Rockwell Automation Allen-Bradley 1756-L61S

186 Rockwell Automation Publication IASIMP-QS005H-EN-P - April 2016
Appendix A Robot Cell Application Example with GuardLogix® or SmartGuard™ 600 Controller
Figure 5 - GuardLogix Safety Logic (continued)
***************************** ROBOTCONTACTOR CAT4 Safety Logic *****************************
Safety Input Interlock Rung
18
Sts_Zone1_LOCKINGSW1_InputOK Sts_Zone1_LOCKINGSW2_InputOK Sts_Zone1_ESTOP1_InputOK
Sts_Zone1_ESTOP2_InputOK Sts_Zone1_ESTOP3_InputOK Sts_Zone1_ESTOP4_InputOK
Sts_Zone1_LC1_InputOK Sts_Zone1_InputsOK
Output Enable Rung
19
Cmd_Zone1_SafetyReset
ONS
Wrk_Zone1_SafetyReset_ONS
Cmd_Zone1_OutputEnable
Sts_Zone1_InputsOK
CellGuard2:I.CombinedOutputStatus
/
Zone1_ROBOTCONTACTOR.FP
Cmd_Zone1_OutputEnable
20
O1
O2
O1FF
O2FF
FP
Redundant Output
ROUT Zone1_ROBOTCONTACTOR
Feedback Type NEGATIVE
Enable Cmd_Zone1_OutputEnable
0
Feedback 1 CellGuard2:I.Pt00Data
0
Feedback 2 CellGuard2:I.Pt00Data
0
Fault Reset Cmd_Zone1_FaultReset
0
ROUT
Safety Output Rung
21
Zone1_ROBOTCONTACTOR.O1 Zone1_ROBOTCONTACTOR.O2 CellGuard2:O.Pt00Data
CellGuard2:O.Pt01Data
(End)