H S2 LC S3 S4
Step Step S1 Step
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
1 0 0 0 0 1 1 0 0 0 1 1 1 0 0
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
1 1 1 1 0


Code Code Code
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
1 1 1 1 1 0 1 1 1 1 0 0 0 0 0
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
1 0 0 0 0 1 1 0 0 0 1 1 1 0 0
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
0 0 0 1 1 3
1 1 1 1 0


Code Code Code
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
1 1 1 1 1 0 1 1 1 1 0 0 1 1 1

1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
1 0 0 0 0 1 1 0 0 0 1 1 1 0 0
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
0 0 0 1 1 3
0 0 0 0 1 4
1 1 1 1 0


Code Code Code
9151H S1 S2 LC S3 S4 Step 9152H S1 S2 LC S3 S4 Step
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 1 1 1 1 0 1 1 1 1 0 0 1 1 1
9153H S1 S2 LC S3 S4 Step 9154H 9155H S1 S2 LC S3 S4 Step

S1 S2 LC S3 S4 Step
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
0 0 0 1 1 1 1 0 0 0 1 1 1 0 0
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
0 0 0 1 1 3
0 0 0 0 1 4
0 0 0 0 0 5
1 1 1 1 0


Code Code Code
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
1 1 1 1 1 0 1 1 1 1 0 0 1 1 1
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
0 0 0 1 1 0 0 0 0 1 1 1 1 0 0
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
0 0 0 1 1 3
0 0 0 0 1 4
0 0 0 0 0 5
1 0 0 0 0 6
1 1 1 1 0


Code Code Code
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
1 1 0 0 0 7 1 1 0 0 0 7 1 1 0 0 0 7
1 1 1 1 1 0 1 1 1 1 0 0 1 1 1

1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
1 1 0 0 0 7 1 1 0 0 0 7 1 1 0 0 0 7
0 0 0 1 1 0 0 0 0 1 0 0 0 0 0
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
0 0 0 1 1 3
0 0 0 0 1 4
0 0 0 0 0 5
1 0 0 0 0 6
1 1 0 0 0 7
1 1 1 1 0


Code Code Code
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
1 1 0 0 0 7 1 1 0 0 0 7 1 1 0 0 0 7
1 1 1 0 0 8 1 1 1 0 0 8 1 1 1 0 0 8
1 1 1 1 1 0 1 1 1 1 0 0 1 1 1
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
1 1 0 0 0 7 1 1 0 0 0 7 1 1 0 0 0 7
1 1 1 0 0 8 1 1 1 0 0 8 1 1 1 0 0 8
0 0 0 1 1 0 0 0 0 1 0 0 0 0 0
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
0 0 0 1 1 3
0 0 0 0 1 4
0 0 0 0 0 5
1 0 0 0 0 6
1 1 0 0 0 7
1 1 1 0 0 8
1 0 0 0 0


Code Code Code
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
1 1 0 0 0 7 1 1 0 0 0 7 1 1 0 0 0 7
1 1 1 0 0 8 1 1 1 0 0 8 1 1 1 0 0 8
1 1 1 1 0 9 1 1 1 1 0 9 1 1 1 1 0 9
0 1 1 1 1 0 0 1 1 1 0 0 0 1 1
1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 0
0 1 1 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1
0 0 1 1 1 2 0 0 1 1 1 2 0 0 1 1 1 2
0 0 0 1 1 3 0 0 0 1 1 3 0 0 0 1 1 3
0 0 0 0 1 4 0 0 0 0 1 4 0 0 0 0 1 4
0 0 0 0 0 5 0 0 0 0 0 5 0 0 0 0 0 5
1 0 0 0 0 6 1 0 0 0 0 6 1 0 0 0 0 6
1 1 0 0 0 7 1 1 0 0 0 7 1 1 0 0 0 7
1 1 1 0 0 8 1 1 1 0 0 8 1 1 1 0 0 8
1 1 1 1 0 9 1 1 1 1 0 9 1 1 1 1 0 9
0 0 0 0 1 0 0 0 0 0 1 0 0 0 0


Code Code Code
1 1 1 1 1 0
0 1 1 1 1 1
0 0 1 1 1 2
0 0 0 1 1 3
0 0 0 0 1 4
0 0 0 0 0 5
1 0 0 0 0 6
1 1 0 0 0 7
1 1 1 0 0 8
1 1 1 1 0 9
1 1 0 0 0
An illegal muting sequence was detected when Sensor 1 or Sensor 4 transitioned to one of the following invalid sequence states. The first sensor blocked does not correspond to the
value of the Direction input.
91A0H 91A1H
S1 S2 LC S3 S4 Step S1 S2 LC S3 S4 Step
1 1 1 1 1 0 1 1 1 1 1 0
1 1 1 1 0 0 1 1 1 1
To recover from invalid sequence faults 9100H9196H, check the alignment of

the sensors with the material being moved and the system timing and then reset
the fault.
To recover from invalid sequence faults 91A0H and 91A1H, check the value of
the Direction input parameter regarding the movement of the material and reset
the fault.
9000H The Light Curtain was muted for longer than the The Maximum Mute Time parameter is set too short or there is an anomaly with the sensors.
configured Maximum Mute Time.
9010H Too much time has elapsed between Sensor 1 and Sensor 2 The S1-S2 Time parameter is set too short or there is an anomaly with Sensor 2 (forward direction)
being blocked. or Sensor 1 (reverse direction).
9011H Too much time has elapsed between Sensor 2 and the The S2-LC Time parameter is set too short or there is an anomaly with the Light Curtain (forward
Light Curtain being blocked. direction) or Sensor 2 (reverse direction).
9012H Too much time has elapsed between the Light Curtain and The LC-S3 Time parameter is set too short or there is an anomaly with Sensor 3 (forward direction)
Sensor 3 being cleared. or the Light Curtain (reverse direction).
9013H Too much time has elapsed between Sensor 3 and Sensor 4 The S3-S4 Time parameter is set to short or there is an anomaly with Sensor 4 (forward direction) or
being cleared. Sensor 3 (reverse direction).

FSBM Diagnostic Codes

Table 76 - FSBM Diagnostic Codes and Corrective Actions
00H No fault. None.
(1).
20H The Input Status input was OFF (0) when the instruction Check the I/O module connection or the logic that is used to source input
started. status.
FSBM Wiring and Programming Example
This wiring diagram shows how to wire a light curtain and four muting sensors to
a 1791DS-IB12 module to illustrate the use of the Four-Sensor Bidirectional
Muting instruction. The application includes a hold-to-run switch and a
momentary push button for reset.

24V DC
Muting Sensors Momentary

Push Button
(reset)
+ 24V DC + 24V DC
OSSD 1
OSSD 2
Hold-to-run
Key Switch
0V DC 0V DC
Light Curtain
1 3 4 5 6 7 8 20 19 9 10 24
V I0 I1 I2 I3 I4 I5 T1 T0 I6 I7 I11
DeviceNet
G T2 T3
11 25 28

Lamp
24V Ground

The programming diagram in Figure 142 logically illustrates how the Four-
Sensor Bidirectional Muting instruction is typically used with a DCI Stop (light
curtain) and DCI Start (hold-to-run switch) instruction.

Light Curtain
DCS
Equivalent - Active High Input Type Output 1
FSBM FourSensorBiDirectionalMutingFunction
Automatic Coldstart Type Manual Restart Type Output 1 See Note 3
TBD ms S1-S2 Time Muting Lamp Module1:O.Test03Data
Module1:I.Pt00Data Channel A TBD ms S2-LC Time Clear Area Module1:O.Test02Data
Module1:I.Pt01Data Channel B TBD ms LC-S3 Time
TBD ms S3-S4 Time
Module1:I.CombinedStatus Input Status TBD ms Maximum Mute Time
See Note 1 Direction
Muting Sensors Light Curtain
Override
Input Status
Reset Fault Present
HoldToRunKeySwitch
DCSRT
Equivalent - Active High Input Type Output 1
TBD ms Discrepancy Time Test Command
1 Enable
Input Status
Reset Fault Present
Note 1: This tag is an internal Boolean tag that represents the direction of travel. Its value is determined by other parts of the user application that are not shown in this example. If the direction is Forward
(0) the sensors sequence is S1, S2, LC, S3, S4. If the direction is Reverse (1), the sensor sequence is S4, S3, LC, S2, S1.
Note 2: This tag is an internal Boolean tag representing the nonhazardous portion of the machine cycle. Its value is determined by other parts of the user application that are not shown in this example.
When the protected hazard is present, this tag value should be False (0). When the protected hazard is not190 present, this tag value should be True (1). When the value of this tag is True (1), the



DCS
1
1
1
0
DCSRT
1
0
1
1
0
FSBM
Four Sensor Bi-Directional Muting
FSBM FourSensorBiDirectionalMutingFunction O1
Restart Type MANUAL
S1-S2 Time (Msec) 3000 ML
S2-LC Time (Msec) 3000
LC-S3 Time (Msec) 3000 CA
S3-S4 Time (Msec) 3000
Maximum Mute Time (Sec) 20 FP
Maximum Override Time (Sec) 5
Direction SeeNote1
0
Light Curtain LightCurtain1.O1
0
0
1
Sensor 3 Module1:I.CombinedStatus
1
Sensor 4 Module1:I.MutingStatus
1
0
0
1
1
0
FourSensorBiDirectionalMutingFunction.ML Module1:O.Test03Data
FourSensorBiDirectionalMutingFunction.CA Module1:O.Test02Data

When defining the module, setting the Input Status to Combined Status-Muting
provides the smallest input packet possible and lets the muting lamp status be
monitored. Choosing Test for Output Data lets safety logic control Test Output
3 to drive the Muting Lamp and Test Output 2 to drive the Clear Area Lamp.



Chapter 2
Metal Form Instructions
Topic Page
Clutch Brake Inch Mode (CBIM) 206
Clutch Brake Single Stroke Mode (CBSSM) 215
Clutch Brake Continuous Mode (CBCM) 224
Crankshaft Position Monitor (CPM) 238
Camshaft Monitor (CSM) 246
Clutch Brake Wiring and Programming Example 259
Eight-position Mode Selector (EPMS) 267
Auxiliary Valve Control (AVC) 276
Main Valve Control (MVC) 289
Maintenance Manual Valve Control (MMVC) 298

Chapter 2 Metal Form Instructions
Clutch Brake Inch Mode

(CBIM)
The Clutch Brake Inch Mode instruction is used in press applications where
minor slide adjustments are required, for example, during press set up. During
inch-mode operation, the flywheel is driven at a very low speed by either the main
motor or another drive mechanism.
WARNING: Do not use automatic acknowledgement when access within the danger zone can
go undetected. This instruction, when configured for automatic acknowledgment, must be
used in combination with other instructions, at least one of which must fulfill the manual
reset requirement.
Reset controls must be located within sight, but out of reach of the danger zone.
See section 5.4.1.3 of EN692-2005 for details.
ATTENTION: This instruction is specified with the intent that the Slide Zone input is sourced
only by the Slide Zone output of the Crankshaft Position Monitor (CPM) instruction or
application logic that satisfies the Slide Zone requirements that are listed in Table 78 on
page 208.
This instruction is specified with the intent that the Enable input is sourced only by an Ox
output(1) of the Eight Position Mode Selector (EPMS) instruction that is not already sourcing the
Enable input of another Clutch Brake Inch Mode (CBIM), Clutch Brake Single Stroke Mode
(CBSSM), or Clutch Brake Continuous Mode (CBCM) instruction.
(1) Where x = 18.

Metal Form Instructions Chapter 2
WARNING: Per Section 5.5.2 of EN692-2005; facilities shall be provided to allow the
movement of the slide during tool-setting, maintenance and lubrication to be carried out
with guards and protective devices in position and operational (see 5.3.2).
Where this implementation is not practicable, at least one of the following facilities shall be
provided:
a. Rotation of the crankshaft by hand, with power isolated
b. Slow speed (equal or less than 10 mm/s) and hold-to-run control device
c. Two-hand control device in accordance with 5.5.9 and arranged so that it cannot be used for production,
for example, when the cycle stops at least three times during one revolution of the crankshaft
d. Using the inching device
The Inch Time parameter can be configured to fulfill the requirements of

stopping three times during a press cycle as specified in 5.5.2 c of EN692-2005.
CBIM Instruction Parameters


Table 77 - CBIM Configuration Parameters
Ack Type Boolean This parameter specifies how to acknowledge a Safety Enable OFF (0) to ON (1) transition. This acknowledgment must be made before
Output 1 can be energized.
Automatic The acknowledgement is made automatically when the Safety Enable input transitions from OFF (0) to ON (1).
Manual The acknowledgment is made when Safety Enable Ack transitions from OFF (0) to ON (1) after the Safety Enable input
transitions from OFF (0) to ON (1).
Inch Time DINT This parameter selects the amount of time Output 1 is allowed to remain energized while the Start input is ON (1). Output 1 is de-energized
when the Start input transitions from ON (1) to OFF (0) while the timer is timing. The valid range is 05000 ms. A value of 0 disables the
timer.


Table 78 - CBIM Inputs
Enable Boolean This input is the signal to activate this instruction; for example, by an Eight Position Mode Selector (EPMS) Ox output, where x = 18.
ON (1): The instruction is selected and operational.
OFF (0): The instruction is not operating. All instruction outputs are de-energized.
Safety Enable Boolean This input represents the status of safety-related permissive devices such as E-stops, light curtains, or safety gates.
ON (1): Permissive devices are actively guarding the danger zone. Permits the energizing of Output 1.
OFF (0): Permissive devices are in a state that doesnt allow Output 1 to be energized.
Standard Enable Boolean Indicates the state of non safety-related permissive devices.
ON (1): Permits the energizing of Output 1.
OFF (0): Prevents the energizing of Output 1.
Start Boolean Input to start press movement.
ON (1): Energize Output 1 if all input conditions have been met.
OFF (0): Output 1 is de-energized.
Press In Motion Boolean This input is typically sourced by Output 1 of the Camshaft Monitor (CSM) instruction or by user application logic. Feedback from the press safety
valve must be included in the building of this signal.
ON (1): Indicates that the press is moving.
OFF (0): Indicates that the press is stopped.
Slide Zone DINT This input represents the position of the slide and the position information status. It is sourced by the Crankshaft Position Monitor (CPM)
instruction's Slide Zone output or user application logic that provides the following bit-mapped information.
Bit 0: Status
OFF (0) - The Slide Zone information is invalid. Prevents the energizing of Output 1 on an initial start or immediately stops the press.
ON (1) - Slide Zone information is valid.
Bits 1 and 2: Slide Zone
The following table lists how Bits 02 are used to represent the valid slide zones.
Bit 2 Bit 1 Bit 0 Slide Zone Decimal Value
0 0 1 Down 1
0 1 1 Up 3
1 0 1 Top 5
Bits 331: Unused; Set to 0.

Motion Monitor Boolean Stops the press immediately when a press motion problem has been detected. This input is sourced by the Fault Present output of the Camshaft
Fault Monitor (CSM) instruction or application logic that performs motion diagnostics.
ON (1): Indicates that press motion is valid. Permits Output 1 to be energized.
OFF (0): Indicates that a press motion problem exists. Prevents Output 1 from being energized or immediately de-energizes Output 1.
Safety Enable Boolean This input is required when the configured Ack Type is Manual.
Ack
OFF (0)->ON (1): Acknowledges that the Safety Enable input has transitioned from OFF (0) to ON (1).


Table 79 - CBIM Outputs
Output 1 (O1) Boolean Output that is used to source the Actuate input of the Main Valve Control instruction.
ON (1): The output is energized.
OFF (0): The output is de-energized.
See CBIM Energizing Output 1 on page 209 and CBIM De-energizing Output 1 on page 211 for details.
CBIM Energizing Output 1
Output 1 is energized only when the Start input transitions from OFF (0) to
ON (1) and all of these conditions are met:
The Enable input is ON (1).
The Safety Enable input has been acknowledged.
The Standard Enable input is ON (1).
The Motion Monitor Fault input is ON (1).
The Press In Motion input is OFF (0).
The Safety Enable Ack input is OFF (0).
IMPORTANT If the Ack Type is Manual, an acknowledgement of the Safety Enable input is
required when the Enable input transitions from OFF (0) to ON (1) and
before the Start input turns ON (0).
WARNING: When the configured Ack Type is Automatic, Output 1 is

energized when the Safety Enable, Standard Enable, Press In Motion, and
Motion Monitor Fault inputs return to the active or valid state at the
same time the Start input transitions from OFF (0) to ON (1).
ATTENTION: The cam switches that determine slide position are

monitored by the CPM instruction. This instruction uses the Slide Zone
output of the CPM instruction as a representation of the cam switches
that determine slide position.

The timing diagram in Figure 147 demonstrates the acknowledgement of the

Safety Enable input, at (A). Output 1 is energized when the Start input
transitions from OFF (0) to ON (1) at (B) and all input conditions have been
met. The safety enable acknowledgment only has to be made once while the
Safety Enable input is ON (1) when the configured Ack Type is Manual.
Figure 147 - Energizing Output 1 Timing Diagram
1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Start
0
1
Press In Motion
0
1
Motion Monitor Fault
0
Slide Zone Any Zone
1
Safety Enable Ack
0
1
Output 1
0
A B

CBIM De-energizing Output 1
Once energized, Output 1 is de-energized when one or more of the following

occurs:
The Enable input transitions from ON (1) to OFF (0).
The Start input transitions from ON (1) to OFF (0).
The Safety Enable input transitions from ON (1) to OFF (0).
The Standard Enable input transitions from ON (1) to OFF (0).
The slide moves to the Top zone.
The Inch timer expires.
The Monitor Motion Fault input transitions from ON (1) to OFF (0).
The Press In Motion input is not checked to de-energize Output 1. It is only

checked to energize Output 1.
Figure 148 on page 212 demonstrates the de-energizing of Output 1 when the
Safety Enable input transitions from ON (1) to OFF (0) at (A). An
acknowledgement of the Safety Enable input is required when the Safety Enable
input transitions from OFF (0) to ON (1) at (B) before Output 1 can be re-
energized.

Figure 148 - De-energizing Output 1 Timing Diagram
1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Start
0
1
Press In Motion
0
1
0
Slide Zone Any Zone
1
Safety Enable Ack
0
1
Output 1
0
A B
CBIM False Rung State Behavior
energized.

CBIM Diagnostic Codes
Diagnostics 2001H2009H are detected when attempting to start press

movement by energizing Output 1. Diagnostics 2021H202AH are used to
diagnose the reason for stopping press movement by de-energizing Output 1.
Table 80 - CBIM Diagnostic Codes and Corrective Actions
Diagnostic Description Corrective Action
Code
0000H No fault. None.
2000H Not used by this instruction.
2001H Output 1 failed to energize when the Start input turned ON (1) due to the Press In Motion input Wait for the press to come to a complete stop before
being ON (1). initiating press movement.
Verify that the device that is monitoring press
movement is working correctly.
Verify that only one mode of operation is selected.
This diagnostic is cleared when the Press In Motion input
turns OFF (0).
2002H Output 1 failed to energize when the Start input turned ON (1) prior to the acknowledgement of the Verify that the active opto-electronic protective devices
Safety Enable input. (AOPDs) and electro-sensitive protective equipment
(ESPEs) used to source the Safety Enable input are
protecting their respective areas.
Then, to clear the diagnostic for manual Ack Types,
acknowledge the Safety Enable input by turning the
Safety Enable Ack input ON (1).
For automatic Ack Types, this diagnostic is cleared
when the Safety Enable input turns ON (1).
2003H Output 1 failed to energize when the Start input turned ON (1) due to the Standard Enable input Verify that the devices used to source the Standard Enable
being OFF (0). input are functioning properly. This diagnostic is cleared
when the Standard Enable input is ON (1).
2008H Output 1 failed to energize when the Start input turned ON (1) due to the Motion Monitor Fault Check the Camshaft Monitor (CSM) instruction or the
input being OFF (0). application logic that is used to monitor press movement.
This diagnostic is cleared when the motion monitor
functions are properly monitoring motion and the Motion
Monitor Fault input is ON (1).
2009H Manual Ack Type Output 1 failed to energize when the Start input turned ON (1) due to the Safety Turn the Safety Enable Ack input OFF (0).
Enable Ack input being ON (1). This diagnostic is cleared when the Safety Enable Ack input
turns OFF (0).
Automatic Ack N/A
Type
2021H Output 1 is de-energized due to the Motion Monitor Fault input turning OFF (0). Check the Camshaft Monitor (CSM) instruction or the
application logic that is used to monitor press movement.
This diagnostic is cleared at the next attempt to begin
press movement.
2023H Output 1 is de-energized because the Safety Enable input turned OFF (0). Verify that the AOPDs and ESPEs used to source the Safety
Enable input are protecting their respective areas.
press movement.
2024H Output 1 is de-energized because the Standard Enable input turned OFF (0). Verify that the devices and application logic that is used to
source the Standard Enable input are functioning properly.
press movement.
2025H Output 1 is de-energized because the Start input turned OFF (0). Output 1 is de-energized when the Start input turns OFF
(0) regardless of slide zone.
press movement.

Table 80 - CBIM Diagnostic Codes and Corrective Actions

Code
2026H Output 1 is de-energized because the Inch Mode timer timed out. Output 1 is always de-energized when Inch Mode timer
times out. Verify that the Inch Time parameter value is
correct for your application.
press movement.
2027H
2029H
202AH Output 1 is de-energized because the slide entered the Top zone. Output 1 is always de-energized when the slide enters the
Top zone.
press movement.

Clutch Brake Single Stroke

Mode (CBSSM)
The Clutch Brake Single Stroke Mode instruction is used in single-cycle press
applications.
reset requirement.
page 216.
(1) Where x = 18.

CBSSM Instruction Parameters


Table 81 - CBSSM Configuration Parameters
Ack Type Boolean This parameter specifies how to acknowledge a Safety Enable OFF (0) to ON (1) transition. This acknowledgment must be made before
Output 1 can be energized.
Automatic The acknowledgement is made automatically when the Safety Enable input transitions from OFF (0) to ON (1).
Manual The acknowledgment is made when Safety Enable Ack transitions from OFF (0) to ON (1) after the Safety Enable input
Takeover Mode Boolean This parameter determines where the press is stopped when the Safety Enable and/or Start input transitions from ON (1)to OFF (0) while the
slide is in the Up zone.
IMPORTANT: When using this instruction with Takeover Mode Enabled, safety devices that are continuously active, such as E-stops, must
directly drive the Enable parameter of the CBSSM instruction. The application developer is responsible for determining the safety devices that
are not continuously active, such as certain light curtains, two-hand run stations, and others, which can be used to drive the Safety Enable
parameter and can be muted during press upstoke.
Enabled The press is stopped when the slide enters the Top zone.
Disable The press is stopped immediately.

Table 82 - CBSSM Inputs
OFF (0): Output 1 is de-energized.

Table 82 - CBSSM Inputs

Bit 0: Status
0 0 1 Down 1
0 1 1 Up 3
1 0 1 Top 5

Motion Monitor Boolean Stops the press immediately when a press motion problem has been detected. This input is sourced by inverting the Fault Present output coming
Fault from the Camshaft Monitor (CSM) instruction or application logic that performs motion diagnostics.
Ack

Table 83 - CBSSM Outputs
Output 1 (O1) Boolean Output that is used to source the Actuate input of the Main Valve Control (MVC) instruction.
See CBSSM Energizing Output 1 and CBSSM De-energizing Output 1 on page 220 for details.
Diagnostic Code DINT See Table on page 221.

CBSSM Energizing Output 1
Output 1 is energized only when the Start input transitions from OFF (0) to
ON (1) and all of these conditions are met:
The Slide Zone input represents the Top zone.
required when the Enable input transitions from OFF (0) to ON (1) and before
the Start input turns ON (0).
WARNING: When the configured Ack Type is Automatic, Output 1 is energized

when the Safety Enable, Standard Enable, Press In Motion, and Motion Monitor
Fault inputs return to the active or valid state at the same time the Start input
ATTENTION: Output 1 can be re-energized when the Slide Zone input is Down,
providing that Output 1 had been initially energized when the Slide Zone input
was Top, and Output 1 was de-energized because the Start input turned OFF (0).
Any other reason for Output 1 being de-energized requires that the slide be inched
back to the Top position.
ATTENTION: The cam switches that determine slide position are monitored by
the CPM instruction. This instruction uses the Slide Zone output of the CPM
instruction as a representation of the cam switches that determine slide
position.

Figure 149 illustrates the acknowledgement of the Safety Enable input (A) and
the energizing of Output 1 when the Start input transitions from OFF (0) to ON
(1) at (B) and all input conditions are met. The Safety Enable acknowledgement
has to be made only once while the Safety Enable input is ON (1) and the
configured Ack Type is Manual.
Figure 149 - Energizing Output 1 Timing Diagram
1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Start
0
1
Press In Motion
0
1
0
Slide Zone T D
1
Safety Enable Ack
0
1
Output 1
0
A B
Zone: T = Top D = Down U = Up

CBSSM De-energizing Output 1

occurs:
The Start input transitions from ON (1) to OFF (0).
When this transition occurs while the slide is in the Up zone and the
Takeover Mode is Enabled, Output 1 is de-energized when the slide enters
the Top zone. Otherwise, when the Takeover Mode is Disabled, Output 1
is de-energized immediately. Output 1 is also de-energized immediately
when this transition occurs while the slide is in the Top or Down zones.
When this transition occurs while the slide is in the Up zone and Takeover
Mode is enabled, Output 1 is de-energized when the slide enters the Top
zone. Otherwise, when the Takeover Mode is disabled, Output 1 is de-
energized immediately. Output 1 is also de-energized immediately when
this transition occurs while the slide is in the Top or Down zones.
When this transition occurs while the slide is in the Up zone, Output 1 is
de-energized when the slide enters the Top zone. Otherwise, Output 1 is
de-energized immediately.
The Slide Zone input value becomes invalid.
The slide transitions to the Top zone.
The direction of the press appears to be running in reverse.
The Press In Motion input is OFF (0) when the slide transitions from Top
to Down.
The Press in Motion input transitions from ON (1) to OFF (0).

Figure 150 shows the de-energizing of Output 1 when the Safety Enable input
transitions from ON (1) to OFF (0) at (A). An acknowledgement of the Safety
Enable input is required when the Safety Enable input transitions from OFF (0)
to ON (1) at (B) before Output 1 can be re-energized.
Figure 150 - De-energizing Output 1
1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Start
0
1
Press In Motion
0
1
0
Slide Zone T D
1
Safety Enable Ack
0
1
Output 1
0
A B
Zone: T = Top D = Down U = Up
CBSSM False Rung State Behavior

energized.
CBSSM Diagnostic Codes
Diagnostics 2000H200AH are detected when attempting to start press

movement by energizing Output 1. Diagnostics 2020H202D are used to

Table 84 - CBSSM Diagnostic Codes and Corrective Actions

Code
2000H Output 1 failed to energized when the Start input turned ON (1), due to an invalid Slide Zone input Check the Crankshaft Position Monitor (CPM) instruction or
value. the application logic that is used to source this input. This
diagnostic is cleared when a valid Slide Zone is established.
2001H Output 1 failed to energize when the Start input turned ON (1) due to the Press In Motion input Wait for the press to come to a complete stop before
being ON (1). initiating press movement.
movement is working correctly.
Verify that only one mode of operation is selected.
This diagnostic is cleared when the Press In Motion input
turns OFF (0).
2002H Output 1 failed to energize when the Start input turned ON (1) prior to the acknowledgement of the Verify that the active opto-electronic protective devices
Safety Enable input. (AOPDs) and electro-sensitive protective equipment
(ESPEs) used to source the Safety Enable input are
protecting their respective areas.
Then, to clear the diagnostic for manual Ack Types,
acknowledge the Safety Enable input by turning the
For automatic Ack Types, this diagnostic is cleared
when the Safety Enable input turns ON (1).
2003H Output 1 failed to energize when the Start input turned ON (1) due to the Standard Enable input Verify that the devices used to source the Standard Enable
being OFF (0). input are functioning properly. This diagnostic is cleared
when the Standard Enable input is ON (1).
2008H Output 1 failed to energize when the Start input turned ON (1) due to the Motion Monitor Fault Check the Camshaft Monitor (CSM) instruction or the
input being OFF (0). application logic that is used to monitor press movement.
functions are properly monitoring motion and the Motion
Monitor Fault input is ON (1).
2009H Manual Ack Type Output 1 failed to energize when the Start input turned ON (1) due to the Safety Turn the Safety Enable Ack input OFF (0).
Enable Ack input being ON (1). This diagnostic is cleared when the Safety Enable Ack input
turns OFF (0).
Automatic Ack N/A
Type
200AH Output 1 failed to energize when the Start input turned ON (1) due to the slide being in the Up or The slide must be in the Top zone to initiate press
Down zone. movement.
This diagnostic is cleared when the slide is inched back to
the Top zone.
2020H Output 1 is de-energized because the Slide Zone input value became invalid. Check the Crankshaft Position Monitor (CPM) instruction or
the application logic that is used to source this input.
press movement.
2021H Output 1 is de-energized because the Motion Monitor Fault input turned OFF (0). Check the Camshaft Monitor (CSM) instruction or the
press movement.
2022H Output 1 is de-energized due to the detection of press movement in the reverse direction. Verify the direction of the press.
press movement.
2023H Output 1 is de-energized because the Safety Enable input turned OFF (0) while the slide was in the Verify that the AOPDs and ESPEs used to source the Safety
Top or Down zone. Enable input are protecting their respective areas.
press movement.
2024H Output 1 is de-energized because the Standard Enable input turned OFF (0) while the slice was in Verify that the devices and application logic that is used to
the Top or Down zones. source the Standard Enable input are functioning properly.
press movement.

Table 84 - CBSSM Diagnostic Codes and Corrective Actions

Code
2025H Output 1 is de-energized because the Start input turned OFF (0) while the slide was in the Top or Output 1 is always de-energized when the Start input
Down zones. turns OFF (0) while the slide is in the Top or Down zones.
press movement.
2027H Output 1 is de-energized immediately when the Safety Enable input turned OFF (0) while the slide Verify that the AOPDs and ESPEs used to source the Safety
was in the Up zone and the Takeover Mode is Disabled. Enable input are protecting their respective areas.
press movement.
2028H Output 1 is de-energized when the slide entered the Top zone because the Standard Enable input Verify that the devices and application logic that is used to
turned OFF (0) while the slide was in the Up zone. source the Standard enable input are functioning properly.
press movement.
2029H Output 1 is de-energized immediately when the Start input turned OFF (0) while the slide was in This diagnostic is cleared at the next attempt to begin
the Up zone and the Takeover Mode is Disabled. press movement.
202AH Output 1 is de-energized because the slide entered the Top zone. Output 1 is always de-energized when the slide enters the
Top zone.
press movement.
202BH Output 1 is de-energized because the Press In Motion input remained OFF (0) when the slide Check the Camshaft Monitor (CSM) instruction or the
entered the Down zone or the Press In Motion input transitioned from ON (1) to OFF (0). application logic that is used to monitor press movement.
press movement.
202CH Output 1 is de-energized when the slide entered the Top zone and the Safety Enable input turned Verify that the AOPDs and ESPEs used to source the Safety
OFF (0) while the slide was in the Up zone, when the Takeover Mode is Enabled. Enable input are protecting their respective areas.
press movement.
202DH Output 1 is de-energized when the slide entered the Top zone and the Start input turned OFF (0) This diagnostic is cleared at the next attempt to begin
while the slide was in the Up zone when the Takeover Mode is Enabled. press movement.

Clutch Brake Continuous

Mode (CBCM)
The Clutch Brake Continuous Mode instruction is used in press applications

where continuous operation is desired.
reset requirement.
page 226.
(1) Where x = 18.

The Mode parameter specifies how continuous operation is attained. An arming

sequence is required for these modes: Immediate with Arming, Half Stroke with
Arming, or Stroke-and-a-Half with Arming. The arming sequence requires that
the Start input transitions from OFF (0) to ON (1) within 5 seconds of the Arm
Continuous input transitioning from OFF (0) to ON (1). When the arming
sequence requirements have been satisfied and the Start input has remained
ON (1) as specified by the configured Mode, the press begins to operate
continuously.
An arming sequence is not required with Immediate mode configurations. In

Immediate mode, the press begins to operate continuously when the Start input
CBCM Instruction Parameters


Table 85 - CBCM Configuration Parameters
Ack Type Boolean Defines how instruction acknowledgement operates.
Automatic Acknowledgement is made automatically when the Safety Enable input transitions from OFF (0) to ON (1).
Manual Acknowledgment is made when Safety Enable Ack transitions from OFF (0) to ON (1) and the Safety Enable
input is ON (1).
Mode DINT This parameter configures the different continuous modes of operation.
Immediate The press begins to operate continuously when the Start input transitions from OFF (0) to ON (1).
Immediate with Arming After completion of the arming sequence, the continuous mode is entered immediately.
Half Stroke with Arming After completion of the arming sequence, the Start input signal must remain ON (1) until the first upstroke
zone is reached.
Stroke-and-a-Half with After completion of the arming sequence, the Start input signal must remain ON (1) until the slide completes
Arming a full rotation and the second upstroke zone is reached.
Takeover Mode Boolean This parameter determines when the stop occurs if the Safety Enable input transitions from ON (1) to OFF (0) while the slide is in the Up
zone.
Enabled The press is stopped when the slide enters the Top zone.
Disabled The press is stopped immediately.


Table 86 - CBCM Inputs
Arm Continuous Boolean Enables arming for the Immediate with Arming, Half Stroke with Arming, and Stroke-and-a-half with Arming modes only.
ON (1): Enables arming. The arming sequence ends when the Start input transitions from OFF (0) to ON (1) within 5 seconds.
OFF (0): Output 1 remains energized based on the configured continuous mode. Output 1 is de-energized if the continuous mode requirements
are not met. See Mode parameter on page 225 for more information.
Stop At Top Boolean This input is the request to stop press movement when the Top zone is reached.
OFF (0): Prevents the energizing of Output 1. De-energize Output 1 the next time the slide enters the Top zone
Bit 0: Status
0 0 1 Down 1
0 1 1 Up 3
1 0 1 Top 5

Motion Monitor Boolean Stops the press immediately when a press motion problem has been detected. This input is sourced by inverting the Fault Present output coming
Fault from the Camshaft Monitor (CSM) instruction or application logic that performs motion diagnostics.
Ack


Table 87 - CBCM Outputs
Output 1 (O1) Boolean Output that is used to source the Actuate input of the Main Valve Control (MVC) instruction.
See CBCM Energizing Output 1 on page 228 and CBCM De-energizing Output 1 on page 233.
Continuous Boolean This output is used when the instruction is configured for Immediate with Arming, Half Stroke with Arming and Stroke-and-a-half with Arming
Armed (CA) modes.
ON (1): The arming sequence is in progress.
OFF (0): Waiting to be armed.
Diagnostic Code DINT See CBCM Diagnostic Codes on page 235.

CBCM Energizing Output 1
Output 1 is energized when the Start input transitions from OFF (0) to ON (1)
and all of these conditions are met:
The arming sequence, if configured, is complete.
The Slide Zone input represents the Top zone.
The Stop At Top input is ON (1).
required when the Enable input transitions from OFF (0) to ON (1) and before
the Start or Arm Continuous input turns ON (0).
WARNING: When the configured Mode is Immediate and the Ack Type is
Automatic, Output 1 energizes when the Safety Enable, Standard Enable, Slide
Zone, Press In Motion, and Motion Monitor Fault inputs return to the active, or
valid state at the same time the Start input transitions from OFF (0) to ON (1).
ATTENTION: When the configured Mode is Immediate with Arming, Half Stroke
with Arming, or Stroke-and-a-half with Arming and the Ack Type is Automatic,
the five-second arming time starts when the Safety Enable, Standard Enable,
Slide Zone, Press In Motion, and Monitor Motion Fault inputs return to the ON
(1), active, or valid state at the same time the Arm Continuous input transitions
from OFF (0) to ON (1).
ATTENTION: The cam switches that determine slide position are monitored by
the CPM instruction. This instruction uses the Slide Zone output of the CPM
instruction as a representation of the cam switches that determine slide
position.

CBCM Immediate Mode
The timing diagram in Figure 151 shows the acknowledgement of the Safety
Enable input, at (A), and the energizing of Output 1 when the Mode is
configured as Immediate. Output 1 is energized when the Start input transitions
from OFF (0) to ON (1) at (B) and all input conditions are being met. Output 1
remains energized when the Start input turns OFF (0) at (C).
Figure 151 - Immediate Mode Timing Diagram
1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Arm Continuous
0
1
Start
0
1
Stop At Top
0
1
Press In Motion
0
Slide Zone T D
1
0
1
Safety Enable Ack
0
1
Output 1
0
1
Continuous Armed
0
Zone: T = Top D = Down A B C

CBCM Immediate with Arming Mode
Figure 152 shows the acknowledgement of the Safety Enable input, at (A), and
the energizing of Output 1 when the Mode is configured as Immediate with
Arming. The five-second arming timer starts when the Arm Continuous input
transitions from OFF (0) to ON (1) at (B) and all input conditions are being
met. Within 5 seconds, Output 1 is energized when the Start input transitions
from OFF (0) to ON (1) at (C) and all input conditions are being met. Output 1
remains energized when the Start input turns OFF (0) at (D).
Figure 152 - Immediate with Arming Mode Timing Diagram
1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Arm Continuous
0
1
Start
0
1
Stop At Top
0
1
Press In Motion
0
Slide Zone T D
1
0
1
Safety Enable Ack
0
1
Output 1
0
1
Continuous Armed
0
Zone: T = Top D = Down A B C D

CBCM Half Stroke with Arming Mode
the energizing of Output 1 when the Mode is configured as Half Stroke with
Arming. The five-second arming timer starts when the Arm Continuous input
remains energized when the Start input turns OFF (0) after the slide has
transitioned a half-stroke at (D).
Figure 153 - Half Stroke with Arming Mode Timing Diagram

1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Arm Continuous
0
1
Start
0
1
Stop At Top
0
1
Press In Motion
0
Slide Zone T D U
1
0
1
Safety Enable Ack
0
1
Output 1
0
1
Continuous Armed
0
Zone: T = Top D = Down U = Up A B C D

CBCM Stroke-and-a-half with Arming Mode
the energizing of Output 1 when the Mode is configured as Stroke-and-a-half
with Arming. The 5-second arming timer starts when the Arm Continuous input
remains energized when the Start input turns OFF (0) after the slide has
transitioned a stroke-and-a-half at (D).
Figure 154 - Stroke-and-a-half with Arming Mode
Enable 1
0
1
Safety Enable
0
1
Standard Enable
0
1
Arm Continuous
0
1
Start
0
1
Stop At Top
0
1
Press In Motion
0
Slide Zone T D U T D U
1
0
1
Safety Enable Ack
0
1
Output 1
0
1
Continuous Armed
0
Zone: T = Top D = Down U = Up A B C D

CBCM De-energizing Output 1

occurs:
The Start input transitions from ON (1) to OFF (0) before entering the
continuous operation.
When this transition occurs while the slide is in the Up zone and Takeover
Mode is enabled, Output 1 is de-energized when the slide enters the Top
zone. Otherwise, when Takeover Mode is disabled, Output 1 is de-
energized immediately. Output 1 is also de-energized immediately when
this transition occurs while the slide is in the Top or Down zones.
The Slide Zone input value becomes invalid.
The direction of the press appears to be running in reverse.
The Press In Motion input is OFF (0) when the slide goes from Top to
Down.
The Stop At Top input transitions from ON (1) to OFF (0) and the slide
enters the Top zone.
The Press in Motion input transitions from ON (1) to OFF (0).

CBCM Safety Enable and Takeover Mode
Figure 155 shows Output 1 being de-energized when the slide enters the Top
zone at (B). Output 1 is de-energized because the Safety Enable input has
transitioned from ON (1) to OFF (0) during the Up zone, at (A), with Takeover
Mode enabled. Before Output 1 can be re-energized, an acknowledgement of the
Safety Enable input is required when the Safety Enable input transitions from
OFF (0) to ON (1) at (C).
Figure 155 - Safety Enable and Takeover Mode Timing Diagram
1
Enable
0
1
Safety Enable
0
1
Standard Enable
0
1
Arm Continuous
0
1
Start
0
1
Stop At Top
0
1
Press In Motion
0
Slide Zone U T
1
0
1
Safety Enable Ack
0
1
Output 1
0
Continuous Armed 1
0
Zone: T = Top D = Down U = Up A B C

CBCM False Rung State Behavior
energized.
CBCM Diagnostic Codes
Diagnostics 2000H200AH are detected when attempting to start press

movement by energizing Output 1. Diagnostics 2020H202D are used to
Table 88 - Diagnostic Codes and Corrective Actions
Code
2000H Immediate Output 1 failed to energized when the Start input turned ON (1), due to an Check the Crankshaft Position Monitor (CPM) instruction or
Mode invalid Slide Zone input value. the application logic that is used to source this input. This
diagnostic is cleared when a valid Slide Zone is established.
Arming Modes The five-second arming timer failed to start when the Arm Continuous input
turned ON (1) due to an invalid Slide Zone input value.
During the five-second arming period, the Slide Zone input value became
invalid.
2001H Immediate Output 1 failed to energize when the Start input turned ON (1) due to the Press Wait for the press to come to a complete stop before
Mode In Motion input being ON (1). initiating press movement.
Arming Modes The five-second timer failed to start when the Arm Continuous input turned movement is working correctly.
ON (1) due to the Press In Motion input being ON (1). Verify that only one mode of operation is selected.
During the five-second arming period, the Press In Motion input turned ON
(1).
2002H Immediate When the configured Ack Type is Manual, Output 1 failed to energize when Verify that the AOPDs and ESPEs used to source the
Mode the Start input turned ON (1) before the acknowledgement of the Safety Safety Enable input are protecting their respective
Enable input. areas.
When the configured Ack Type is Automatic, Output 1 failed to energize Then, to clear the diagnostic for manual Ack Types,
when the Start input turned ON (1) and the Safety Enable input was OFF (0). acknowledge the Safety Enable input by turning the
Arming Modes When the configured Ack Type is Manual, the five-second timer failed to For automatic Ack Types, this diagnostic is cleared
start when the Arm Continuous input turned ON (1) before the when the Safety Enable input turns ON (1).
acknowledgement of the Safety Enable input.
When the configured Ack Type is Automatic, the five-second arming timer
failed to start when the Arm Continuous input and the Safety Enable inputs
are OFF (0).
During the five-second arming period, the Safety Enable input turned OFF
(0).
2003H Immediate Output 1 failed to energize when the Start input turned ON (1) due to the Verify that the devices used to source the Standard Enable
Mode Standard Enable input being OFF (0). input are functioning properly.
This diagnostic is cleared when the Standard Enable input
Arming Modes The five-second timer failed to start when the Arm Continuous input turned is ON (1).
ON (1) due to the Standard Enable input being OFF (0).
During the five-second arming period, the Standard Enable input turned OFF
(0).
2004H Immediate N/A Turn the Start input OFF (0) and turn the Arm Continuous
Mode input ON (1) to clear this diagnostic.
Arming Modes The Start input was ON (1) when the Arm Continuous input turned ON (1).
2005H Immediate N/A Turn the Arm Continuous input ON (1) to restart the
Mode arming timer and clear this diagnostic.
Arming Modes The Start input did not turn ON (1) within 5 seconds after the Arm Continuous
input turned ON (1).


Code
2006H Immediate N/A The Arm Continuous input must turn ON (1) before the
Mode Start input does. Turn the Start input OFF (0) and turn the
Arm Continuous input ON (1) to clear this diagnostic.
Arming Modes The Start input turned ON (1) before the Arm Continuous input turned ON (1).
2007H Immediate Output 1 failed to energize when the Start input turned ON (1) due to the Stop Turn the Stop At Top input OFF (0) and turn the Arm
Mode At Top input being OFF (0). Continuous input ON (1) to clear this diagnostic.
Arming Modes The five-second timer failed to start when the Arm Continuous input turned
ON (1) due to the Stop At Top input being OFF (0).
During the five-second arming period, the Stop At Top input turned OFF (0).
2008H Immediate Output 1 failed to energize when the Start input turned ON (1) due to the Check the Camshaft Monitor instruction or the application
Mode Motion Monitor Fault input being OFF (0). logic that is used to monitor press movement.
Arming Modes The five-second timer failed to start when the Arm Continuous input turned functions are properly monitoring motion and this Motion
ON (1) due to the Motion Monitor Fault input being OFF (0). Monitor Fault input is ON (1).
During the five-second arming period, the Motion Monitor Fault input
turned OFF (0).
2009H Immediate Output 1 failed to energize when the Start input turned ON (1) due to the Safety Turn the Safety Enable Ack input OFF (0).
Mode Enable Ack input being ON (1). This diagnostic is cleared when the Safety Enable Ack input
turns OFF (0).
Arming Modes The five-second timer failed to start when the Arm Continuous input turned
ON (1) due to the Safety Enable Ack input being OFF (0).
During the five-second arming period, the Safety Enable Ack input turned
OFF (0).
200AH Immediate Output 1 failed to energize when the Start input turned ON (1) due to the slide The slide must be in the Top zone when press movement is
Mode being in the Down or Up zone. initiated.
This diagnostic is cleared when the slide is inched back to
Arming Modes The five-second timer failed to start when the Arm Continuous input turned the Top zone.
ON (1) due to the slide being in the Down or Up zone.
During the five-second arming period, the slide moved to the Down or Up
zone.
2020H Output 1 is de-energized because the Slide Zone input value became invalid. Check the Crankshaft Position Monitor (CPM) instruction or
the application logic that is used to source this input.
press movement.
2021H Output 1 is de-energized because the Motion Monitor Fault input turned OFF (0). Check the Camshaft Monitor (CSM) instruction or the
press movement.
2022H Output 1 is de-energized due to the detection of press movement in the reverse direction. Verify the direction of the press.
press movement.
2023H Output 1 is de-energized because the Safety Enable input turned OFF (0) while the slide was in the Verify that the AOPDs and ESPEs used to source the Safety
Top or Down zone. Enable input are protecting their respective areas.
press movement.
2024H Output 1 is de-energized because the Standard Enable input turned OFF (0) while the slide was in Verify that the devices and application logic that is used to
the Top or Down zones. source the Standard Enable input are functioning properly.
press movement.
2025H Immediate N/A Output 1 is always de-energized when the Start input
turns OFF (0) while the slide is in the Top or Down zones.
Immediate with This diagnostic is cleared at the next attempt to begin
Arming press movement.
Half Stroke with Output 1 is de-energized because the Start input turned OFF (0) while the slide
Arming Mode was in the Top or Down zones before entering continuous operation.
Stroke-and-a-
half with Arming
Mode


Code
2027H Output 1 is de-energized immediately when the Safety Enable input turned OFF (0) while the slide Verify that the AOPDs and ESPEs used to source the Safety
was in the Up zone and the Takeover Mode is Disabled. Enable input are protecting their respective areas.
press movement.
2028H Output 1 is de-energized when the slide entered the Top zone because the Standard Enable input Verify that the devices and application logic that is used to
turned OFF (0) while the slide was in the Up zone. source the Standard Enable input are functioning properly.
press movement.
2029H Output 1 is de-energized immediately when the Start input turned OFF (0) while the slide was in This diagnostic is cleared at the next attempt to begin
the Up zone before entering continuous operation, with a Takeover Mode of Disabled. press movement.
202AH Output 1 is de-energized because the slide entered the Top zone after a stop request has been made. This diagnostic is cleared at the next attempt to begin
press movement.
202BH Output 1 is de-energized because the Press In Motion input remained OFF (0) when the slide Check the Camshaft Monitor (CSM) instruction or the
entered the Down zone or the Press In Motion input transitioned from ON (1) to OFF (0). application logic that is used to monitor press movement.
press movement.
202CH Output 1 de-energized when the slide entered the Top zone and the Safety Enable input turned OFF Verify that the AOPDs and ESPEs used to source the Safety
(0) while the slide was in the Up zone, with Takeover Mode enabled. Enable input are protecting their respective areas.
press movement.
202DH Output 1 de-energized when the slide entered the Top zone and the Start input turned OFF (0) while This diagnostic is cleared at the next attempt to begin
the slide was in the Up zone before entering continuous operation, with Takeover Mode enabled. press movement.

Crankshaft Position Monitor

(CPM)
The Crankshaft Position Monitor instruction is used to determine the slide

position of the press by monitoring the Brake (BCAM), Dynamic (DCAM), and
Takeover (TCAM) cams and representing the position as Top, Down, or Up by
using the Slide Zone output. Also, the Top Zone, Down Zone, and Up Zone
Boolean outputs are provided for monitoring and diagnostic purposes.
WARNING: This instruction is specified with the intent that the Slide Zone
output is used to source the Slide Zone input of the Clutch Brake Inch Mode
(CBIM), Clutch Brake Single Stroke (CBSSM), Clutch Brake Continuous Mode
(CBCM), and Camshaft Monitor (CSM) instructions.
Normal stop operation of a press begins when the slide enters the Top zone. A
successful stop occurs when the press stops in the Top zone. During a normal stop
operation, the speed of the press can cause the press to stop in the Down zone.
This type of stop is called an overrun. To minimize overruns, the DCAM can be
enabled to generate an early Top zone, which allows the press to begin stopping
early.
WARNING: When required, the DCAM should only be enabled for normal
stopping, based on the speed of the press. Do not adjust the DCAM to account for
deteriorating brake performance.
WARNING: Reversing the press should only be performed during set up mode
by using the Clutch Brake Inch Mode (CBIM) instruction. Reversing the press is
only permitted for moving the slide from the Down zone to the Top zone where
the CBIM instruction automatically stops the press at Top. A fault occurs when
reverse movement continues into the Up zone.

CPM Instruction Parameters


The following table provides the parameter that is used to configure the
instruction. This parameter cannot be changed at runtime.
Table 89 - CPM Configuration Parameter
Cam Profile Boolean This parameter determines the cam profile that is used to generate the Slide Zone values.
A - See CPM Cam Profiles on page 241 and CPM Normal Operation with Cam Profile A on page 243.
B - See CPM Cam Profiles on page 241 and CPM - Normal Operation with Cam Profile B on page 244.
The following table explains the instruction inputs. The inputs can be field
device signals from input devices or be derived from user logic.
Table 90 - CPM Inputs
Enable Boolean This signal is used to enable the Crankshaft Position Monitor (CPM) instruction.
ON (1): The instruction outputs are enabled.
OFF (0): The instruction outputs are disabled.
Brake Cam Boolean This input is sourced by the cam monitoring device (hard cam) or application logic (soft cam).
(BCAM)
Cam Profile A This input specifies the overrun point and the Top zone when dynamic stopping is disabled.
OFF (0) -> ON (1): While the press is running and dynamic stopping is disabled, this transition signals the end of
the Up zone and the start of the Top zone.
ON (1) -> OFF (0): While the press is stopping, this transition causes the Camshaft Monitor instruction to generate
a brake fault.
Cam Profile B This input specifies the overrun point and the zone where immediate braking of the press is allowed.
OFF (0) - No effect.
OFF (0) -> ON (1): When detected while the press is stopping, this transition causes the Camshaft Monitor (CSM)
instruction to generate a brake fault. While the press is running, this transition signals the end of the Top zone and
start of the Down zone.
ON (1) -> OFF (0): While the press is running, this transition must occur after the OFF (0) to ON (1) transition of the
Takeover cam (TCAM).
Takeover Cam Boolean This input is sourced by the cam monitoring device (hard cam) or application logic (soft cam).
(TCAM)
Cam Profile A This input is used to indicate the start of the Up zone.
OFF (0) -> ON (1): This transition signals the start of the end of the Down zone and the start of the Up zone.
ON (1) -> OFF (0: When dynamic stopping is enabled, this transition has no effect unless the dynamic stop signal
has yet to occur. When this happens, this transition signals the end of the Up zone and start of the Top zone.
Cam Profile B This input is used to indicate the start of the Up zone.
OFF(0): The press is considered to be in the Down zone when the Brake cam (BCAM) is ON (1).
OFF (0) -> ON (1): This transition signals the start of the Up zone and the end of the Down zone and must occur
before the ON (1) to OFF (0) transition of the BCAM.
ON (1) -> OFF (0): When dynamic stopping is not enabled, this transition signals the end of the upstroke and the
start of the Top zone. When dynamic stopping is enabled, this transition has no effect unless the dynamic stop
signal has yet to occur. In this case, the dynamic stopping enable behavior is performed.

Table 90 - CPM Inputs

Dynamic Cam Boolean This input is used to generate an early top signal for fast-running presses. This input is sourced by a cam monitoring device (hard cam) or
(DCAM) application logic (soft cam).
Cam Profile A When dynamic stopping is not required, this input should be sourced by the inverse of the Brake Cam (BCAM).
OFF (0) -> ON (1): Dynamic stopping is enabled when this transition occurs at or after the ON (1) to OFF (0)
transition of the BCAM.
ON (1) -> OFF (0): This transition signals the end of upstroke and the start of the Top zone when it occurs before
the OFF (0) to ON (1) transition of the Takeover cam (TCAM).
Cam Profile B When dynamic stopping is not required, this input should be sourced by the Takeover Cam (TCAM).
OFF (0) -> ON (1): Dynamic stopping is enabled when this transition occurs at or after the OFF (0) to ON (1)
transition of the TCAM.
ON (1) -> OFF (0): This transition signals the end of Up zone and the start of the Top zone when it occurs at or
before the ON (1) to OFF (0) transition of the TCAM.
Input Status Boolean This input represents the combined status of the cam monitoring functions and the I/O module status.
ON: Inputs are valid. The Slide Zone status bit is set to 1.
OFF: Inputs are invalid. All outputs are set to their de-energized or OFF (0) state. The Slide Zone status bit is set to 0.
Reverse Boolean Reversing the press should only be performed during set up mode by using the Clutch Brake Inch Mode (CBIM) instruction. Reversing the
press is only permitted to move the slide from the Down zone to the Top zone where the Clutch Brake Inch Mode (CBIM) instruction
automatically stops the press. A fault is generated when reverse movement is continued into the Up zone.
OFF (0): Reverse operation is disabled.
ON (1): When the slide is in the Down zone, this instruction lets the press move toward the Top zone. A fault is generated if this input is
ON (1) when the slide is in the Up zone.
Press Motion Boolean This input represents the motion status of the press and is sourced by Output 1 of the Main Valve Control (MVC) instruction or other valve
Status control application logic.
OFF (0): The press has stopped or a stop request has been issued.
ON (1): The press is running or a start request has been issued.
IMPORTANT: When the press has been requested to stop at Top, overrun monitoring is enabled when the slide transitions from the Up to
the Top zone. An overrun fault occurs when the slide continues to move into the Down zone.
Reset(1) Boolean This input clears the instruction faults provided the fault condition is not present.

The following table explains the instruction outputs. The outputs can be field
device signals or be derived from user logic.
Table 91 - CPM Outputs
Slide Zone DINT This input represents the position of the slide, based on the cam profile selected. This output is used to source the Slide Zone input of the
Clutch Brake Inch Mode (CBIM), Clutch Brake Single Stroke Mode (CBSSM), Clutch Brake Continuous Mode (CBCM), and Camshaft Monitor
(CSM) instructions. Slide Zone is a bit-mapped value where:
Bit 0: Status
OFF (0) - The Slide Zone information is invalid. Prevents the energizing of Output 1 on an initial start or immediately de-energized
Output 1.
0 0 1 Down 1
0 1 1 Up 3
1 0 1 Top 5

Top Zone (TZ) Boolean This information bit indicates when the slide is in the Top zone.
Down Zone (DZ) Boolean This information bit indicates when the slide is in the Down zone.
Up Zone (UZ) Boolean This information bit indicates when the slide is in the Up zone.
CPM Cam Profiles
This instruction supports two cam profiles, A or B, selected by using the Cam
Profile configurable parameter. The main difference between Cam Profiles A and
B is the configuration of the Brake Cam (BCAM). In profile A, the BCAM is
configured to represent the Top zone and in profile B, it is configured to
represent the Down zone. The Takeover Cam (TCAM) in both profiles is
configured to represent the Up zone.
The profile diagrams in Figure 156 on page 242 illustrate the relationships of the
cams when the Dynamic Cam (DCAM) is enabled.

When enabled, the DCAM is configured the same way, with the ON (1) to
OFF (0) transition during the Up zone generating the early Top zone. Depending
upon the speed of the press, this transition can be configured to occur anytime
during the Up zone. However, when the DCAM is disabled, it must be
configured as follows:
Profile A The DCAM must be sourced by the inverse of the BCAM
input source.
Profile B The DCAM must be sourced by the TCAM input source.
Figure 156 - Cam Profiles A and B

Profile A Profile B
BCAM
Top Top
Down Down
Up Up
BCAM
TCAM TCAM
DCAM DCAM
Range during which the DCAM is allowed to turn ON (1).
WARNING: Cam angles are not shown in these cam profiles. The cam angles
should be selected by qualified personnel.
WARNING: When the Cam Profile is configured for A and dynamic stopping is
disabled, the Dynamic Cam (DCAM) input must be sourced inverse of the Brake
Cam (BCAM) input source.
WARNING: When the Cam Profile is configured for B and dynamic stopping is
disabled, the Dynamic Cam (DCAM) input must be sourced by the Takeover Cam
(TCAM) input source.

CPM Normal Operation with Cam Profile A
Figure 157 describes normal operation when Cam Profile A is selected and the
press is moving in the forward direction. The press starts with the slide at Top
with the Takeover cam input (TCAM) OFF (0) and the Brake cam input
(BCAM) ON (1) at (A) The Slide Zone is set to Top. As the press moves, the
BCAM input transitions from ON (1) to OFF (0) at (B) and the Slide Zone
changes from Top to Down. As the press continues moving, the TCAM input
transitions from OFF (0) to ON (1) at (C) and the Slide Zone changes from
Down to Up. Further press movement causes the Slide Zone output to change
from Up to Top at different points depending on the Dynamic cam input
(DCAM) configuration.
When the DCAM is enabled, the Slide Zone changes from Up to Top when the
DCAM input transitions from ON (1) to OFF (0) while the TCAM input is
ON (1) at (D). When the DCAM is disabled, the Slide Zone changes from Up to
Top when the BCAM input transitions from OFF (0) to ON (1) at (D).
Figure 157 - Cam Profile A Timing Diagrams
Cam Profile A Cam Profile A
1 1
Takeover Cam (TCAM) Takeover Cam (TCAM)
0 0
1 1
Dynamic Cam (DCAM) Dynamic Cam (DCAM)
0 0
1 1
Brake Cam (BCAM) Brake Cam (BCAM)
0 0
1 1
Reverse Reverse
0 0
1 1
Top Zone Top Zone
0 0
1 1
Down Zone Down Zone
0 0
1 1
Up Zone Up Zone
0 0
Slide Zone T D U T Slide Zone T D U T
A B C D A B C D
Zone: T = Top D = Down U = Up Dynamic Cam Enabled Dynamic Cam Disabled

CPM - Normal Operation with Cam Profile B
Figure 158 describes normal operation when Cam Profile B is selected and the
press is moving in the forward direction. The press starts with slide at Top with
Takeover cam input (TCAM) and Brake cam input (BCAM) OFF (0) at (A) and
Slide Zone set to Top. As the press moves, the BCAM input transitions from
OFF (0) to ON (1) at (B) and the Slide Zone changes from Top to Down. As the
press continues moving, the TCAM input transitions from OFF (0) to ON (1) at
(C) and Slide Zone changes from Down to Up. Further press movement causes
the Slide Zone output to change from Up to Top at different points depending
on the Dynamic cam input (DCAM) configuration.
When the DCAM is enabled, the Slide Zone output changes from Up to Top
when the DCAM input transitions from ON (1) to OFF (0) while the TCAM
input is ON (1) and the BCAM input is OFF (0) at (D). When the DCAM is
disabled, the Slide Zone output changes from Up to Top when the TCAM input
transitions ON (1) to OFF (0) at (D).
Figure 158 - Cam Profile B Timing Diagrams
Cam Profile B Cam Profile B
1 1
Takeover Cam (TCAM) Takeover Cam (TCAM)
0 0
1 1
Dynamic Cam (DCAM) Dynamic Cam (DCAM)
0 0
1 1
Brake Cam (BCAM) Brake Cam (BCAM)
0 0
1 1
Reverse Reverse
0 0
1 1
Top Zone Top Zone
0 0
1 1
Down Zone Down Zone
0 0
1 1
Up Zone Up Zone
0 0
Slide Zone T D U T Slide Zone T D U T
A B C D A B C D
Zone: T = Top D = Down U = Up Dynamic Cam Enabled Dynamic Cam Disabled
CPM False Rung State Behavior
energized.

CPM Fault and Diagnostic Codes

Table 92 - Fault Codes and Corrective Actions
00H No fault. None.
20H The Input Status input transitioned from ON (1) to OFF (0) while the instruction was Check the I/O module connection or the internal logic that is used
executing. to source input status.
Reset the fault.
1000H While the press was moving forward, slide movement from the Top zone to the Up zone Check the cams or the scan rate.
was detected. Reset the fault.
1001H While the press was moving forward, slide movement from the Down zone to the Top
zone was detected.
1002H While the press was moving forward, slide movement from the Up zone to the Down
zone was detected.
1003H While the press was moving forward, slide movement from the Up zone to the Down
zone was detected.
1004H Slide movement from the Top zone to the Down zone was detected while the press was
reversing. Reverse movement is only permitted toward the Top zone.
1005H Slide movement from the Down zone to the Up zone was detected while the press was
reversing. Forward movement of the press is not permitted when Reverse is enabled.
1006H The Dynamic cam (DCAM) is stuck OFF (0). Check the DCAM.
Reset the fault.
1007H The Dynamic cam (DCAM) is stuck ON (1).
1008H Cam Profile A The DCAM turned OFF (0) while the slide was in the Down zone.
Cam Profile B N/A
1009H Cam Profile A The Takeover cam (TCAM) is stuck ON (0). Check the TCAM.
Reset the fault.
Cam Profile B N/A
100AH Cam Profile A N/A Check the BCAM.
Reset the fault.
Cam Profile B The Brake cam (BCAM) is stuck ON (0).
1020H A request to reverse the press was made while the slide was in the Up zone. Set the Reverse input to OFF (0).
Reset the fault.
1040H A slide overrun fault occurred. Check the brake linings for wear.
Check the cam settings for proper alignment.
Reset the fault.

00H No fault. None.
20H The Input Status input was OFF (0) when the instruction Check the I/O module connection or the Camshaft Monitor (CSM)
started. instruction that is used to source input status.
Set the Input Status input to ON (1), if the inputs are not being sourced
by a safety I/O module.

Camshaft Monitor (CSM)
This instruction monitors the start, stop, and run operations of a camshaft.
Possible sources for the Channel A and Channel B inputs to the instruction could
include proximity switches, resolvers, gray code encoders, or any device that can
produce a series of pulses when the camshaft is moving.
Start and stop operation diagnostics are based on the configurable Mechanical
Delay Time parameter. A fault is generated whenever the Mechanical Delay
Time is exceeded during a start or stop operation.
CSM Instruction Parameters



device signals from input devices or derived from user logic.
Table 94 - CSM Inputs
Mechanical Delay Time DINT In a starting operation, this parameter determines the amount of time the instruction waits for the Channel A and Channel B
inputs to indicate motion after the Motion Request input has transitioned from OFF (0) to ON (1) before generating a Start Time
Exceeded fault.
In a stopping operation, this parameter determines the amount of time the instruction waits for the Channel A or Channel B input
to indicate a loss of motion after the Motion Request input has transitioned from ON (1) to OFF (0) before generating a Stop Time
Exceeded fault.
Max Pulse Period DINT This parameter defines the maximum time that is allowed between the rising and falling edges in the input pulse train before
motion is considered to be stopped.
Motion Request Boolean This input indicates if motion is being requested. It is sourced by Output 1 of the Clutch Brake Inch Mode (CBIM), Clutch Brake
Single Stroke Mode (CBSSM), or Clutch Brake Continuous Mode (CBCM) instruction.
ON (1): The camshaft is being commanded to move and motion is expected.
OFF (0): Camshaft motion is not requested.
Channel A(1) Boolean A pulse train at this input indicates that the camshaft is moving.
Channel B(1) Boolean A pulse train at this input indicates that the camshaft is moving.

device signals or derived from user logic.
Table 95 - CSM Outputs
Output 1 (O1) Boolean This output indicates the status of camshaft motion at all times, even when the Fault Present (FP) output is ON. The only exception
is when the Input Status input indicates that inputs to this instruction are invalid. In that case, this output (O1) is OFF.
This output is used to source the Press in Motion input of the Clutch Brake Inch Mode (CBIM), Clutch Brake Single Stroke Mode
(CBSSM), and/or Clutch Brake Continuous Mode (CBCM) instructions.
ON (1): The camshaft is moving.
OFF (0): The camshaft is stopped.
Fault Present (FP) Boolean This output indicates the fault status of the instruction.
This output is used to source the Motion Monitor Fault input of the Clutch Brake Inch Mode (CBIM), Clutch Brake Single Stroke
Mode (CBSSM), and/or Clutch Brake Continuous Mode (CBCM) instruction.
ON (1): A fault is present in the instruction.
Fault Code DINT This output indicates the type of fault that occurred. See Table 96 on page 257 for the list of possible fault codes.
Diagnostic Code DINT This output indicates the diagnostic status of the instruction. See Table 97 on page 258 for a list of possible diagnostic codes.
Measured Start Time DINT The time, in milliseconds, that it took the camshaft to start moving. This value is the difference in time from when the Motion
Request input turns ON (1) to the time at which both Channel A and Channel B inputs indicate motion.
Measured Stop Time DINT The time, in milliseconds, that it took the camshaft to stop moving. This value is the difference in time from when the Motion
Request input turns OFF (0) to the time at which either the Channel A or Channel B input stopped indicating motion.

CSM Input Pulse Conversion
The Channel A and Channel B input signals are a pulse train from an encoder,
resolver, or proximity switch. When pulses are detected within the configured
Max Pulse Period, motion is indicated.
The pulse trains are conditioned to provide level input signals to the instruction
logic to derive a signal that is ON (1) when there is motion and OFF (0) when
there is no motion. The conversion of each channel is independent of the other.
Shown here for Channel A, the signal turns ON (1) at the first pulse edge that is
seen at the Channel A input at (A). The derived signal remains ON (1) as long as
the elapsed time between pulses does not exceed the configured Max Pulse
Period. If no edges are detected for more than the Max Pulse Period, the derived
level signal turns OFF (0) at (B).
Figure 159 - Channel A Input Pulse Conversion
1
Channel A
Pulse Input
0
Max Pulse
Period
Channel A 1
Level Input
(Derived) 0
A B

CSM Normal Operation
The Motion Request input transitions from OFF (0) to ON (1) at (A), which
indicates that the camshaft is being commanded to move. Output 1 turns ON (1)
at (B), when pulses are detected on both Channel A and Channel B within the
configured Mechanical Delay Time. After the Motion Request input turns OFF
(0) at (C), indicating that the camshaft is being commanded to stop, Output 1
turns OFF (0) at (D) since pulses are no longer present on both channels. Pulses
must stop on either Channel A or Channel B within the configured Mechanical
Delay Time to prevent a Stop Time Exceeded fault.
1
Motion Request
0
1
Channel A
0
1
Channel B
0
1
Input Status
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D

CSM Uncommanded Motion Fault
An Uncommanded Motion Fault occurs when the Motion Request input is OFF
(0) but pulses on the Channel A and Channel B inputs indicate motion.
The Motion Request input is OFF (0), which indicates that motion is not being
commanded. When pulses are detected on only one channel at (A), no fault
occurs. When pulses are detected on both Channel A and Channel B at (B), a
fault is generated indicating Uncommanded Motion. Output 1 tracks the
presence of pulses on both Channel A and Channel B turning ON (1) at (B) and
OFF (0) at (C). When no pulses are detected on either channel and the Motion
Request input is OFF (0), indicating that motion is no longer requested, the fault
is cleared on the next OFF (0) to ON (1) transition of the Reset input at (D).
Figure 161 - Uncommanded Motion Fault Timing Diagram
1
Motion Request
0
1
Channel A
0
1
Channel B
0
1
Input Status
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D

CSM Start Time Exceeded Fault
At (A), the Motion Request input turns ON (1), which indicates that motion is
being requested. The Fault Present output turns ON (1) when the configured
Mechanical Delay Time expires at (B), before pulses are detected on both
Channel A and Channel B. When pulses are present on both inputs at (C),
Output 1 turns ON (1) even though the fault condition is present. When either
Channel A or Channel B are no longer indicating motion at (D), Output 1 turns
OFF (0). When both channels are not indicating motion (no pulses) and the
Motion Request input is also OFF (0) at (E), a subsequent OFF (0) to ON (1)
transition of the Reset input resets the fault condition at (F).
Figure 162 - Start Time Exceeded Fault Timing Diagram
1
Motion Request
0
1 Delay Time
Channel A
0
1
Channel B
0
1
Input Status
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D E F

CSM Stop Time Exceeded Fault
At (A), the Motion Request input turns OFF (0), which indicates that motion is
being commanded to stop. At (B), the Fault Present output turns ON (1) when
the configured Mechanical Delay Time expires before pulses stop on either
Channel A or Channel B. Output 1 transitions from ON (1) to OFF (0) when
pulses stop occurring on either Channel A or Channel B at (C). When both
Channel A and Channel B stop indicating motion and the Motion Request input
is also OFF (0) at (D), a subsequent OFF (0) to ON (1) transition of the Reset
input resets the fault condition at (E).
Figure 163 - Stop Time Exceeded Fault Timing Diagram
1
Motion Request
0
1
Channel A
0
1
Channel B
0
1
Input Status
0
1 Delay Time
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D E

CSM Loss of Motion Fault (Case 1)
The Motion Request input turns ON (1), and at (A) the Channel A and Channel
B inputs both indicate motion within the configured Mechanical Delay Time.
Once the Mechanical Delay Time has expired at (B), a subsequent loss of pulses
on either Channel A or Channel B results in the Fault Present output turning
ON (1), which indicates a Loss of Motion fault at (C). Output 1 also turns OFF
(0) at (C). When both Channel A and Channel B are no longer indicating
motion at (D) and the Motion Request input is also OFF (0), a subsequent OFF
(0) to ON (1) transition of the Reset input resets the fault condition, at (E).
Figure 164 - Loss of Motion Fault (Case 1) Timing Diagram
1
Motion Request
0 Delay Time
1
Channel A
0
1
Channel B
0
1
Input Status
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D E

CSM Loss of Motion Fault (Case 2)
The Motion Request input turns ON (1), and at (A) the Channel A and Channel
B inputs both indicate motion within the configured Mechanical Delay Time. A
loss of pulses on either Channel A or Channel B, at (B), before the Mechanical
Delay Time expires, results Output 1 turning OFF (0). When the Mechanical
Delay Time expires at (C), the Fault Present output turns ON (1), which
indicates a Loss of Motion fault. When both Channel A and Channel B are no
longer indicating motion at (D) and the Motion Request input is also OFF (0), a
subsequent OFF (0) to ON (1) transition of the Reset input resets the fault
condition, at (E).
Figure 165 - Loss of Motion Fault (Case 2) Timing Diagram
1
Motion Request
0 Delay Time
1
Channel A
0
1
Channel B
0
1
Input Status
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D E

CSM Input Status Fault
At (A), the Motion Request input turns ON (1), which indicates that motion is
being commanded. Both Channel A and Channel B inputs indicate motion by
detecting pulses within the configured Mechanical Delay Time. Output 1 turns
ON (1) at (B). When the Input Status input turns OFF (0) at (C), an Input
Status Fault occurs and the Fault Present output turns ON (1). Output 1 also
turns OFF (0) at (C). Output 1 is always OFF (0) when the Input Status input is
OFF (0). When both Channel A and Channel B no longer indicate motion at
(D), the Motion Request input is also OFF (0), and the Input Status input has
returned to ON (1), a subsequent OFF (0) to ON (1) transition of the Reset
input resets the fault condition, at (E).
1
Motion Request
0
Channel A 1
0
Channel B 1
0
1
Input Status
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D E

CSM False Rung State Behavior
energized.
CSM Fault and Diagnostic Codes

0000H No faults. None.
0020H An input status error occurred. The Input Status input transitioned from ON (1) to Check the I/O module connection.
OFF (0). Reset the fault.
6000H Uncommanded Motion occurred. The Motion Request input is OFF (0) but both Check the devices that are driving the Channel A and Channel B inputs
input channels indicate the camshaft is moving. and the associated wiring.
Make sure that the camshaft is stopped by inspecting it visually.
Reset the fault.
6001H Start time was exceeded. The measured time to start the camshaft exceeded the Reevaluate the Mechanical Delay Time value.
configured Mechanical Delay Time. Make sure camshaft mechanical linkages, brakes, and motion sensors are
functioning.
Visually check that motion has stopped.
Reset the fault.
6002H Stop time was exceeded. The measured time to stop the camshaft exceeded the Reevaluate the Mechanical Delay Time value.
configured Mechanical Delay Time. Make sure that mechanical linkages, brakes, and motion sensors are
functioning.
Reset the fault.
6003H Loss of Motion occurred at Channel A. The Motion Request input is ON (1), but the Check the device that is driving the Channel A input and the associated
Channel A input stopped indicating motion. wiring.
Reset the fault.
6004H Loss of Motion occurred at Channel B. The Motion Request input is ON (1), but the Check the device that is driving the Channel B input and the associated
Channel B input stopped indicating motion. wiring.
Reset the fault.
6005H The Motion Request input turned ON (1) before all inputs were in their safe state, Check the I/O module connection.
OFF (0). Make sure that the camshaft is stopped by inspecting it visually.
Make sure that all motion sensors are operating properly.
Reset the fault.


0000H None. None.
0020H The Input Status input is OFF (0) when the instruction first Check the I/O module connection.
executed.
6000H The Channel A and Channel B inputs are both indicating motion Check the devices that are driving the Channel A and Channel B inputs and
(pulses present) when the instruction first executed. the associated wiring.
6001H The Channel A input is indicating motion (pulses present), when Check the device that is driving the Channel A input and the associated
the instruction first executed. wiring.
6002H The Channel B input is indicating motion (pulses present), when Check the device that is driving the Channel B input and the associated
the instruction first executed. wiring.

Clutch Brake Wiring and The example on the following pages illustrates the use of some of the Metal Form
instructions in a press safety application, including the three Clutch Brake
Programming Example instructions (CBIM, CBSSM, and CBCM), the Camshaft Motion Monitor
(CSM), and the Crankshaft Position Monitor (CPM).
24V DC
Momentary
Push Button
(reset)
Motion Monitor Proximity Sensors

Brake Cam Takeover Cam
1 13 3 14 4 5 28 6 29 24
V T0 I0 T1 I1 I2 T3 I3 T3 I11
DeviceNet
G T2
11 25
Arm Continuous
Prompt Lamp
24V Ground


RunStationStart 1 A
ValvesOK 1
Level1Safeties 1 SafetiesOK 2
&
Level2Safeties 1
Level3Safeties 1
CrankPosition
CPM
MainValveActuated 1 A Cam Profile Slide Zone B
1 Enable Top Zone
Press Motion Status Down Zone CrankPosition.DZ 2
C
&
Module 1:I.Pt00Data Brake Cam Up Zone
LIM Module 1:I.Pt01Data Takeover Cam
DynamicCamAngle1 1 Low Limit Dynamic Cam
EncoderRegister 1 Test Input Status
DynamicCamAngle2 1 High Limit ReversePress 1 Reverse
Reset Fault Present
Module 1:I.CombinedStatus
D
&
StartDelayTime I0 MotionMonitor
CSM
Out
80 ms
Mechanical Delay Time
Max Pulse Period
Output 1 E
StopDelayTime I1
Motion Request
Module 1:I.Pt02Data Channel A MotionStopped 2
Module 1:I.Pt03Data Channel B
Input Status
Reset Fault Present MotionMonitor_IS 2 F
Module 1:I.Pt11Data G

Figure 169 - Programming Diagram Continued

A
CBIM InchMode
B Manual Ack Type Output 1
5000 ms Inch Time
InchModeSelected 1 Enable
C Safety Enable
EnableInchMode 1 Standard Enable
Start
Press In Motion
Slide Zone
1 Motion Monitor Fault
Safety Enable Ack
CBSSM SingleStrokeMode
>=1
Manual Ack Type Output 1 PressRun 2
Disabled Inch Time
SingleStrokeSelected 1 Enable
D 1
Safety Enable
EnableSingleStrokeMode Standard Enable
Start
Press In Motion
Slide Zone
Safety Enable Ack
ContinuousMode
CBCM
Manual Ack Type Output 1
Immediate With Arming Mode
Takeover Mode Continuous Armed ArmContinuousPrompt
Disabled
ContinuousModeSelected 1 Enable
Safety Enable
EnableContinuousMode 1 Standard Enable
ArmContinuousInput 1 Arm Continuous
Start
StopPressInput 1 Stop At Top
Press In Motion
Slide Zone
E Safety Enable Ack
Note 1: This tag is an internal Boolean tag that has its value determined by
other parts of the user application that are not shown in this
example.
F Note 2: This tag is an internal Boolean tag that is used by other parts of the
user application that are not shown in this example.


LIM CrankPosition.DynamicCam
Limit Test (CIRC)
Low Limit DynamicCamAngle1
95
Test EncoderRegister
0
High Limit DynamicCamAngle2
320
CPM
CPM CrankPosition TZ
Cam Profile A
Enable ALWAYS_ENABLED DZ
1
Brake Cam Module1:I.Pt00Data UZ
1
Takeover Cam Module1:I.Pt01Data FP
1
Dynamic Cam CrankPosition.DynamicCam
0
1
Reverse ReversePress
0
Press Motion Status MainValveActuated
<MainValve.O1>
0
0
MotionMonitor.O1 MOV
/ Move
Source StartDelayTime
750
Dest MotionMonitor.MechanicalDelayTime
0
Move
Source StopDelayTime
1000
0
CSM
Camshaft Monitor
CSM MotionMonitor O1
Mechanical Delay Time (Msec) MotionMonitor.MechanicalDelayTime
Max Pulse Period (Msec) 80 FP
Motion Request MainValveActuated
<MainValve.O1>
0
0
1
1
0
MotionMonitor.FP MotionMonitor_IS
/

Figure 171 - Ladder Logic Continued

CPM
CPM CrankPosition TZ
Cam Profile A
Enable ALWAYS_ENABLED DZ
1
Brake Cam Module1:I.Pt00Data UZ
1
Takeover Cam Module1:I.Pt01Data FP
1
Dynamic Cam CrankPosition.DynamicCam
0
1
Reverse ReversePress
0
Press Motion Status MainValveActuated
<MainValve.O1>
0
0
/ Move
Source StartDelayTime
750
0
Move
Source StopDelayTime
1000
0
CSM
Camshaft Monitor
CSM MotionMonitor O1
Mechanical Delay Time (Msec) MotionMonitor.MechanicalDelayTime
Max Pulse Period (Msec) 80 FP
Motion Request MainValveActuated
<MainValve.O1>
0
0
1
1
0
MotionMonitor.FP MotionMonitor_IS
/
SafetiesOK ValvesOK InchMode.SafetyEnable
CBIM
Clutch Brake Inch Mode
CBIM InchMode O1
Ack Type MANUAL
Inch Time (Msec) 5000
Enable InchModeSelected
0
Safety Enable InchMode.SafetyEnable
1
Standard Enable EnableInchMode
0
Start RunStationStart
0
Press In Motion MotionMonitor.O1
0
Motion Monitor Fault ALWAYS_OK
1
Slide Zone CrankPosition.SlideZone
5 (TOP)
Safety Enable Ack Module1:I.Pt11Data
0

Figure 172 - Ladder Logic Continued

SafetiesOK ValvesOK CrankPosition.FP SingleStrokeMode.SafetyEnable
/
CBSSM
Clutch Brake Single Stroke Mode
CBSSM SingleStrokeMode O1
Ack Type MANUAL
Takeover Mode DISABLED
Enable SingleStrokeSelected
0
Safety Enable SingleStrokeMode.SafetyEnable
1
Standard Enable EnableSingleStrokeMode
0
0
0
Motion Monitor Fault MotionMonitor_IS
1
5 (TOP)
0
SafetiesOK ValvesOK CrankPosition.FP ContinuousMode.SafetyEnable

/
CBCM
Clutch Brake Continuous Mode
CBCM ContinuousMode O1
Ack Type MANUAL
Mode IMMEDIATE WITH ARMING CA
Takeover Mode DISABLED
Enable ContinuousModeSelected
0
Safety Enable ContinuousMode.SafetyEnable
1
Standard Enable EnableContinuousMode
0
Arm Continuous ArmContinuousInput
0
0
Stop At Top StopPressInput
0
0
Motion Monitor Fault MotionMonitor_IS
1
5 (TOP)
0
ContinuousMode.CA ArmContinuousPrompt
InchMode.O1 PressRun
SingleStrokeMode.O1
ContinuousMode.O1




Eight-position Mode Selector

(EPMS)
The Eight-position Mode Selector (EPMS) instructions main function is to

energize one of its eight outputs when the associated input goes active. Only one
output can be energized at a time.
A fault is generated when a no input active condition exists for more than 250
ms, or a multiple input active condition exists. The fault is cleared by applying an
OFF (0) to ON (1) transition on the Reset input, but only after the fault
condition is corrected.
This instruction supports a Lock input. Updating the outputs is prohibited when
the Lock input is set to ON (1). Attempting to update the outputs while the
Lock input is ON (1), results in the generation of a diagnostic code and outputs
are de-energized (no mode).
ATTENTION: This instruction is specified to operate with Break before Make

types of inputs.

EPMS Instruction Parameters


signals from input devices or be derived from user logic.
Table 98 - EPMS Inputs
Input 1 Boolean ON (1): Input ON (1)
OFF (0): Input OFF (0)
Lock Boolean ON (1): The instruction is locked. Any changes in the input states result in all outputs being de-energized. A diagnostic is
generated.
OFF (0): The instruction is unlocked. Valid input changes are accepted.
Reset(1) Boolean This input clears instruction faults provided the fault condition is not present.

The following table explains instruction outputs. The outputs are typically used
to select different modes of application operation by enabling other instructions
(Output 1 for mode 1, and so on).
Table 99 - EPMS Outputs
Output 1 (O1) Boolean ON (1): Output ON (1)
OFF (0): Output OFF (0)

EPMS Lock Input OFF (0)
The timing diagram in Figure 176 illustrates the Lock input OFF (0). At (A), a
no inputs condition exists. At (B), a single input, Input x, transitions from OFF
(0) to ON (1) within 250 ms and the corresponding output, Output x, turns ON
(1). At (C), a no inputs condition is created when the single input, Input x,
transitions from ON (1) to OFF (0). At (D), a single input, Input y, then
transitions to ON (1) within 250 ms and the corresponding output, Output y,
turns ON (1).
Figure 176 - Lock Input OFF (0) Timing Diagram
1
Input x
0
1
Input y
0
1
Lock
0
1
Output x
0
1
Output y
0
1
Fault Present
0
A B C D

EPMS Lock Input ON (1)
Figure 177 illustrates the Lock input ON (1). At (A), a no inputs condition
exists. At (B), a single input, Input x, transitions from OFF (0) to ON (1) within
250 ms and the corresponding output, Output x, turns ON (1). At (C), the
instruction becomes locked when the Lock input transitions from OFF (0) to
ON (1). At (D), an attempt is made to change the mode when the single input,
Input x, transitions from ON (1) to OFF (0), creating a no inputs condition. At
(E), a single input, Input y, transitions from OFF (0) to ON (1) within 250 ms,
generating a diagnostic code that indicates that an attempt was made to change
the mode while locked. The output, Output x, transitions from ON (1) to OFF
(0). At (F), the Lock input transitions from ON (1) to OFF (0) while the single
input, Input y, is ON (1), the corresponding output, Output y, is turned ON (1)
and the diagnostic code is cleared.
Figure 177 - Lock Input ON (1) Timing Diagram
1
Input x
0
1
Input y
0
1
Lock
0
1
Output x
0
1
Output y
0
1
Fault Present
0
A B C D E F
EPMS False Rung State Behavior
When the instruction is executed on a false rung, all instruction outputs are
de-energized.

EPMS Fault and Diagnostic Codes

00H No fault. None.
20H The Input Status input transitioned from ON (1) to OFF (0) while the instruction Check the safety I/O module connections or the internal logic that is used
was executing. to source input status.
Reset the fault.
3000H A multiple selection input was detected. Check the mode selection inputs.
Reset the fault.
3001H A no selection input condition existed for more than 250 ms. Check the timing of the mode selection inputs to see if they are within
250 ms.
Reset the fault.

00H No fault. None.
20H The Input Status input was OFF (0) when the instruction was Check the Safety I/O module connections or the internal logic that is used
started. to source the input status.
Set the I/O status to 1 (if the inputs are not being sourced by the safety I/
O).
3000H Input data changed while the Lock input was ON (1). Only update inputs when the Lock input is OFF (0).
EPMS Wiring and Programming Example

24V DC
Momentary
Push Button
(reset)
1 Selector Switch
2 5
Key Switch
3 4
1 3 4 5 6 7 13 18 8 24
Selector Switch Position V0 I0 I1 I2 I3 I4 T0 T1 I5 I11
1 - No Mode
DeviceNet
2- Inch Mode
3 - Single Stroke Mode 1791-DS-IB12 Module 1
4 - Continuous Mode
5 - Maintenance Mode
G0
11
24V Ground


ModeSelector
EPMS
Module 1:I.Pt00Data Input 1 Output 1 NoModeSelected 1
Module 1:I.Pt01Data Input 2 Output 2 InchModeSelected 1
Module 1:I.Pt02Data Input 3 Output 3 SingleStrokeSelected 1
Module 1:I.Pt03Data Input 4 Output 4 ContinuousModeSelected 1
Module 1:I.Pt04Data Input 5 Output 5 MaintenanceModeSelected 1
0 Input 6 Output 6
0 Input 7 Output 7
0 Input 8 Output 8
Module 1:I.CombinedStatus Input Status

Module 1:I.Pt05Data Lock
Module 1:I.Pt11Data Reset Fault Present


EPMS
Eight Position Mode Selector
EPMS ModeSelector O1
Input 1 Module1:I.Pt00Data
1 O2
1 O3
0 O4
1 O5
0 O6
Input 6 0
O7
Input 7 0
O8
Input 8 0
FP
1
Lock Module1:I.Pt05Data
0
0




Auxiliary Valve Control (AVC)
The Auxiliary Valve Control (AVC) instruction controls an auxiliary valve that is
used with the main clutch or brake valves of a press. This instruction is used when
a delay is desired between the enabling or disabling of the main clutch or brake
valves and an auxiliary valve (for example, a soft clutch or brake application). The
clutch or brake can then be engaged in a two-step sequence providing pressure
relief for smoother starting or stopping of the press. One AVC instruction is
required for each function that is to be implemented. For example, if a delay is
needed when starting and stopping a press, one AVC instruction controls the
start delay and another AVC instruction controls the stop delay.
The timing of the auxiliary valve reaction is configurable. Also, the instruction
can be configured to handle different valve types and positive or negative
feedback signals.
ATTENTION: It is not always desirable to allow the auxiliary valve reaction to be

delayed. For example, in a press safety application, soft braking during the press
downstroke is not allowed. For this reason, delays can be temporarily disabled
by turning the Delay Enable input OFF (0).

AVC Instruction Parameters

circumstances.

Table 102 - AVC Configuration Parameters
Feedback Type Boolean This parameter defines feedback OFF and ON states for positive and negative feedback.
Positive OFF (0): Output 1 OFF, Feedback 1 OFF.
ON (1): Output 1 ON, Feedback 1 ON.
Negative OFF (0): Output 1 OFF, Feedback 1 ON.
ON (1): Output 1 ON, Feedback 1 OFF.
Feedback Reaction Time DINT This parameter specifies the amount of time that the instruction waits for the Feedback 1 input to reflect the state of Output
1 as defined by the Feedback Type parameter.
The valid range is 51000 ms
Delay Type Boolean This parameter specifies where the auxiliary valve delay is to occur. See the timing diagrams on pages 279282 for details.
ON (1): The delay occurs when the Actuate input transitions from OFF (0) to ON (1).
OFF (0): The delay occurs when the Actuate input transitions from ON (1) to OFF (0).
Delay Time DINT This parameter defines the time delay.
Output Follows Actuate Boolean This parameter specifies how the auxiliary valve reacts to the Actuate input. See the timing diagrams on pages 279282 for
details.
True: Output 1 changes state following the Actuate input.
False: Output 1 changes state opposite to the Actuate input.

Table 103 - AVC Inputs
Actuate Boolean This input is the signal to actuate the valve. A change in state on this input causes Output 1 (the auxiliary valve) to react
depending on how the instruction is configured. See the timing diagrams on pages 279282 for more information.
ON (1): Output 1 energizes as specified by the Delay Type and Output Follows Actuate inputs.
OFF (0): Output 1 de-energizes as specified by the Delay Type and Output Follows Actuate inputs.
Delay Enable Boolean This input indicates whether auxiliary valve delays are currently enabled. It can be used to temporarily disable auxiliary valve
delays. If a delay of the auxiliary valve is not desired during any part of press operation, this input can be set to OFF (0).
ON (1): Delays are currently allowed.
OFF (0): Delays are not currently allowed and the auxiliary valve reacts immediately.
Feedback 1 Boolean This input is constantly monitored to make sure that it reflects Output 1. When Output 1 transitions, this input must react
within the configured Feedback Reaction Time.
Input Status Boolean If instruction inputs are from a safety I/O module, this value is the status from the I/O module or modules (Connection Status
or Combined Status). If instruction inputs are derived from internal logic, it is the application programmers responsibility to
Output Status Boolean This input indicates the output status of the I/O module that is connected to this instruction.
ON (1): The output module is operating properly.
OFF (0): The output module is faulted or offline. Instruction outputs are set their safe state.
ON (1): The Fault Present and Fault Code outputs are reset.
Table 104 - AVC Outputs
Output 1 (O1) Boolean This output is used to control an auxiliary valve. Output 1 is de-energized when the following occurs:
A valve feedback fault occurs as described on page 282.
Input Status or Output Status inputs turn OFF (0).
The normal operation of the instruction causes Output 1 to be de-energized as described in the timing diagrams on pages
279281.

Normal Auxiliary Valve Reaction
Figure 184 shows a typical soft-clutch setup where the auxiliary valve instruction
is configured for an On-delay. When Actuate transitions from OFF (0) to ON
(1) at (A), the delay timer starts if the Delay Enable input is ON (0). If the
Output Follows Actuate input is True, Output 1 energizes once the delay period
is over at (B). If the Output Follows Actuate input is False, Output 1 is energized
only during the delay period. When the Actuate input transitions from ON (1)
to OFF (0), Output 1 follows it and is de-energized immediately if the Output
Follows Actuate input is True.
Figure 184 - Normal Auxiliary Valve Reaction (Delay Type = On) Timing Diagrams
Delay Type = ON (1)

Output Follows Actuate = True (1)
1
Actuate
0
1
Output 1 Delay Time
0
A B C
Input Status, Output Status, and Delay Enable (not shown) = ON (1)
Delay Type = ON (1)

Output Follows Actuate = False (0)
1
Actuate
0
1
Output 1 Delay Time
0
A B C
In a soft clutch application, the time period from (A) to (B) indicates the soft
part of the clutch engagement where there is pressure relief through the auxiliary
valve. During this period, the main clutch valve is choked yielding a smoother
clutch engagement.

Figure 185 shows a typical brake setup where the auxiliary valve instruction is
configured for an Off-delay. When the Actuate input transitions from OFF (0)
to ON (1) at (A), Output 1 energizes immediately if the Output Follows Actuate
input is True. When the Actuate input transitions from ON (1) to OFF (0) at
(B), the delay timer starts if the Delay Enabled input is ON (1). If the Output
Follows Actuate input is True, Output 1 remains energized until the delay period
ends at (C). Output 1 is then de-energized. If the Output Follows Actuate input
is False, Output 1 is energized only during the delay period.
Figure 185 - Normal Auxiliary Valve Reaction (Delay Type = Off) Timing Diagrams
Delay Type = OFF (0)

Output Follows Actuate = True (1)
1
Actuate
0
1
Output 1 Delay Time
0
A B C

Output Follows Actuate = False (0)
1
Actuate
0
1
Output 1 Delay Time
0
A B C
In a soft brake application, the time period from (B) to (C) indicates the soft
part of the brake engagement, where there is pressure relief from the auxiliary
valve. During this period, the brake valve is choked, which yields a smoother
brake engagement.

Immediate Auxiliary Valve Reaction
Figure 186 shows the Delay Enable input changing from ON (1) to OFF (0)
during the On-delay phase. When the Actuate input transitions from OFF (0) to
ON (1) at (A), the delay timer starts. Then, the Delay Enable input transitions
from ON (1) to OFF (0) before the delay timer expires and Output 1 is
immediately energized at (B).
Figure 186 - Immediate Auxiliary Valve Reaction (Delay Type = On) Timing Diagram
Delay Type = ON (1)
Output Follows Actuate (not shown) = True (1)
1
Actuate
0
1
Delay Enable
0
1
Output 1 Delay Time
0
A B
Input Status and Output Status (not shown) = ON (1)
Figure 187 shows the Delay Enable input changing from ON (1) to OFF (0)
during the Off-delay phase. When the Actuate input transitions from ON (1) to
OFF (0) at (A), the delay timer starts. Then, the Delay Enable input transitions
from ON (1) to OFF (0) before the delay timer expires and Output 1 is
immediately de-energized at (B).
Figure 187 - Immediate Auxiliary Valve Reaction (Delay Type = Off) Timing Diagram
Output Follows Actuate (not shown) = True (1)
1
Actuate
0
1
Delay Enable
0
1
Output 1 Delay Time
0
A B

Auxiliary Valve Feedback Fault
Figure 188 shows an example of a Feedback fault where the auxiliary valve did
not react within the specified time with Delay Type = ON (1), Output Follows
Actuate = True, and Feedback Type = Positive. When the Actuate input
transitions from OFF (0) to ON (1) at (A), the delay timer begins. After the delay
timer expires at (B), Output 1 is energized. At (C), the Feedback 1 input has not
reacted within the specified Feedback Reaction Time, which causes a fault.
Output 1 is de-energized.
The Fault Present output is cleared at (D) because the Reset output has been
asserted and the Feedback 1 input is in the correct state. However, Output 1
cannot be energized again until (E), when the Actuate input turns OFF (0).
Figure 188 - Auxiliary Valve Feedback Fault Timing Diagram
1
Actuate
0
1
Delay Enable
0
Feedback
1 Reaction Time
Feedback 1
0
1
Reset
0
1
Fault Present
0
1
Output 1 Delay Time
0
A B C D E
Output Follows Actuate (not shown) = True
Delay Type = ON (1)
Feedback type = Positive
AVC False Rung State Behavior
energized.

AVC Fault and Diagnostic Codes

00H No fault. None.
21H The Output Status input transitioned from ON (1) to OFF (0) while the instruction was Check the I/O module connection.
5020H Feedback is inconsistent with the valve output. Check the feedback signal.
Reset the fault.
5021H Feedback did not turn ON (1) when Output 1 transitioned from OFF (0) to ON (1). Check the feedback signal.
Adjust the Feedback Reaction Time, if necessary.
5022H Feedback did not turn OFF when Output 1 transitioned from ON (1) to OFF (0). Reset the fault.

00H No fault. None.
21H The Output Status input was OFF (0) when the instruction Check the I/O module connection.
started.

AVC Wiring and Programming Example

24V DC
Momentary
Push Button
(reset)
S1 S2 S3 S4
1 21 3 13 4 14 5 15 6 16 10
V0 V1 I0 T0 I1 T1 I2 T0 I3 T1 I7
DeviceNet
G0 G1 O0 O1 O2 O3
11 31 23 24 25 26
S1 S2 S3 S4
24V Ground

This programming diagram shows the Auxiliary Valve Control (AVC)

instruction used with a Main Valve Control (MVC) instruction.

MainValveActuated2
MainValve
MVC
500 ms Feedback Reaction Time Output 2 Module1:O.Pt01Data
Press Run 1 Actuate


>=1
ValvesOK 2
SoftClutchValve
AVC
500 ms Feedback Reaction Time
ON Delay Type
50 ms Delay Time
TRUE Output Follows Actuate
Acutate
SoftClutchEnable Delay Enable
Input Status
Output Status
Reset Fault Present
SoftBrakeValve
AVC
500 ms Feedback Reaction Time
OFF Delay Type
50 ms Delay Time
FALSE Output Follows Actuate
1 & Acutate
CrankshaftPosition.DZ
Delay Enable
SoftBrakeEnable 1
Input Status
Output Status
Reset Fault Present

NOTE 2: This tag is an internal Boolean tag that is used by other parts of the user application that are not shown in this example.


MVC
Main Valve Control
MVC MainValve O1
Actuate PressRun
0 FP
0
0
0
0
0
MainValve.O1 Module3:O.Pt00Data
MainValve.FP ValvesOK
/
AVC
Auxiliary Valve Control
AVC SoftClutchValve O1
Feedback Reaction Time (Msec) 500 FP
Delay Type ON
Delay Time (Msec) 50
Output Follows Actuate TRUE
Actuate PressRun
0
Delay Enable SoftClutchEnable
0
0
0
0
0
SoftClutchValve.O1 Module3:O.Pt02Data
SoftBrakeEnable CrankPosition.DZ SoftBrakeValve.DelayEnable

/
AVC
Auxiliary Valve Control
AVC SoftBrakeValve O1
Feedback Reaction Time (Msec) 500 FP
Delay Type OFF
Delay Time (Msec) 50
Output Follows Actuate FALSE
Actuate PressRun
0
Delay Enable SoftBrakeValve.DelayEnable
0
0
0
0
0
SoftBrakeValve.O1 Module3:O.Pt03Data
MainValve.FP SoftClutchValve.FP SoftBrakeValve.FP ValvesOK

/ / /




Main Valve Control (MVC)
The Main Valve Control (MVC) instruction is used to control and monitor the
main clutch or brake valve. This instruction supports valves with various reaction
times and positive or negative feedback signals. Single-channel valves are
supported by combining Output 1 and Output 2 to control the valve and
combining Feedback 1 and Feedback 2 for monitoring.
MVC Instruction Parameters


Table 107 - MVC Configuration Parameters

Feedback Type Boolean This parameter defines feedback OFF and ON states for positive and negative feedback signals.
Positive OFF (0): Feedbacks OFF / Outputs OFF.
ON (1): Feedbacks ON / Outputs ON.
Negative OFF (0): Feedbacks ON / Outputs OFF.
ON (1): Feedbacks OFF / Outputs ON.
Feedback Reaction Time DINT This parameter specifies the amount of time that the instruction waits for the Feedback 1 and Feedback 2 inputs to reflect
the state of Output 1 and Output 2 as defined by the Feedback Type parameter.

Table 108 - MVC Inputs
Actuate Boolean This input energizes or de-energizes Output 1 and Output 2.
OFF (0) -> ON (1): Output 1 and Output 2 are energized if no faults exist.
ON (1) -> OFF (0): Output 1 and Output 2 are de-energized.
Feedback 1 Boolean These inputs are constantly monitored to make sure that they reflect the state of Output 1 and Output 2. When Output 1 and
Output 2 transition, these inputs must react within the Feedback Reaction Time.
Feedback 2 Boolean
Output Status Boolean This input indicates the output status of the I/O module or modules that are used by this instruction.
OFF (0): The output module is faulted. Instruction outputs are set their de-energized (safe) state.
Table 109 - MVC Outputs
Output 1 (O1) Boolean A redundant pair, these outputs are used to control a press clutch or brake valve. The outputs are de-energized when the
following occurs:
Output 2 (O2) Boolean
A feedback fault occurs as described on page 292.
Input Status or Output Status inputs turn OFF (0).
The normal operation of the instruction causes Output 1 and Output 2 to be de-energized as described in the timing
diagram on page 291.

MVC Normal Operation
Figure 196 shows normal operation of this instruction to control a press clutch or
brake valve with Feedback Type = Positive. Outputs 1 and 2 are energized when
the Actuate input transitions from OFF (0) to ON (1) at (A). Both feedback
inputs react before the Feedback Reaction Time expires, so the outputs remain
energized in steady state at (B). Outputs 1 and 2 are de-energized at (C) when the
Actuate input transitions from ON (1) to OFF (0). Both of the feedback inputs
react before the Feedback Reaction Time expires so the outputs remain de-
energized in steady state at (D).
1
Actuate
0
1
Feedback 1
0
1
Feedback 2
0
Feedback Reaction
Time
1
Output 1
0
1
Output 2
0
A B C D
Feedback Type (not shown) = Positive

MVC Feedback Fault
Figure 197 is an example of how a feedback fault can occur when either of the
Feedback inputs fail to reflect the state of Outputs 1 and 2 correctly with
Feedback Type = Positive. Outputs 1 and 2 are energized at (A), but at (B),
Feedback 2 has not transitioned from OFF (0) to ON (1) before the Feedback
Reaction Time has expired, which generates a Feedback fault. The fault cannot
be cleared at (C) because the Feedbacks 1 and 2 do not yet reflect the state of
Outputs 1 and 2. The fault is cleared when an OFF (0) to ON (1) transition is
detected on the Reset input and both Feedback inputs are OFF (0), correctly
reflecting the state of Outputs 1 and 2 at (D).
Figure 197 - Feedback Fault Timing Diagram
1
Actuate
0
1
Feedback 1
0
1 Feedback Reaction
Feedback 2 Time
0
1
Reset
0
Fault Present 1
0
1
Output 1
0
1
Output 2
0
A B C D
Feedback Type (not shown) = Positive
MVC False Rung State Behavior
energized.

MVC Fault and Diagnostic Codes

00H No fault. None.
5000H Feedback 1 and Feedback 2 turned OFF (0) unexpectedly. Check the feedback signals.
Reset the fault.
Reset the fault
Reset the fault.
5003H Feedback 1 and Feedback 2 turned ON (1) unexpectedly. Check the feedback signals.
Reset the fault.
Reset the fault.
5005H Feedback 2 turned ON (1) unexpectedly. Check the Feedback 2 signal
Reset the fault.
5006H Feedback 1 and Feedback 2 did not turn ON (1) within the configured Feedback Reaction Check the feedback signals.
Time. Adjust the Feedback Reaction Time, if necessary.
Reset the fault.
5007H Feedback 1 did not turn ON (1) within the configured Feedback Reaction Time. Check the Feedback 1 signal.
Reset the fault.
5008H Feedback 2 did not turn ON (1) within the configured Feedback Reaction Time. Check the Feedback 2 signal.
Reset the fault.
5009H Feedback 1 and Feedback 2 did not turn OFF (0) within the configured Feedback Reaction Check the feedback signals.
Time. Adjust the Feedback Reaction Time, if necessary.
Reset the fault.
500AH Feedback 1 did not turn OFF (0) within the configured Feedback Reaction Time. Check the Feedback 1 signal.
Reset the fault.
500BH Feedback 2 did not turn OFF (0) within the configured Feedback Reaction Time. Check the Feedback 2 signal.
Reset the fault.

00H No fault. None.

MVC Wiring and Programming Example

24V DC
Momentary
Push Button
S1 S2
(reset)
1 21 3 13 4 14 10
V0 V1 I0 T0 I1 T1 I7
DeviceNet
G0 G1 O0 O1
11 31 23 24
S1 S2
24V Ground
This programming diagram shows the Main Valve Control (MVC) instruction
with inputs and outputs.

MainValveActuated
MVC MainValve
500 ms Feedback Reaction Time Output 2 Module1:O.Pt01Data
Press Run 1 Actuate


Module1:I.Pt07Data Reset Fault Present ValvesOK 2

NOTE 2: This tag is an internal Boolean tag that is used by other parts of the user application that are not shown in this example.


MVC
Main Valve Control
MVC MainValve O1
Actuate ManualValveControl.O1
0 FP
0
0
0
0
0




Maintenance Manual Valve

Control (MMVC)
The Maintenance Manual Valve Control (MMVC) instruction is intended to

drive a press valve manually during a maintenance operation. Manual drive of the
valve is permitted when the instruction is enabled and in the permissive state.
The permissive state means all of these conditions have been met:
A key switch is enabled.
The flywheel is stopped.
The slide is at bottom-dead-center (BDC).
The Safety Enable input is ON (1).
One instruction is required for each valve that must be manually controlled.
ATTENTION: This instruction should only be enabled during a maintenance

operation and should never be used during press operation.
ATTENTION: Besides sourcing the Bottom and Flywheel Stopped inputs, you
must perform a visual inspection to make sure that the press is at bottom-dead-
center (BDC) and that the flywheel is not in motion before activating the
keyswitch and enabling the valve.
ATTENTION: The Keyswitch Enable input must only be activated with a

supervised key switch.

MMVC Instruction Parameters


Table 112 - MMVC Inputs
Enable Boolean This input is the instruction enable from mode switch. This instruction should be enabled in maintenance mode only.
ON (1): The instruction is enabled. Output 1 can be energized after the Actuate input transitions from OFF (0) to ON (1) when
the instruction is in the permissive state.
OFF (0): The instruction is not enabled. Output 1 cannot be energized.
Keyswitch Boolean This value is the supervised keyswitch input for the instruction.
ON (1): The instruction is activated.
OFF (0): The instruction is not activated. Output 1 cannot be energized.
Bottom Boolean This input indicates slide position.
ON (1): The slide is at bottom-dead-center (BDC).
OFF (0): The slide is not at BDC. Output 1 cannot be energized.
Flywheel Stopped Boolean This input indicates whether the flywheel is stopped. This input must be ON (1) to allow manual valve control.
ON (1): The flywheel is stopped.
OFF (0): The flywheel is not stopped.
Safety Enable Boolean This input represents the status of safety-related permissive devices such as E-stops, light curtains, or safety gates. This input
is optional on this instruction for extra protection if required for a particular application.
ON (1): Indicates that permissive devices are actively guarding the danger zone and permits the energizing of Output 1.
OFF (0): Indicates that permissive devices are no longer protecting the danger zone and prevents the energizing of Output 1.
Actuate Boolean This input is the signal to actuate the valve manually, energizing or de-energizing Output 1.
OFF (0) -> ON (1): Output 1 is energized if the instruction is enabled, the Keyswitch input is activated, and no faults exist.
ON (1) -> OFF (0): Output 1 is de-energized.

Table 112 - MMVC Inputs

Output Status Boolean This input indicates the output status of the I/O module that is connected to this instruction.
OFF (0): The output module is faulted or offline. Instruction outputs are set their safe state.
Reset(1) Boolean This input clears instruction faults provided the fault condition is not present.
Table 113 - MMVC Outputs
Output 1 (O1) Boolean This output manually controls a valve. The output is de-energized when the following occurs:
The Keyswitch input transitions from ON (1) to OFF (0).
The Bottom input transitions from ON (1) to OFF (0), which indicates that the slide has left bottom-dead-center.
The Flywheel Stopped input transitions from ON (1) to OFF (0), which indicates flywheel motion.
The Input Status or Output Status inputs have turned OFF (0).
The Actuate input transitions from ON (1) to OFF (0).

MMVC Normal Operation
Figure 205 shows normal operation of this instruction to drive a valve manually.
The instruction enters the permissive state at (A) because the instruction has
been enabled, bottom-dead-center (BDC) has been achieved, the flywheel is
stopped, and the Safety Enable input is ON (1). Output 1 is energized at (B)
because a rising edge is detected on the Actuate input, manually energizing the
valve. Output 1 is de-energized at (C) because the Actuate input is turned OFF
(0). Output 1 is energized again when another rising edge is detected on the
Actuate input at (D). Output 1 is de-energized at (E) because the Enable input
turns OFF (0), resetting the instruction. Finally, Output 1 is energized at (F)
once the instruction is back in a permissive state and a rising edge is detected on
the Actuate input. None of the conditions in this example results in a fault.
1
Enable
0
1
Keyswitch
0
1
Bottom
0
1
Flywheel Stopped
0
1
Safety Enable
0
1
Actuate
0
1
Output 1
0
A B C D E F

MMVC Actuate in Non-permissive State
Figure 206 shows conditions that do not allow Output 1 to be energized because
the instruction is not in a permissive state when the Actuate input transitions
from OFF (0) to ON (1). Output 1 is not energized at (A) because the
instruction is not enabled when the Actuate input transitions from OFF (0) to
ON (1). The instruction is enabled, but faults immediately when the Actuate
input transitions from OFF to ON because the Safety Enable input is OFF (0) at
(B). The fault cannot be cleared because the fault condition still exists at (C).
Finally, the fault is cleared at (D) when the Reset input transitions from OFF (0)
to ON (1) because the Safety Enable input is now ON (1). Output 1 can now be
energized when the Actuate input transitions from OFF (0) to ON (1).
Figure 206 - Actuate in Non-permissive State Timing Diagram
1
Enable
0
1
Keyswitch
0
1
Bottom
0
1
Flywheel Stopped
0
1
Safety Enable
0
1
Actuate
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D

MMVC Fault After Output 1 Energized
Output 1 is energized at (A) after the Actuate input transitions from OFF (0) to
ON (1) when the instruction is in the permissive state. The instruction faults at
(B) because the slide is no longer at bottom-dead-center (BDC). The fault is
cleared at (C) when the Reset input transitions from OFF (0) to ON (1) and the
slide has returned to BDC. Another fault is generated at (D) when the Actuate
input transitions from OFF (0) to ON (1) and the flywheel is not stopped.
Figure 207 - Fault After Output 1 Energized Timing Diagram
1
Enable
0
1
Keyswitch
0
1
Bottom
0
1
Flywheel Stopped
0
1
Safety Enable
0
1
Actuate
0
1
Reset
0
1
Fault Present
0
1
Output 1
0
A B C D
MMVC False Rung State Behavior

energized.

MMVC Fault and Diagnostic Codes

00H No fault. None.
5040H The slide was not at bottom-dead-center (BDC) when the valve was enabled. Visually check to make sure that the slide is at bottom.
Check the Bottom input signal.
Reset the fault.
5041H Flywheel motion was detected when the valve was enabled. Visually check to make sure that the flywheel is not in motion.
Check the Flywheel Stopped input signal.
Reset the fault.
5042H Safety Enable was OFF (0) when the valve was enabled. Visually check that the permissive inputs tied to the Safety
Enable input are functioning properly.
Check the Safety Enabled input signal.
Reset the fault.
5043H The Keyswitch input was OFF (0) when the valve was enabled. Turn the keyswitch on.
Check the Keyswitch input signal.
Reset the fault.

00H No fault. None.
5040H The slide was not at bottom-dead-center (BDC). Visually make sure that the slide is at bottom.
Check the Bottom input signal.
5041H Flywheel motion detected. Visually make sure that the flywheel is not in motion.
Check the Flywheel Stopped input signal.
5042H The Safety Enable signal is OFF (0). Visually make sure that the permissive inputs tied to the Safety Enable
signal are operating properly.
Check the Safety Enable input signal.
5043H The keyswitch is disabled. Enable the Keyswitch input.

MMVC Wiring and Programming Example
This application example complies with ISO 13849-1, Category 4 operation.


24V DC
Momentary Push Button

(reset) Momentary
Push Button
S1 S2 BDC Cam Safe Speed (reset)
Monitor
Zero Speed
Key Switch
1 21 3 13 4 14 5 6 16 15 17 7 8 19 9 10
V0 V1 I0 T0 I1 T1 I2 I3 T1 T0 T0 I4 I5 T0 I6 I7
DeviceNet
G0 G1 O0 O1
11 31 23 24
S1 S2
24V Ground

This programming diagram shows the MMVC instruction used with a Dual-
channel Input Start (DCSRT) instruction and a Main Valve Control (MVC)
instruction.

&
Level1Safeties
Level2Safeties
ManualValveControl
MMVC
MaintenanceModeSelected Enable Output 1
Module1:I.Pt06Data Keyswitch
Module1:I.Pt04Data Bottom
Module1:I.Pt05Data Flywheel Stopped
Safety Enable
MaintenanceStart
DCSRT
Equivalent Active High Input Type Output 1 Actuate
500 ms Discrepancy Time Input Status
Output Status
Enable
Module1:I.Pt02Data Channel A Reset Fault Present
Input Status
Reset Fault Present
Module1:I.InputStatus
Module1:I.OutputStatus
Module1:I.Pt07Data
MVC
Negative Enable Output 1 Module1:O.Pt000Data
500 ms Feedback Output 2 Module1:O.Pt001Data
Reaction Time
Actuate
Input Status
Output Status
Reset Fault Present


DCSRT
DCSRT MaintenanceStart O1
Safety Function START BUTTON
Enable Module3:I.Pt06Data
0
0
0
0
0
Level1SafetiesOK Level2SafetiesOK ManualValveControl.SafetyEnable
MMVC
Maintenance Manual Valve Control
MMVC ManualValveControl O1
Enable MaintenanceModeSelected
0 FP
Keyswitch Module3:I.Pt06Data
0
Bottom Module3:I.Pt04Data
0
Flywheel Stopped Module3:I.Pt04Data
0
Safety Enable ManualValveControl.SafetyEnable
0
Actuate MaintenanceStart.O1
0
0
0
0
MVC
Main Valve Control
MVC MainValve O1
Actuate ManualValveControl.O1
0 FP
0
0
0
0
0




Notes:

Appendix A
RSLogix 5000 Software, Version 14 and Later,

Safety Application Instructions
Topic Page
General Information 311
Diverse Input (DIN) Instruction 317
Redundant Input (RIN) Instruction 325
Emergency Stop (ESTOP) Instruction 333
Enable Pendant (ENPEN) Instruction 341
Light Curtain (LC) Instruction 349
Five-position Mode Selector (FPMS) Instruction 362
Redundant Output with Continuous Feedback Monitoring (ROUT) 366
Two-hand Run Station (THRS) Instruction 374
General Information This chapter provides general information about how to use the safety
application instructions within a safety system that has a controller and I/O
modules.
De-energize to Trip System

The GuardLogix Safety controller is part of a de-energize to trip system, which
means that all of its outputs are set to zero when a fault is detected.
In addition, the GuardLogix Safety controller automatically sets any input values
associated with faulty input modules to zero. As a result, any inputs being
monitored by one of the diverse input instructions (DIN or THRS) should have
the normally closed input that is conditioned by logic such as that shown in
Figure 215.

Appendix A RSLogix 5000 Software, Version 14 and Later, Safety Application Instructions
Figure 215 - Example Ladder Logic for Instructions that Use Diverse Inputs
Input Module
Connection Fault Input Data
Input Status
The exact ladder logic depends on your specific system requirements, and the
functionality of the Safety input module. The result, however, should be the
same: to create a Safe state of one for the normally closed input of the diverse
input instructions. This example logic actually overrides the input value in the
input tag.
The normally closed input of the diverse input instruction should be placed in a
Safe state whenever the connection to the input module is lost, or the normally
closed input point has a fault.
The input value should remain intact to show the actual state of the field device
when there is a connection and the normally closed input point does not have a
fault.
Failure to implement this type of logic does not create an unsafe condition, but it
does result in the instruction latching an Inputs Inconsistent fault, which requires
that a clear fault operation be performed.
System Dependencies
The safety application instructions depend on the safety I/O modules, controller
operating system, and the ladder logic to perform portions of the safety functions.
Input and Output Line Conditioning
Safety I/O modules provide pulse test and monitoring capabilities. If the module
detects a failure, it sets the offending input or output to the Safe state and reports
the failure to the controller.
The failure indication is made via the input or output point status, and is
maintained for a configurable amount of time, or until the failure is repaired,
whichever comes last.
IMPORTANT Ladder logic must be included in the application program to latch these I/O
point failures and verify proper restart behavior.

RSLogix 5000 Software, Version 14 and Later, Safety Application Instructions Appendix A
For more information on Safety I/O modules, see the publications that are listed
in the Additional Resources on page 16.
I/O Module Connection Status
A CIP safety system provides connection status for each I/O device in the safety
system. If an input connection failure is detected, the operating system sets all
associated inputs to the de-energized (safe) state, and reports the failure to the
ladder logic. If an output connection failure is detected, the operating system can
only report the failure to the ladder logic.
IMPORTANT Ladder logic must be included in the application program to monitor and
latch any connection failures and be sure of proper restart behavior.
How to Latch and Reset an I/O Module That Has a Fault
The diagrams in Figure 216 and Figure 217 provide examples of the ladder logic
that is required to latch and reset an I/O module connection or point failure.
Figure 216 shows the ladder logic for an input point, Figure 217 shows the ladder
logic for an output point.
IMPORTANT Both of these diagrams are examples, and are for illustrative purposes only.
The suitability of this logic depends upon your specific system
requirements.
Figure 216 - Example Ladder Logic to Latch and Reset an Input

Input Module Input Faulted
Connection Faulted ***Internal Tag***
L
Input Point
Status
Fault Reset Input Module Input Point Input Faulted

Fault Reset Oneshot Connection Faulted Status ***Internal Tag***
ONS U
Input Point Input Fault Output

Data ***Internal Tag*** ***Internal Tag***
The first rung latches an internal indication that either the module connection or
the specific input point has failed.

The second rung resets the internal indication, but only if the fault has been
repaired, and only on the rising edge of the Fault Reset signal. This prevents the
safety function from automatically restarting if the Fault Reset signal gets stuck
on.
The third rung shows the input point data used in combination with the internal
fault indication to control an output.
The output is internal data that can be used in combinational logic later to drive
an actual output. If an actual output is used directly, it may or may not require
logic similar to the logic shown in Figure 217 to latch and reset output
connection failures.
The Fault Reset contact that is shown in these examples is typically activated as a
result of operator action. The Fault Reset could be derived as a result of
combinational logic or directly from an input point (in which case, it may or may
not require conditioning of its own).
Figure 217 - Example Ladder Logic to Latch and Reset an Output

Output Module Output Faulted
Connection Faulted ***Internal Tag***
L
Output Point
Status
Fault Reset Output Module Output Point Output Faulted

Fault Reset Oneshot Connection Faulted Status ***Internal Tag***
ONS U
Output Faulted Output Point

***Internal Tag*** Data
User-defined logic to activate
User defined logic to
output.
activate output
The ladder logic in Figure 217 has the same latch and reset concept as that shown
in Figure 216.
The first rung latches an internal indication that either the module connection or
the specific output point has failed.
The second rung resets the internal indication, but only if the fault has been
repaired, and only on the rising edge of the Fault Reset signal. This method
prevents the safety function from automatically restarting if the Fault Reset signal
gets stuck on.

The third rung includes application-specific logic to drive the state of an output
point. This logic is conditioned by the output faulted internal indicator.
False Rung State Behavior
The information that is provided in this manual regarding the GuardLogix Safety
application instructions depicts the True Rung State (relay ladder logic) behavior
of the instructions.
The False Rung State behavior is the same (internal state machines continue to
run and change states based on the inputs) except that all outputs, including
prompts and fault indicators, are set to zero when the instructions are disabled or
on a false rung.
I/O Point Mapping
This section contains information about I/O point mapping.
Input
Table 116 identifies the mapping between the safety I/O modules input points
and the controller tags when the safety I/O modules Input-Status module
definition is configured for Point Status or Combined Status.
moduleName is the name that you assign to the I/O module.

Table 116 - Input Point Mapping
I/O Module Point Controller Tag Reference
Data Point Status Combined Status
IN 0 moduleName:I.Pt00Data moduleName:I.Pt00InputStatus
IN 1 moduleName:I.Pt01Data moduleName:I.Pt01InputStatus
IN 2 moduleName:I.Pt02Data moduleName:I.Pt02InputStatus moduleName:I.InputStatus

IN n moduleName:I.PtnData moduleName:I.PtnInputStatus

Output
Table 117 identifies the mapping between the safety I/O modules output points
and the controller tags when the safety I/O modules Output-Status module
definition is configured for Point Status or Combined Status.
moduleName is the name that you assign to the I/O module.

Table 117 - Output Point Mapping
I/O Module Point Controller Tag Reference
Data Point Status Combined Status
OUT 0 moduleName:O.Pt00Data moduleName:I.Pt00OutputStatus
OUT 1 moduleName:O.Pt01Data moduleName:I.Pt01OutputStatus
OUT 2 moduleName:O.Pt02Data moduleName:I.Pt02OutputStatus moduleName:I.OutputStatus

OUT n moduleName:O.PtnData moduleName:I.PtnOutputStatus

Diverse Input (DIN)

Instruction
The basic purpose of the Diverse Input (DIN) instruction is to emulate the input
functionality of a safety relay in a software-programmable environment that is
intended for use in SIL3/Cat. 4 safety applications.
Instruction Parameters
IMPORTANT Make sure that your safety input modules are configured as Single, not
This table explains the instruction inputs.

Table 118 - DIN Inputs
Parameter Data Type Description Safe, Active, and Initial
Values
DIN Predefined Data This parameter is used to maintain instruction-specific information. Do not use the same predefined
Type data-type tag name in more than one instruction.
Reset Type Boolean The reset type determines whether the instruction is using Manual or Automatic reset for Output 1. Manual or Automatic
Channel A(1) Boolean Channel A Input (Normally Open). Safe = 0, Active = 1
Channel B(1) Boolean Channel B Input (Normally Closed). Safe = 1, Active = 0
Circuit Reset Boolean Circuit Reset Input. Initial = 0, Reset = 1
Manual Reset - Sets Output 1 after Channel A and Channel B transition from the Safe state to the Active
state, and the Circuit Reset input transitions from zero to one.
Automatic Reset - Visible, but not used.
Fault Reset Boolean After fault conditions are corrected for the instruction, the fault outputs for the instruction are cleared when Initial = 0, Reset = 1
this input transitions from off to on.

This table explains the instruction outputs.

Table 119 - DIN Outputs
Values
Output 1 Boolean Output 1 is set to the Active state when input conditions are met. Safe = 0, Active = 1
Cycle Inputs Boolean Cycle Inputs prompt for action. Before Output 1 is turned on, Channel A and Channel B inputs must Initial = 0, Prompt = 1
be cycled through their Safe States simultaneously before the circuit can be reset.
This prompt is cleared when Channel A and Channel B transition to the safe state.
Circuit Reset Held On Boolean Manual Reset - The Circuit Reset Held On prompt is set when both input channels transition to the Initial = 0, Prompt = 1
Active states, and the Circuit Reset input is already on.
The Circuit Reset Held On prompt is cleared when the Circuit Reset input is turned off.
Inputs Inconsistent Boolean This fault is set when Channel A and Channel B inputs are in inconsistent states (one Safe and one Initial = 0, Fault = 1
Active) for a time greater than the Inconsistent Time Period (listed below). This fault is cleared
when Channel A and Channel B inputs return to consistent states (both Safe or both Active) and the
Fault Reset input transitions from off to on.
Inconsistent Time Period: 500 ms.
Fault Present Boolean This value is set whenever a fault is present in the instruction. Output 1 cannot enter the Active Initial = 0, Fault = 1
state when Fault Present is set. Fault Present is cleared when all faults are cleared and the Fault
Reset input transitions from off to on.

Normal Operation
This instruction monitors the states of two input channels and turns on Output
1 when the following conditions are met:
When using Manual Reset: both inputs are in the Active state and the
Circuit Reset input is transitioned from a zero to a one.
When using Automatic Reset: both inputs are in the Active state for 50
ms.
This instruction turns off Output 1 when either one or both of the input
channels returns to the Safe state.
The Diverse Input (DIN) instruction has one input channel that is normally
open and one that is normally closed. A zero on the normally open channel and a
one on the normally closed channel represents the Safe state and vice versa for the
Active state.
See the De-energize to Trip System section on page 311 for information about
how to condition the input data associated with the normally closed channel.
These normal operation state changes are shown in the following timing
diagrams.
Figure 218 - Normal Operation with Manual and Automatic Reset Timing Diagrams
Manual Reset Automatic Reset
1 1
Channel A Channel A
0 0
1 1
Channel B Channel B
0 0
50 ms
1 1
Circuit Reset Output 1
0 0
1
Output 1
0

Operation with Inconsistent Inputs
This instruction generates a fault if the input channels are in inconsistent states
(one Safe and one Active) for more than the specified time. The inconsistent time
period is 500 ms (t1).
This fault condition is enunciated via the Inputs Inconsistent and the Fault
Present outputs. Output 1 cannot enter the Active state while the Fault Present
output is active. The fault indication is cleared when the offending condition is
remedied and the Fault Reset input is transitioned from zero to one.
These state changes are shown in the following timing diagram.
Figure 219 - Inputs Inconsistent, Fault Present, and Fault Reset Timing Diagram
1
Channel A
0
1
Channel B
0
1
Output 1
0
t1
1
Inputs Inconsistent
0
1
Fault Present
0
1
Fault Reset
0
t1 = Inputs Inconsistent Time Period

Operation with Circuit Reset Held On - Manual Reset Only
This instruction also sets the Circuit Reset Held On output prompt if the Circuit
Reset input is set (1) when the input channels transition to the Active state.
Figure 220 - Circuit Reset Held On Timing Diagram
1
Channel A
0
1
Channel B
0
Circuit Reset 1
0
1
Output 1
0
Circuit Reset Held On 1

0
Cycle Inputs Operation
If, while Output 1 is active, one of the input channels transitions from the Active
state to the Safe state and back to the Active state before the other input channel
transitions to the Safe state, the Cycle Inputs output prompt is set, and Output 1
cannot enter the Active state again until both input channels cycle through their
Safe states.
Figure 221 - Cycle Inputs Timing Diagram
1
Channel A
0
1
Channel B
0
1
Output 1
0
1
Cycle Inputs
0

Diverse Input with Manual Reset Wiring Example
Figure 222 is one example of how to wire a two-channel switch having diverse
inputs to a 1791DS safety I/O module to comply with ISO 13849-1 Category 4.

The inputs that are shown on this wiring
diagram correspond to the inputs for the
instruction.
V IN0 IN1 IN2 IN3
E1
G T0 T1 T2 1791DS Safety Module
S2 S3
E1 - 24V Power Supply
S1
S1 - Diverse Input Switch
S2 - Circuit Reset Switch
S3 - Fault Reset Switch
S1 as shown is in the Active state. IN0 - Normally Open, IN1 - Normally Closed.
Diverse Input with Manual Reset Programming Example
Figure 223 shows how the Diverse Input instruction with Manual Reset can be
applied to the wiring diagram shown in Figure 222.
1756-L62S
User Program
DIN
Diverse Input
DIN dinData Type O1
Reset Type MA NUAL
CI
IN 0 Channel A moduleName:I.Pt00Data
0 CRHO
IN 1 Channel B moduleName:I.Pt01Data
II
1
IN 2 Circuit Reset moduleName:I.Pt02Data FP
0
IN 3 Fault Reset moduleName:I.Pt03Data
0

ISO 13849-1 Category 4 requires that inputs be independently pulse tested.

RSLogix 5000 programming software is used to configure the following I/O
module parameters for pulse testing.
Table 120 - Input Configuration

Input Point Type Point Mode Test Source
0 (IN0) Single Safety Pulse Test 0 (T0)
2 (IN2) Single Safety None
Table 121 - Test Output

Test Output Point Point Mode
0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used
Diverse Input with Automatic Reset Wiring Example
Figure 224 is one example of how to wire a two-channel switch having diverse
inputs to a 1791DS safety I/O module to comply with ISO 13849-1 Category 4.
ATTENTION: Various safety standards (EN 60204, ISO 13849-1) require that
when using the Automatic Circuit Reset feature, other measures must be
implemented to make sure that an unexpected (or unintended) startup does
not occur in the system or application.

instruction.
V IN0 IN1 IN2
E1
S2
S1 - Diverse Input Switch S1
S1 as shown is in the Active state. IN0 - Normally Open, IN1 - Normally Closed.

Diverse Input with Automatic Reset Programming Example
Figure 225 shows how the Diverse Input instruction with Automatic Reset can
be applied to the wiring diagram shown in Diverse Input with Automatic Reset
Wiring Example on page 323.
1756-L62S
User Program
DIN
Diverse Input
DIN dinData Type O1
Reset Type AUTOMATIC
CI
0 CRHO
II
1
Circuit Reset notUsedTag FP
0
0


Point Type Point Mode Test Source

Point Point Mode
0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply

Redundant Input (RIN)

Instruction
The basic purpose of the Redundant Input (RIN) instruction is to emulate the
input functionality of a safety relay in a software-programmable environment
that is intended for use in SIL3/Cat. 4 safety applications.
IMPORTANT Make sure that your safety input modules are configured as single, not

Table 124 - RIN Inputs
Values
RIN Predefined Data This parameter is used to maintain instruction-specific information.
Type
Do not use the same predefined data-type tag name in more than one instruction.
Channel B(1) Boolean Channel B Input (Normally Open). Safe = 0, Active = 1
Fault Reset Boolean After fault conditions are corrected for the instruction, the fault outputs for the instruction are cleared Initial = 0, Reset = 1
when this input transitions from off to on.


Table 125 - RIN Outputs
Values

Normal Operation
ms.
channels return to the Safe state.
Both input channels for the Redundant Input (RIN) instruction are normally
open. Zeros on both channels represent the Safe state, and ones on both channels
represent the Active state.
diagrams.
1
Channel A Channel A 1
0 0
1 1
Channel B Channel B
0 0
50 ms
1 1
0 0
1
Output 1
0

Channel A 1
0
1
Channel B
0
1
Output 1 0
t1
1
Inputs Inconsistent
0
1
Fault Present
0
1
Fault Reset
0


1
Channel A
0
Channel B 1
0
Circuit Reset 1
0
1
Output 1
0
1
Circuit Reset Held On
0
transitions to the Safe state, the Cycle Inputs output prompt is set, and Output 1
Safe states.
Channel A 1
0
Channel B 1
0
1
Output 1
0
1
Cycle Inputs
0

Redundant Input with Manual Reset Wiring Example
Figure 230 is one example of how to wire a two-channel switch having two
normally open contacts to a 1791DS safety I/O module to comply with ISO
13849-1 Category 4.

instruction.
V IN0 IN1 IN2 IN3
E1
G T0 T1 T2
1791DS Safety Module
S2 S3
S1 -Redundant Input Switch S1
Redundant Input with Manual Reset Programming Example
Figure 231 shows how the Redundant Input instruction with Manual Reset can
be applied to the wiring diagram shown above.
1756-L62S
User Program
RIN
Redundant Input
RIN rinData Type O1
Reset Type MA NUAL
CI
0 CRHO
II
1
0
0




0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used
Redundant Input with Automatic Reset Wiring Example
Figure 232 shows one example of how to wire a two-channel switch having two
normally open contacts to a 1791DS safety I/O module to comply with ISO
13849-1 Category 4.

instruction.
V IN0 IN1 IN2
E1
G T0 T1 T2
E1 - 24V Power Supply S2

S1 - Redundant Input Switch
S2 - Fault Reset Switch S1

Redundant Input with Automatic Reset Programming Example
Figure 233 shows how the Redundant Input instruction with Automatic Reset
can be applied to the wiring diagram shown in Redundant Input with Automatic
Reset Wiring Example on page 331.
Figure 233 - Programming Example
1756-L62S
User Program
RIN
Redundant Input
RIN rinData Type O1
CI
0 CRHO
II
1
0
0



0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply

Emergency Stop (ESTOP)

Instruction
The basic purpose of the Emergency Stop (ESTOP) instruction is to emulate the
Table 130 - ESTOP Inputs

Values
ESTOP Predefined Data This parameter is used to maintain instruction-specific information. Do not use the same predefined

Table 131 - ESTOP Outputs

Values

Normal Operation
ms.
Both input channels for the Emergency Stop (ESTOP) instructions are normally
diagrams.
1
0 0
1 1
Channel B Channel B
0 0
50 ms
1 1
0 0
1
Output 1
0

Channel A 1
0
1
Channel B
0
1
Output 1
0
t1
1
Inputs Inconsistent
0
1
Fault Present
0
1
Fault Reset
0

1
Channel A
0
Channel B 1
0
Circuit Reset 1
0
1
Output 1
0
1
0
transitions to the Safe state, the Cycle Inputs output prompt is set. Output 1
Safe states.
Channel A 1
0
Channel B 1
0
1
Output 1
0
1
Cycle Inputs
0

Emergency Stop with Manual Reset Wiring Example
Figure 238 shows one example of how to wire a two-channel Emergency Stop
switch having two normally open contacts to a 1791DS safety I/O module to
comply with ISO 13849-1 Category 4.
Figure 238 - Wiring Example

instruction.
V IN0 IN1 IN2 IN3
E1
S2 S3
S1 - Emergency Stop Switch S1
Emergency Stop with Manual Reset Programming Example

The following programming example shows how the Emergency Stop instruction
with Manual Reset can be applied to the wiring diagram shown above.
1756-L62S
User Program
ESTOP
Emergency Stop
E STO P estopData Type O1
Reset Type MA NUAL
CI
0 CRHO
II
1
0
0




0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used
Emergency Stop with Automatic Reset Wiring Example
Figure 240 shows one example of how to wire a two-channel Emergency Stop

instruction.
V IN0 IN1 IN2
E1
S2
S1
S1 - Emergency Stop Switch

Emergency Stop with Automatic Reset Programming Example
The following programming example shows how the Emergency Stop instruction
with Automatic Reset can be applied to the wiring diagram shown in Emergency
Stop with Automatic Reset Wiring Example on page 339.
1756-L62S
User Program
ESTOP
Emergency Stop
E STO P estopData Type O1
CI
0 CRHO
II
1
0
0



0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply

Enable Pendant (ENPEN)

Instruction
The basic purpose of the Enable Pendant (ENPEN) instruction is to emulate the
Table 136 - ENPEN Inputs

Values
ENPEN Predefined Data This parameter is used to maintain instruction-specific information. Do not use the same predefined

Table 137 - ENPEN Outputs

Values
when Channel A and Channel B inputs return to consistent states (both Safe or both Active) and
the Fault Reset input transitions from off to on.
Inconsistent Time Period: 3 seconds.

Normal Operation
ms.
Both input channels for the Enable Pendant (ENPEN) instruction are normally
diagrams.
1
0 0
1 1
Channel B Channel B
0 0
50 ms
1 1
0 0
1
Output 1
0

period is 3 seconds (t1).
Channel A 1
0
1
Channel B
0
1
Output 1 0
t1
1
Inputs Inconsistent
0
1
Fault Present
0
1
Fault Reset
0

1
Channel A
0
Channel B 1
0
Circuit Reset 1
0
1
Output 1
0
1
0
transitions to the Safe state, the Cycle Inputs output prompt is set. Output 1
Safe states.
Channel A 1
0
Channel B 1
0
1
Output 1
0
1
Cycle Inputs
0

Enable Pendant with Manual Reset Wiring Example
The following wiring diagram is one example of how to wire a two-channel


instruction.
V IN0 IN1 IN2 IN3
E1
G T0 T1 T2
S2 S3
S1 - Enable PendantSwitch S1
Enable Pendant with Manual Reset Programming Example
The following programming example shows how the Enable Pendant instruction
with Manual Reset can be applied to the wiring diagram shown above.
1756-L62S
User Program
ENPEN
Enable Pendant
ENPEN enpenData Type O1
Reset Type MA NUAL
CI
0 CRHO
II
1
0
0




0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used
Enable Pendant with Automatic Reset Wiring Example
The following wiring diagram is one example of how to wire a two-channel


instruction.
V IN0 IN1 IN2
E1
G T0 T1 T2
S2
S1 - Enable Pendant Switch S1

Enable Pendant with Automatic Reset Programming Example
The following programming example shows how the Enable Pendant instruction
with Automatic Reset can be applied to the wiring diagram shown in Enable
Pendant with Automatic Reset Wiring Example on page 347.
1756-L62S
User Program
ENPEN
Enable Pendant
ENPEN enpenData Type O1
CI
0 CRHO
II
1
0
0



0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply

Light Curtain (LC) Instruction
The basic purpose of the Light Curtain (LC) instruction is to provide a manual
and an automatic circuit-reset interface from a programmable controller to a light
curtain used in SIL3/Cat. 4 safety applications.
Many LC instructions pulse test their two outputs: OSSD1 and OSSD2. If these
outputs are wired directly into GuardLogix controller inputs, the pulse test must
be filtered. Otherwise, the GuardLogix controller can mistake the low (0) pulse
test for an LC blockage.
Most LC instructions do provide controllers or relays that essentially filter out

the pulse test and provide two dry contacts for OSSD1 and OSSD2. If you use
these devices, then OSSD1 and OSSD2 can be wired directly to the GuardLogix
controller.
If you are not using the LC controller or relay, then the GuardLogix controller
must provide the pulse test filtering. There are two ways for the GuardLogix
controller to filter this signal. The first is hardware-based digital input filters on
the Safety input modules.
For more information on Safety I/O modules, refer to the DeviceNet Safety I/O
User Manual, publication 1791DS-UM001.
The second is a software-based filter in the LC instruction.
For information on the software-based filter, see Input Filter Time on page 356
of this manual.
Of these two methods, the hardware filter is preferred. If the digital input filters
the low (0) signals for longer than the low (0) pulse test width, then the hardware
filter filters out the pulse test. For example, if the LC instruction signals pulse
low (0) for 100 s during a pulse test, then the hardware must filter out low (0)
signals that are 100 s or longer. The Safety DeviceNet I/O modules have a
configurable filter of 0126 ms.

If the hardware filter cannot filter the pulse test, or you choose not to use the
hardware filter, then the filtering must be done in the GuardLogix controller
ladder logic. Software-based filters examine the input once every program cycle.
Theoretically, every time the GuardLogix controller examines OSSD1, it may be
low (0) if the pulse test is occurring at that exact time. In other words, you may
have to make your software filter long enough to scan OSSD1 multiple times
before the filter times out, and OSSD1 is set logically low (0).
Setting the software filter time higher than the GuardLogix controllers safety
task period makes sure that the input must be low (0) for three consecutive scans
before the software filter times out. For example, if the GuardLogix controllers
safety task period is 5 ms, a software filter time of 10 ms requires three low (0)
scans. If the filter time is 15 ms, four low (0) scans are required. The downside of
using a longer hardware or software filter is that this filter time must be directly
added to the calculation of the LC safety reaction time.
Table 142 - LC Inputs

Parameter Data Type Description Safe, Active, and Initial Values
LC Predefined Data This parameter is used to maintain instruction-specific information.
Type Do not use the same predefined data-type tag name in more than one
instruction.
Reset Type Boolean The reset type determines whether the instruction is using Manual or Automatic reset for Manual or Automatic
Output 1.
Channel A(1) Boolean Channel A Input. Safe = 0, Active = 1
Channel B(1) Boolean Channel B Input. Safe = 0, Active = 1
Input Filter Time Time This parameter selects the time, from 0250 ms, used for filtering of the output pulse Initial = 0 ms
testing by the light curtain. Maximum = 250 ms
Mute Light Curtain Boolean Permits muting of the light curtain when it is not being used. Initial = 0, Mute Light Curtain = 1
Manual Reset - Sets Output 1 after Channel A and Channel B transition from the Safe state
to the Active state, and the Circuit Reset input transitions from zero to one.
Fault Reset Boolean After fault conditions are corrected for the instruction, the fault outputs for the instruction Initial = 0, Reset = 1
are cleared when this input transitions from off to on.

Table 143 - LC Outputs

Cycle Inputs Boolean Cycle Inputs prompts for action. Before Output 1 is turned on, Channel A and Channel B Initial = 0, Prompt = 1
inputs must be cycled through their Safe States simultaneously before the circuit can be
reset.
Circuit Reset Held Boolean Manual Reset - The Circuit Reset Held On prompt is set when both input channels transition Initial = 0, Prompt = 1
On to the Active states, and the Circuit Reset input is already on.
Light Curtain Boolean This value indicates that the light curtain is blocked or has lost power. Initial = 0, Blocked = 1
Blocked
Light Curtain Boolean This value indicates that the light curtain is muted (not being used). Initial = 0, Muted = 1
Muted
Inputs Inconsistent Boolean This fault is set when Channel A and Channel B inputs are in inconsistent states (one Safe Initial = 0, Fault = 1
and one Active) for a time greater than 500 ms. This fault is cleared when Channel A and
Channel B inputs return to consistent states (both Safe or both Active) and the Fault Reset
input transitions from off to on.
Fault Present Boolean This value is on whenever a fault is present in the instruction. Output 1 cannot enter the Initial = 0, Fault = 1
Active state when Fault Present is set. Fault Present is cleared when all faults are cleared
and the Fault Reset input transitions from off to on.

Normal Operation
This instruction monitors the states of two input channels and turns on output 1
when the following conditions are met:
When using Manual Reset: both inputs are in the Active state when the
When using Automatic Reset: both inputs are in their Active state for
50 ms.
The instruction turns off output 1 when either one or both of the input channels
return to the Safe state.
diagrams.
Figure 250 - Normal Operation with Manual and Automatic Reset Timing Diagram
1 1
Channel A Channel A
0
0
1
Channel B 1
0
Channel B
0
50 ms
1
Circuit Reset 1
Output 1
0
0
1
Output 1 Light Curtain Blocked 1
0
0
1
ht Curtain Blocked
0
Light Curtain Muting Operation
The one exception to the above Output 1 control is Light Curtain Muting that,
when enabled, permits the inputs to leave the Active state and output 1 to remain
on. The Light Curtain Muted output represents the value of the Mute Light
Curtain input and indicates that the light curtain is not being used.
This instruction also has a Light Curtain Blocked output that indicates when the
input channels are not in the Active state (ones).

These state changes are shown in the following timing diagrams.
Figure 251 - Light Curtain Muting Operation - Example 1
Channel A 1
(Input)
0
Channel B 1
(Input)
0
Circuit Reset 1
(Input)
0
1
Output 1
0
Mute Light Curtain 1

(Input)
0
Light Curtain Blocked 1

(LCB)
0
If the Mute Light Curtain input is not set properly, or the light curtain is blocked
after the muting period is finished, the behavior of this instruction reverts to the
behavior defined earlier when no muting is present.
Figure 252 - Light Curtain Muting Operation - Example 2
Channel A 1
(Input)
0
Channel B 1
(Input)
0
Circuit Reset 1
(Input)
0
1
Output 1
0
Mute Light Curtain 1

(Input)
0

(LCB)
0

Inputs Inconsistent Operation
(one Safe and one Active) for more than 500 ms (t1). This fault condition is
enunciated via the Inputs Inconsistent and the Fault Present outputs. Output 1
cannot enter the Active state while the Fault Present output is active. The fault
indication is cleared when the offending condition is remedied and the Fault
Reset input is transitioned from zero to one.
Figure 253 - Inputs Inconsistent Timing Diagram
Channel A 1
0
Channel B 1
0
Output 1 1
0
t1
Inputs Inconsistent 1
0
Fault Present 1
0
Fault Reset 1
0
(LCB)
0

Circuit Reset Held On Operation - Manual Reset Mode Only
Channel A 1
0
Channel B 1
0
Circuit Reset 1
0
Output 1 1
0
Circuit Reset Held 1

On
0
transitions to the Safe state, this instruction sets the Cycle Inputs output prompt.
Output 1 cannot enter the Active state again until both input channels cycle
through their Safe states.
Channel A 1
0
Channel B 1
0
1
Output 1
0
1
Cycle Inputs
0

Input Filter Time
When an input filter time (t1) is specified, then, for that length of time, an input
channel is allowed to go to the Safe state while the other channel is in the Active
state without Output 1 going to its Safe state. However, Output 1 goes to the Safe
state when both input channels are in the Safe state simultaneously.
Figure 256 - Input Filter Time Timing Diagram
1
Channel A
0
t1
1
Channel B
0
t1
1
Output 1
0
t1 Input Filter Time
Light Curtain with Manual Reset Wiring Example
The following wiring diagram is one example of how to wire a light curtains two
normally open outputs and two inputs that are required for muting to a
1791DS safety I/O module to comply with ISO 13849-1 Category 4.

Light Curtain

OSSD1
OSSD2

instruction.
LCA LCB
V IN0 IN1 IN2 IN3 IN4 IN5
E1
G T0 T1 T2 1791DS SafetySafety
Module
1791DS Module

LCA - Light Curtain Output A S1 S2
Dual Input
LCB - Light Curtain Output B Muting Device
MDA - Dual-input Muting Device Channel A
MDB - Dual-input Muting Device Channel B MDA MDB

Light Curtain with Manual Reset Programming Example
The following programming example shows how the Light Curtain instruction
with Manual Reset can be applied to the wiring diagram shown in Light Curtain
with Manual Reset Wiring Example on page 356.

1756-L62S
User Program
RIN
Redundant Input
RIN rinData Type O1
Reset Type MA NUAL
Channel A moduleName:I.Pt02Data CI
IN 2
0 CRHO
II
0
0
0
LC
Light Curtain
LC lcData Type O1
Reset Type MA NUAL
CI
0 CRHO
LCB
0
Input Filter Time 20 LCM
II
Mute Light Curtain rinData Type.O1
0 FP
IN 4 Circuit Reset moduleName:I.Pt04Data
0
0




0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used

Light Curtain with Automatic Reset Wiring Example
The following wiring diagram is one example of how to wire a light curtains two
normally open outputs and two inputs that are required for muting to a
1791DS safety I/O module to comply with ISO 13849-1 Category 4.

The inputs that are shown on this wiring Light Curtain
instruction.
OSSD1
OSSD2
LCA LCB
E1
Dual-input
Muting Device S1 S2
LCA - Light Curtain Output A
LCB - Light Curtain Output B
MDA MDB
MDA - Dual-input Muting Device Channel A
MDB - Dual-input Muting Device Channel B
S2 - Redundant Input Circuit Reset Switch

Light Curtain with Automatic Reset Programming Example
The following programming example shows how the Light Curtain instruction
with Automatic Reset can be applied to the wiring diagram shown in Light
Curtain with Automatic Reset Wiring Example on page 359.

1756-L62S
User Program
RIN
Redundant Input
RIN rinData Type O1
Reset Type MA NUAL
Channel A moduleName:I.Pt02Data CI
IN 2
0 CRHO
II
0
0
0
LC
Light Curtain
LC lcData Type O1
CI
0 CRHO
LCB
0
Input Filter Time 20 LCM
II
Mute Light Curtain rinData Type.O1
0 FP
Circuit Reset notUsedTag
0
0




0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used

Five-position Mode Selector

(FPMS) Instruction
The basic purpose of the Five-position Mode Selector (FPMS) instruction is to

provide an interface from a programmable controller to a three-to-five-position
selector switch used in SIL3/Cat. 4 safety applications.
Table 148 - FPMS Inputs

FPMS Predefined Data This parameter is used to maintain instruction-specific information. Do not use the same
Type predefined data-type tag name in more than one instruction.
Input 1 Boolean Mode 1 Selected Input. Safe = 0, Active = 1
Fault Reset Boolean After fault conditions are corrected for the instruction, the Fault Present output for the Initial = 0, Reset = 1
instruction is cleared when this input transitions from OFF to ON.

Table 149 - FPMS Outputs

Output 1 Boolean Output that is associated with Input 1. Safe = 0, Active = 1
No Mode Boolean No Mode Selected Fault. Initial = 0, Fault = 1
Multiple Modes Selected Boolean More than One Mode Selected Fault. Initial = 0, Fault = 1
Fault Present Boolean This value is set whenever a fault is present in the instruction. An Output cannot enter the Initial = 0, Fault = 1
Active state when Fault Present is set. Fault Present is cleared when all faults are cleared and
the Fault Reset input transitions from OFF to ON.
Operation
The Five-position Mode Selector instruction has five outputs that are associated
with five inputs. Its main job is to enable one of the five outputs when its
associated input goes active.
It has two faults: one for more than one input active, and the other for no inputs
active. These faults occur when the associated inputs conditions exist for more
than 250 ms. During this 250 ms, if one of the fault conditions is detected, the
outputs temporarily remain in their last state. If the fault condition is still present
after the 250 ms, the Fault Present bit is set to one and the instruction's outputs
are set to zero.
Faults can be cleared by the rising edge of the Fault Reset signal, but only after the
input fault condition has been cleared.

Five-position Mode Selector Wiring Example
The following wiring diagram is one example of how to wire a five-position

selector switch to a 1791DS safety I/O module to comply with ISO 13849-1
Category 4.

instruction.
E1
G T0 T1
S2
1 2 3 4 5
S1
S1 - Five-position Selector Switch
Five-position Mode Selector Programming Example
The following programming example shows how the Five-position Mode

Selector (FPMS) instruction can be applied to the wiring diagram shown in Five-
position Mode Selector Wiring Example on page 364.

1756-L62S
User Program
FPMS
Five Position Mode Selector
FPMS fpmsData Type O1
IN 0 Input 1 moduleName:I.Pt00Data
O2
0
IN 1 Input 2 moduleName:I.Pt01Data O3
0
O4
0 O5
NM
0
IN 4 Input 5 moduleName:I.Pt04Data MMS
0
FP
0


module parameters.

Point Type Point Mode
0 (IN0) Single Safety
Table 151 - Output

Point Point Mode
0 Power Supply
1 Power Supply
2 Not Used
3 Not Used

Redundant Output with

Continuous Feedback
Monitoring (ROUT)
The basic purpose of the Redundant Output with Continuous Feedback

Monitoring (ROUT) instruction is to emulate the output functionality of a
safety relay in a software-programmable environment that is intended for use in
SIL3/Cat. 4 safety applications.
The Redundant Output with Continuous Feedback Monitoring (ROUT)

instruction can be used in two ways.
Redundant Output with Negative Feedback (RONF)
Redundant Output with Positive Feedback (ROPF)
Table 152 - ROUT Inputs

ROUT Predefined Data This parameter is used to maintain instruction-specific information. Do not use the same
Feedback Type Boolean The feedback type determines whether the instruction is using negative or positive Negative (RONF) or Positive (ROPF)
feedback.
Enable Boolean Input to Enable the Redundant Outputs. Safe = 0, Active = 1
Feedback 1 Boolean Feedback from a device either directly or indirectly controlled by Output 1. RONF: Off = 1, On = 0
ROPF: Off = 0, On = 1
Feedback 2 Boolean Feedback from a device either directly or indirectly controlled by Output 2. RONF: Off = 1, On = 0
ROPF: Off = 0, On = 1
Fault Reset Boolean After fault conditions are corrected for the instruction, the Fault Present output for the Initial = 0, Reset = 1
instruction is cleared when this input transitions from off to on.


Table 153 - ROUT Outputs
Output 1 Boolean Output 1 of the redundant outputs. Safe = 0, Active = 1
Output 2 Boolean Output 2 of the redundant outputs. Safe = 0, Active = 1
Output 1 Feedback Failure Boolean Output 1 feedback is not indicating the correct state of Output 1 within 250 ms. Initial = 0, Fault = 1
Output 2 Feedback Failure Boolean Output 2 feedback is not indicating the correct state of Output 2 within 250 ms. Initial = 0, Fault = 1
Fault Present Boolean This value is set whenever a fault is present in the instruction. Outputs cannot enter the Initial = 0, Fault = 1
Active state when Fault Present is set. Fault Present is cleared when all faults are cleared and
the Fault Reset input transitions from off to on.
Operation
This instruction monitors one logical input and activates two field outputs when
the logical input goes Active.
Enable 1
0
1
Output 1
0
1
Output 2
0
It also monitors a feedback channel for each field output and generates a fault if
both channels do not, within a time limit, indicate the desired state of the
associated outputs.

Instruction operation is illustrated in Figure 264 and Figure 265.
Figure 264 - Negative Feedback Timing Diagrams

1 1
Enable Enable
0 0
1 1
Output 1 Output 2
0 0
1 1
Feedback 1 Feedback 2
0 0
250 ms 250 ms
Output 1 Feedback 1 Output 2 Feedback 1
Failure 0 Failure
0
1 1
Fault Reset Fault Reset
0 0
1 1
Enable Enable
0 0
1 1
Output 1 Output 2
0 0
1 1
Feedback 1 Feedback 2
0 0
250 ms 250 ms
Failure 0 Failure
0
1 1
Fault Reset Fault Reset
0 0

Figure 265 - Positive Feedback Timing Diagrams
1 1
Enable Enable
0 0
1
Output 1 Output 2 1
0 0
Feedback 1 1 Feedback 2 1
0 0
250 ms 250 ms
Failure Failure
0 0
1
Fault Reset Fault Reset 1
0 0
Enable 1 Enable
1
0 0
Output 1 1 Output 2 1
0 0
Feedback 1 1 Feedback 2 1
0 0
250 ms 250 ms
Failure Failure
0 0
1 Fault Reset 1
Fault Reset
0 0

Redundant Output with Negative Feedback Wiring Example
The following wiring diagram is one example of how to wire two contactors and
normally open auxiliary contacts to a 1791DS safety I/O module to comply with
ISO 13849-1 Category 4.

instruction.
L1 L2 L3
K1a
K1
V V1 IN0 IN1 IN2 C0 C1 1791DS
Safety Module
E1 OUT OUT
G G1 T0 T1 T2
0 1 (Relay Output) K2 K2a
M
K1 K2
PS - Power Source (application-specific) K1a K2a S1
K1 - Power Contact 1
K1a - Auxiliary Contact 1 PS
K2a - Auxiliary Contact 2
Redundant Output with Negative Feedback Programming Example
The following programming example shows how the Redundant Output

instruction with negative feedback can be applied to the wiring diagram shown in
Redundant Output with Negative Feedback Wiring Example.

1756-L62S
User Program
ROUT
Redundant Output
ROUT routData Type O1
Input from Another Safety Feedback Type POSITIVE
O2
Enable otherData Type.O1
Instruction Output
0 O1FF
IN 0 Feedback 1 moduleName:I.Pt00Data
O2FF
1
IN 1 Feedback 2 moduleName:I.Pt01Data FP
0
0
routData Type.O1 moduleName:O.Pt00Data




0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used
Table 156 - Output Configuration

0 (OUT0) Single Safety

Redundant Output with Positive Feedback Wiring Example
The following wiring diagram is one example of how to wire two contactors and
normally open auxiliary contacts to a 1791DS safety I/O module to comply with
ISO 13849-1 Category 4.

instruction.
L1 L2 L3
K1 K1a
V V1 IN0 IN1 IN2 C0 C1 1792DS
Safety Module
E1 OUT OUT (Relay Output)
G G1 T0 T1 T2 K2 K2a
0 1
E1 - 24V Power Supply K1 K2

PS - Power Source (application-specific)
K1a K2a S1
K1a - Auxiliary Contact 1 PS
K2a - Auxiliary Contact 2
Redundant Output with Positive Feedback Programming Example
The following programming example shows how the Redundant Output

instruction with positive feedback can be applied to the wiring diagram shown in
Redundant Output with Positive Feedback Wiring Example.

1756-L62S
User Program
ROUT
Redundant Output
ROUT routData Type O1
Input from Another Safety Feedback Type POSITIVE
O2
Enable otherData Type.O1
Instruction Output
0 O1FF
IN 0 Feedback 1 moduleName:I.Pt00Data
O2FF
1
IN 1 Feedback 2 moduleName:I.Pt01Data FP
0
0




0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Power Supply
3 (T3) Not Used
Table 159 - Output Configuration


Two-hand Run Station (THRS)

Instruction
The basic purpose of the Two-hand Run Station (THRS) instruction is to

provide a method to incorporate two diverse input buttons that are used as a
single-operation start button into a software-programmable environment that is
intended for use in SIL3/Cat. 4 safety applications.
A run station can also be inserted or removed from controlling the process by
using an Active Pin input in this instruction. The Two-hand Run Station with
Active Pin instruction takes the four inputs (two from each button) and turns
them into one signal for the rest of the application.

Table 160 - THRS Inputs

Values
THRS Predefined Data This parameter is used to maintain instruction-specific information. Do not use the same
Active Pin Type Boolean The Active Pin type determines whether the input and outputs specific to the Active Pin are Enabled or Disabled
processed.
Active Pin Boolean Active Pin for run station. Initial = 0, Set = 1
Active Pin Enabled - When set, the Buttons Pressed output can enter the Active state. When clear,
the Buttons Pressed output remains off.
Active Pin Disabled - Visible, but not used.
Right Button Normally Boolean Right Button N.O. Contact Input. Safe = 0, Active = 1
Open
Right Button Normally Boolean Right Button N.C. Contact Input. Safe = 1, Active = 0
Closed
Left Button Normally Boolean Left Button N.O. Contact Input. Safe = 0, Active = 1
Open
Left Button Normally Boolean Left Button N.C. Contact Input. Safe = 1, Active = 0
Closed
Fault Reset Boolean Fault Reset Input. Initial = 0, Reset = 1
Active Pin Enabled - When transitioned from off to on, and the fault cause has been cleared, the
Right Button Fault, Left Button Fault, and Station Active Fault outputs are cleared.
Active Pin Disabled - When transitioned from off to on, and the fault cause has been cleared, the
Right Button Fault and Left Button Fault outputs are cleared.

Table 161 - THRS Outputs

Values
Buttons Pressed Boolean Output is enabled when the run station buttons are pressed and no faults are present. Safe = 0, Active = 1
Station Active Boolean Output is enabled when the run station is active. Initial = 0, Active = 1
Active Pin Enabled - Set indicates that the station is active. Cleared indicates that the station is
inactive.
Active Pin Disabled - Visible, but not used, always zero.
Button Tiedown Boolean Indicates that both buttons were not pressed within 500 ms of each other. Initial = 0, Active = 1
Cleared when both buttons are released.
Cycle Buttons Boolean Set when the Button Tie-down indicator is set. Cleared when the Button Tie-down indicator is Initial = 0, Active = 1
cleared.
Station Active Fault Boolean Active Pin Enabled - Fault is set when the station is inactive. Initial = 0, Active = 1
Active Pin Disabled - Visible, but not used, always zero.
Right Button Fault Boolean There is a Right Button fault. Initial = 0, Active = 1
Set when the Right Button Normally Closed and the Right Button Normally Open inputs are not both
energized or not both de-energized within 250 ms.
Left Button Fault Boolean There is a Left Button fault. Initial = 0, Active = 1
Set when the Left Button Normally Closed and the Left Button Normally Open inputs are not both
energized or not both de-energized within 250 ms.
Fault Present Boolean One or more of the faults are present. Initial = 0, Active = 1
Active Pin Enabled - Set when the Station Active Fault, Right Button Fault, or Left Button Fault
outputs are set. Cleared when the Station Active Fault, Right Button Fault, and Left Button Fault
outputs are cleared.
Active Pin Disabled - Set when the Station Right Button Fault or Left Button Fault outputs are set.
Cleared when the Right Button Fault and Left Button Fault outputs are cleared and the Fault Reset
input transitions from off to on.

Normal Operation
The Two-hand Run Station instruction takes the four inputs (two from each
button) and turns them into one signal for the rest of the application.
These normal-operation state changes are shown in the following timing

diagram.
Right Button 1
Normally Open
0
Right Button 1
Normally Closed
0
Left Button Normally 1

Open
0

Closed
0
1
Buttons Pressed
0
See the De-energize to Trip System section on page 311 for information about
how to condition the input data associated with the normally closed channel.

Button Tie-down Operation
The Two-hand Run Station instruction also monitors the four inputs to make
sure none of them fail or are intentionally defeated. If the buttons are not pressed
within 500 ms (t1) of each other, this instruction generates a Button Tie-down
condition and prevents the Buttons Pressed output from entering the Active
state.
Figure 271 - Button Tie-down Timing Diagram
Right Button 1
Normally Open
0
Right Button 1
Normally Closed
0
t1
Open
0

Closed
0
1
Button Tie-Down
0
1
Buttons Pressed
0

Cycle Buttons Operation
If, while Buttons Pressed is active, one of the buttons transitions from the Active
state to the Safe state and back to the Active state before the other button
transitions to the Safe state, this instruction sets the Cycle Buttons output
prompt, and prevents the Buttons Pressed output from entering the Active state
again until both buttons cycle through their Safe states.
Figure 272 - Cycle Buttons Timing Diagram
Right Button 1
Normally Open
0
1
Right Button
Normally Closed 0

Open
0

Closed
0
1
Cycle Buttons
0
1
Buttons Pressed
0

Button Fault Operation
This instruction also monitors the individual inputs from each button. If the two
contacts for one of the buttons are in opposite safety states for more than 250 ms
(t1), the appropriate fault is set (Left Button Fault or Right Button Fault). The
Fault Present output is also set.
The Buttons Pressed output is set to the Safe state whenever one of these faults
exists.
These state changes are shown in the following timing diagrams.
Figure 273 - Left Button Fault Operation
Left Button Normally 1 1

Open
0 0
Left Button Normally 1 1

Closed
0 0
t1 t1
1 1
Left Button Fault
0 0
1 1
Fault Reset
0 0
Figure 274 - Right Button Fault Operation
Right Button 1 1
Normally Open
0 0
Right Button 1 1
Normally Closed
0 0
t1 t1
1 1
Right Button Fault
0 0
Fault Reset 1 1
0 0

Two-hand Run Station with Active Pin Disabled Wiring Example
IMPORTANT The Two-hand Run Station is wired properly when the four run-button
inputs are in the safe state when the run buttons are released.
The following wiring diagram is one example of how to wire Right and Left Push
Buttons to a 1791DS safety I/O module to comply with ISO 13849-1 Category
4. Each Push Button has two diverse input channels.

The inputs that are shown on this
wiring diagram correspond to the
inputs for the instruction.
V IN0 IN1 IN2 I N3 IN4
E1
G T0 T1 T2 T3 V
S1
E1 - 24V Power Supply RB LB

RB - Right Button
LB - Left Button

Two-hand Run Station with Active Pin Disabled Programming

Example
The following programming example shows how the Two-hand Run Station
without Active Pin instruction can be applied to the wiring diagram shown in
Two-hand Run Station with Active Pin Disabled Wiring Example.

1756-L62S
User Program
THRS
Two Hand Run Station
THRS thrsDataType BP
Active Pin Type DISABLED
SA
Active Pin notUsedTag
BT
0
IN 0 Right Button Normally Open moduleName:I.Pt00Data CB
0
SA F
IN 1 Right Button Normally Closed moduleName:I.Pt01Data
1 RB F
IN 2 Left Button Normally Open moduleName:I.Pt02Data
LB F
0
IN 3 Left Button Normally Closed moduleName:I.Pt03Data FP
1
0



0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Pulse Test
3 (T3) Pulse Test
Two-hand Run Station with Active Pin Enabled Wiring Examples
IMPORTANT The Two-hand Run Station is wired properly when the four run-button
inputs are in the safe state when the run buttons are released.
Figure 277 is one example of how to wire Right and Left Push Buttons to a
1791DS safety I/O module to comply with ISO 13849-1 Category 4. Each Push
Button has two diverse input channels.
Figure 277 - Two-hand Run Station with Active Pin Enabled Control Wiring Diagram
(Active Pin High - Run Station Connected to System)
E1 1791DS
G T0 T1 T2 T3 V
Safety Module
S1
E1 - 24V Power Supply RB LB

RB - Right Button
LB - Left Button

Figure 278 is one example of how to wire a Dummy Plug to a 1791DS safety I/O
module to comply with ISO 13849-1 Category 4. Each Push Button has two
diverse input channels.
Figure 278 - Two-hand Run Station with Active Pin Enabled Control Wiring Diagram
(Active Pin Low - Run Station Not Connected to System)
V IN0 IN1 IN2 IN3 IN5 IN4 1791DS

Safety
E1
Module
G T0 T1 T2 T3 G V
Dummy Plug
S1

Two-hand Run Station with Active Pin Enabled Programming

Example
The following programming example shows how the Two-hand Run Station
with Active Pin instruction can be applied to the wiring diagram shown in
Figure 277 on page 383.


1756-L62S
User Program
THRS
Two Hand Run Station
THRS thrsDataType BP
Active Pin Type ENABLED
SA
IN 5 Active Pin moduleName:I.Pt05Data
BT
0
IN 0 Right Button Normally Open moduleName:I.Pt00Data CB
0
SA F
IN 1 Right Button Normally Closed moduleName:I.Pt01Data
1 RB F
IN 2 Left Button Normally Open moduleName:I.Pt02Data
LB F
0
IN 3 Left Button Normally Closed moduleName:I.Pt03Data FP
1
0



0 (T0) Pulse Test
1 (T1) Pulse Test
2 (T2) Pulse Test
3 (T3) Pulse Test

Notes:

Appendix B
Execution Times for Safety Application

Instructions
This appendix lists average execution times for the GuardLogix Safety
Application Instructions. Instructions were measured while enabled and
operating on an enabled ladder logic rung.
Table 166 - RSLogix 5000, Version 17 and Later, Safety Application Instructions
Mnemonic Name Execution Time
with 1756-L6S Controllers with 1756-L7S Controllers with 1769-L3S Controllers
Negative Feedback 12 s 9 s 14 s
CROUT Configurable Redundant Output
Positive Feedback 14 s 9 s 9 s
DCS Dual Channel Input - Stop 24 s 13 s 14 s
DCST Dual Channel Input - Stop With Test 26 s 13 s 14 s
DCSTL Dual Channel Input - Stop With Test and Lock 36 s 18 s 20 s
DCSTM Dual Channel Input - Stop With Test and Mute 28 s 15 s 16 s
DCM Dual Channel Input - Monitor 14 s 8 s 8 s
DCSRT Dual Channel Input - Start 20 s 10 s 11 s
DCA Dual Channel Analog Input 36 16 s 18 s
DCAF Dual Channel Analog Input (Floating Point) 16 s 15 s
SMAT Safety Mat 16 s 10 s 10 s
THRSe Two-Hand Run Station Enhanced 44 s 19 s 33 s
TSAM Two Sensor Asymmetrical Muting 30 s 19 s 19 s
TSSM Two Sensor Symmetrical Muting 30 s 16 s 18 s
FSBM Four Sensor Bidirectional Muting 34 s 18 s 19 s
Table 167 - RSLogix 5000, Version 17 and Later Metal Form Safety Application Instructions
with 1756-L6S Controller with 1756-L7S Controllers with 1769-L3S Controllers
CBCM Clutch Brake Continuous Mode 28 s 15 s 17 s
CBIM Clutch Brake Inch Mode 18 s 11 s 12 s
CBSSM Clutch Brake Single Stoke Mode 20 s 13 s 13 s
CPM Crankshaft Position Monitor 24 s 14 s 15 s
CSM Camshaft Monitor 24 s 15 s 15 s
EPMS Eight-position Mode Selector 24 s 14 s 16 s

Appendix B Execution Times for Safety Application Instructions
Table 167 - RSLogix 5000, Version 17 and Later Metal Form Safety Application Instructions
AVC Auxiliary Valve Control 20 s 10 s 14 s
MVC Main Valve Control 12 s 9 s 8 s
MMVC Maintenance Manual Valve Control 20 s 14 s 13 s
Table 168 - RSLogix 5000, Version 14 and Later, Safety Application Instruction
Auto Reset 8 s 6 s 6 s
ENPEN Enable Pendant
Manual Reset 10 s 6 s 6 s
ESTOP E-stop 10 s 7 s 7 s
RIN Redundant Input 10 s 7 s 7 s
Negative Feedback 10 s 6 s 6 s
ROUT Redundant Output
Positive Feedback 14 s 9 s 9 s
Auto Reset 12 s 8 s 9 s
DIN Diverse Input
Manual Reset 16 s 8 s 8 s
FPMS 5-Position Mode Selector 12 s 9 s 9 s
Active Pin Enabled 16 s 10 s 12 s
THRS Two Handed Run Station
Active Pin Disabled 14 s 10 s 11 s
LC Light Curtain 14 s 9 s 9 s

Index
A circuit verification test 15, 108, 109, 110, 112,

abbreviations 15 113
active opto-electronic protective device 15 clutch brake
programming example 260
arming sequence 228
wiring example 259
AVC connect the run station 120
auxiliary valve feedback fault 282 controller tag reference 316
diagnostic codes 283
CPM
false rung state behavior 282
fault codes 283 cam profiles 241-242
immediate auxiliary valve reaction 281 diagnostic codes 245
normal auxiliary valve reaction 279-280 false rung state behavior 244
parameters 277-278 fault codes 245
programming example 285 normal operation (cam profile A) 243
timing diagrams 279-282 normal operation (cam profile B) 244
wiring example 284 parameters 239-241
timing diagrams 243-244
CROUT
B diagnostic codes 136
BCAM fault codes 136
See brake cam. feedback fault 135
BDC normal operation 134
See bottom dead center. parameters 132-133
bottom dead center 15 programming example 138
brake cam 15 timing diagrams 134-135
wiring example 137
CSM
C diagnostic codes 258
cam angles 242 fault codes 257
Cam Profile A input pulse conversion 249
normal operation 243 input status fault 256
Cam Profile B loss of motion fault 254, 255
normal operation 244 normal operation 250
cam profiles 241-242 parameters 247-248
CBCM start time exceeded fault 252
arming sequence 225, 226, 227 stop time exceeded fault 253
de-energizing Output 1 233
uncommanded motion fault 251
CVT
energizing Output 1 228
false rung state behavior 235 See circuit verification test.
half stroke with arming mode 231
immediate mode 229
immediate with arming mode 230 D
parameters 225-227 DCA
safety enable and takeover mode 234 diagnostic codes 101
stroke -and-a-half with arming mode 232 discrepancy fault 100
timing diagrams 229-234 false rung state behavior 100
CBIM fault codes 101
de-energizing Output 1 211, 212 input status fault 98, 99
diagnostic codes 213 normal operation 94-97
energizing Output 1 209, 210 parameters 92-93
false rung state behavior 212 programming example 103
parameters 207-209 timing diagrams 94-100
timing diagrams 210-212 wiring example 101
CBSSM DCAM
de-energizing Output 1 220, 221 See dynamic cam.
energizing Output 1 218, 219
parameters 216-217

Index
DCM de-energize to trip system 311

diagnostic codes 34 diagnostic codes
discrepancy fault 33 AVC 283
false rung state behavior 33 CBCM 235
fault codes 34 CBIM 213
input status fault 32 CBSSM 221
normal operation 31 CPM 245
parameters 29-30 CROUT 136
programming example 35 CSM 258
timing diagrams 31-33 DCA 101
wiring example 35 DCM 34
DCS DCS 50
cycle inputs fault 48 DCSRT 24
diagnostic codes 50 DCST 59
discrepancy fault 49 DCSTL 73
false rung state behavior 49 DCSTM 85
fault codes 50 EPMS 272
input status fault 46, 47 FSBM 200
normal operation 41-45 MMVC 304
parameters 39-40 MVC 293
programming example 51 SMAT 114
timing diagrams 41-49 THRSe 127
wiring example 51 TSAM 153
DCSRT TSSM 172
diagnostic codes 24 DIN
discrepancy fault 23 automatic reset 323, 324
false rung state behavior 23 cycle inputs operation 321
fault codes 24 instruction parameters 317
input status fault 22 operation with circuit reset held on - manual
normal operation 21 reset only 321
parameters 19-20 programming example 322, 324
programming example 25 wiring example 322, 323
timing diagrams 21-23 disconnect the run station 120
wiring example 25 diverse input with automatic reset wiring and
DCST programming 323, 324
diagnostic codes 59 dummy plug 384
fault codes 59 dynamic cam 15, 245
functional test operation 57, 58 dynamic stopping 242
parameters 55-56
timing diagrams 57-58 E
wiring example 60 electro-sensitive protective equipment 15
DCSTL
emergency stop instruction (ESTOP) 333
after unlock fault 70
diagnostic codes 73 emergency stop with manual reset wiring and
false rung state behavior 72 programming 338
fault codes 72 EN692-2005 207
functional test operation 71 enable pendant instruction (ENPEN) 341
parameters 65-67 ENPEN
start-up operation 68, 69 automatic reset 347, 348
timing diagrams 68-71 cycle inputs operation 345
wiring example 74 instructions parameters 341, 342
DCSTM manual reset 346
normal operation 343
diagnostic codes 85 operation with circuit reset held on - manual
false rung state behavior 85 reset only 345
fault codes 85 operation with inconsistent inputs 344
muting lamp status fault 84 programming example 346, 348
normal operation 83 wiring example 346, 347, 348
parameters 80-82
wiring example 86
de-energize to trip 13, 311

Index
EPMS fault codes

diagnostic codes 272 AVC 283
false rung state behavior 271 CPM 245
fault codes 272 CROUT 136
lock input OFF 270 CSM 257
lock input ON 271 DCA 101
parameters 268-269 DCM 34
programming example 273 DCS 50
timing diagrams 270-271 DCSRT 24
wiring example 272 DCST 59
ESTOP DCSTL 72
cycle inputs operation 337 DCSTM 85
instruction parameters 333, 334 EPMS 272
manual reset 338, 339, 340 FSBM 188-199
normal operation 335 MMVC 304
operation with circuit reset held on - manual MVC 293
reset only 337 SMAT 114
operation with inconsistent inputs 336 THRSe 126
programming example 338, 340 TSAM 150-153
wiring example 338 TSSM 169-171
execution times 387 FPMS
instruction parameters 362, 363
F wiring example 364
FSBM
false rung state behavior
AVC 282 false rung state behavior 188
CBCM 235 fault codes 188-199
CBIM 212 forward direction 181
CBSSM 221 invalid sequence 184
CPM 244 normal operation 181
CROUT 135 override operation 187
CSM 257 parameters 179-180
DCA 100 programming example 201
DCM 33 reverse direction 183
DCS 49 sequence faults 190-199
DCSRT 23 timing diagrams 181-187
DCST 58 tolerated sequence 185
DCSTL 72 wiring example 200
DCSTM 85
EPMS 271
FSBM 188 H
MMVC 303
MVC 292 how to latch and reset faulted I/O 313
SMAT 113
THRSe 126
TSAM 149 I
TSSM 168 I/O module connection status 313
V14 instructions 315
I/O point mapping 315
L
LC
automatic reset 359, 360
circuit reset held on operation - manual reset
mode only 355
cycle inputs operation 355
input filter time 356
inputs inconsistent operation 354
instruction parameters 350, 351
light curtain muting operation 352
manual reset 356, 357
programming example 357, 360
wiring example 356, 357, 359, 360

Index
light curtain muting operation 352 programming example

light curtain with automatic reset wiring and AVC 285
programming 359, 360 clutch brake 260
line conditioning 312 CROUT 138
DCA 103
DCM 35
DCS 51
M DCSRT 25
MMVC DCST 61
actuate in non-permissive state 302 DCSTL 75
diagnostic codes 304 DCSTM 87
false rung state behavior 303 DIN 322, 324
fault after Output 1 energized 303 ENPEN 346, 348
fault codes 304 EPMS 273
normal operation 301 ESTOP 338, 340
parameters 299-300 FPMS 364
permissive state 298, 299, 301, 303 FSBM 201
timing diagrams 301-303 LC 357, 360
MVC MVC 294
diagnostic codes 293 RIN 330, 332
false rung state behavior 292 ROUT 370, 372
fault codes 293 SMAT 115
normal operation 291 THRS 382, 384
parameters 289-290 THRSe 128
programming example 294 TSAM 155
timing diagrams 291-292 TSSM 173
wiring example 294 pulse test
diverse input 323, 324
emergency stop 339, 340
P enable pendant 348
light curtain 358, 361
parameters redundant input 331, 332
AVC 277-278 redundant output 371, 373
CBCM 225-227 two-hand run station 382, 385
CBIM 207-209
CBSSM 216-217
CPM 239-241 R
CROUT 132-133
CSM 247-248 redundant input with automatic reset wiring
DCA 92-93 and programming 331
DCM 29-30 redundant input with manual reset wiring
DCS 39-40 and programming 330
DCSRT 19-20 redundant output with negative feedback
DCST 55-56
DCSTL 65-67 (RONF) 366
DCSTM 80-82 redundant output with positive feedback
EPMS 268-269 (ROPF) 366
FSBM 179-180 redundant output with positive feedback
MMVC 299-300 wiring and programming 372
MVC 289-290
SMAT 107-108 reversing the press 238
THRSe 119-120 RIN
TSAM 143-144 automatic reset 331
TSSM 161-163 cycle inputs operation 329
permissive state 302 instruction parameters 325, 326
MMVC 298, 299, 301, 303 manual reset 330
operation with circuit reset held on - manual
reset only 329
operation with inconsistent inputs 328
programming example 330, 332
wiring example 330, 331
RONF 369
ROPF 368, 372

Index
ROUT timing diagrams

instruction parameters 366, 367 AVC 279-282
negative feedback examples 368 CBCM 229-234
positive feedback 372 CBIM 210-212
positive feedback examples 369 CBSSM 219-221
programming example 370, 372 CPM 243-244
wiring example 370, 372 CROUT 134-135
CSM 250-256
DCA 94-100
S DCM 31-33
sequence faults DCS 41-49
DCSRT 21-23
FSBM 190-199 DCST 57-58
TSAM 150-153 DCSTL 68-71
TSSM 170-171 DCSTM 83-84
SMAT EPMS 270-271
automatic restart operation 110 FSBM 181-187
diagnostic codes 114 MMVC 301-303
false rung state behavior 113 MVC 291-292
fault codes 114 SMAT 109-113
fault detection 113 THRSe 121-125
mat occupied 111 TSAM 144-149
mat unoccupied 112 TSSM 163-168
parameters 107-108 TSAM
programming example 115 diagnostic codes 153
restart operation 109 false rung state behavior 149
timing diagrams 109-113 fault codes 150-153
wiring example 115 invalid sequence 146
soft clutch 276, 279 normal operation 144
system dependencies 312 override operation 149
parameters 143-144
T sequence faults 150-153
takeover cam 15, 245 timing diagrams 144-149
tolerated sequence 147
TCAM wiring example 154
See takeover cam. TSSM
terminology 15 diagnostic codes 172
THRS false rung state behavior 168
active pin disabled 381, 382 fault codes 169-171
active pin enabled 383, 384 invalid sequence 165
button fault operation 380 normal operation 163
button tie-down operation 378 override operation 168
cycle buttons operation 379 parameters 161-163
dummy plug 384 programming example 173
instruction parameters 375, 376 sequence faults 170-171
normal operation 377 timing diagrams 163-168
programming example 382, 384 tolerated sequence 166
wiring example 381, 383, 384 wiring example 172
THRSe two-hand run station instruction
button discrepancy fault 124 See THRS.
button glitch diagnostic 123 two-hand run station with active pin enabled
button held down 122 wiring and programming 383, 384
fault codes 126
parameters 119-120
run station disconnected 125
wiring example 127

Index
W
wiring example
AVC 284
clutch brake 259
CROUT 137
DCA 101
DCM 35
DCS 51
DCSRT 25
DCST 60
DCSTL 74
DCSTM 86
DIN 322, 323
ENPEN 346, 347, 348
EPMS 272
ESTOP 338, 339, 340
FPMS 364
FSBM 200
LC 356, 357, 359, 360
MVC 294
RIN 330
ROUT 370, 372
SMAT 115
THRS 381, 383, 384
THRSe 127
TSAM 154
TSSM 172

Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to
software service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com/ for software
updates, support chats and forums, technical information, FAQs, and to sign up for product notification updates.
In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more
information, contact your local distributor or Rockwell Automation representative, or visit
http://www.rockwellautomation.com/services/online-phone.
Installation Assistance
If you experience a problem within the first 24 hours of installation, review the information that is contained in this
manual. You can contact Customer Support for initial help in getting your product up and running.
United States or Canada 1.440.646.3434
Outside United States or Canada Use the Worldwide Locator at http://www.rockwellautomation.com/rockwellautomation/support/overview.page, or contact your local
Rockwell Automation representative.
New Product Satisfaction Return
Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the
manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.
United States Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your
distributor to complete the return process.
Outside United States Please contact your local Rockwell Automation representative for the return procedure.
Documentation Feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this
document, complete this form, publication RA-DU002, available at http://www.rockwellautomation.com/literature/.
Rockwell Automation maintains current product environmental information on its website at

http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page.
Rockwell Otomasyon Ticaret A.., Kar Plaza Merkezi E Blok Kat:6 34752 erenky, stanbul, Tel: +90 (216) 5698400
Publication 1756-RM095F-EN-P - January 2016

Supersedes Publication 1756-RM095E-EN-P - February 2012 Copyright 2016 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

GuardLogix Safety Application Instruction Set

Încărcat de

Informații document

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

GuardLogix Safety Application Instruction Set

Încărcat de

Drepturi de autor:

Formate disponibile

Safety Reference Manual

GuardLogix Safety Application Instruction Set

Labels may also be on or inside the equipment to provide specific precautions.

TVRheinland is a trademark of TV Rheinland of North America, Inc

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 3

4 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 5

DCSTL Wiring and Programming Example . . . . . . . . . . . . . . . . . . 74

6 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

CROUT False Rung State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . 135

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 7

CBSSM De-energizing Output 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

8 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

AVC Fault and Diagnostic Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 9

Operation with Inconsistent Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

10 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

Button Tie-down Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 11

12 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

This reference manual is intended to describe the Rockwell Automation

Use this manual if you are responsible for designing, programming, or

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 13

Table 2 - RSLogix 5000 Software Version 14 and Later General Instructions

14 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 15

You can view or download publications at

16 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

General Safety Application Instructions

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 17

Dual Channel Input Start

DCSRT Instruction Parameters

ATTENTION: If you change instruction parameters while in Run mode, you

18 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 19

20 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

DCSRT Normal Operation

Figure 1 - Normal Operation (Equivalent Inputs) Timing Diagram

Figure 2 demonstrates the same behavior as in the previous timing diagram

Figure 2 - Normal Operation (Complementary Inputs) Timing Diagram

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 21

DCSRT Input Status Fault Operation

Figure 3 - Input Status Fault Timing Diagram

22 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

DCSRT Discrepancy Fault Operation

Figure 4 illustrates a discrepancy fault occurring when Channel A and Channel B

Figure 4 - Discrepancy Fault Timing Diagram

DCSRT False Rung State Behavior

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 23

DCSRT Fault and Diagnostic Codes

Table 7 - DSCRT Diagnostic Codes and Corrective Actions

24 Rockwell Automation Publication 1756-RM095F-EN-P - January 2016

DCSRT Wiring and Programming Example

Figure 5 - Wiring Diagram

Figure 6 - Programming Diagram

See Note 1 Enable

Module1:I.Combined Status Input Status

See Note 3 Reset Fault Present

Note 3: The source can be mapped or safety data.

Key: Color code represents data or value typically used.

Configuration Constant/Value Internal Safety Variable

Rockwell Automation Publication 1756-RM095F-EN-P - January 2016 25

Figure 7 - Ladder Logic

Figure 8 - Module Definition