Rockwell Automation Allen-Bradley 1756-L61S

188 Rockwell Automation Publication IASIMP-QS005H-EN-P - April 2016
Appendix A Robot Cell Application Example with GuardLogix® or SmartGuard™ 600 Controller
Robot Cell Faceplate Logic Examples
Figure 7 - GuardLogix Faceplate Logic
*****************************ROBOT CELL FACEPLATE LOGIC EXAMPLE *****************************
This Logic Example should only be used and applied in accordance with the
Safety Concepts and Requirements covered in the GuardLogix Controller Systems
Safety Reference Manual (Publication 1756-RM093).
0
Copy File
Source CellGuard1:I
Dest CellGuard1_InputData[0]
Length 2
COP
Copy File
Source CellGuard1:O
Dest CellGuard1_OutputData
Length 1
COP
1
Sts_CmbdSafetyInputStatus
Sts_CmbdSafetyOutputStatus
GuardIO_AOI CellGuard1
...
Sts_SafetyInputData 0
Sts_SafetyInputStatus 0
Sts_SafetyInputLatch 0
Sts_SafetyOutputStatus 0
Sts_SafetyOutputReadback 0
Sts_TestOutputStatus 0
Sts_SafetyOutputData 0
Ref_MSG1 CellGuard1_MSG1
...
Ref_MSG2 CellGuard1_MSG2
...
Ref_ExtendedData CellGuard1_ExtendedData
Ref_InputData CellGuard1_InputData
Ref_OutputData CellGuard1_OutputData
Set_SafetyIOModuleSelect 9
Ref_ErrorCode CellGuard1_ErrorCode
GuardIO_AOI
2 Copy File
Source CellGuard2:I
Dest CellGuard2_InputData[0]
Length 2
COP
Copy File
Source CellGuard2:O
Dest CellGuard2_OutputData
Length 1
COP
3
Sts_CmbdSafetyInputStatus
Sts_CmbdSafetyOutputStatus
GuardIO_AOI CellGuard2
...
Sts_SafetyInputData 0
Sts_SafetyInputStatus 0
Sts_SafetyInputLatch 0
Sts_SafetyOutputStatus 0
Sts_SafetyOutputReadback 0
Sts_TestOutputStatus 0
Sts_SafetyOutputData 0
Ref_MSG1 CellGuard2_MSG1
...
Ref_MSG2 CellGuard2_MSG2
...
Ref_ExtendedData CellGuard2_ExtendedData
Ref_InputData CellGuard2_InputData
Ref_OutputData CellGuard2_OutputData
Set_SafetyIOModuleSelect 8
Ref_ErrorCode CellGuard2_ErrorCode
GuardIO_AOI