1791dsum001aenp User

DeviceNet Safety
Safety I/O Modules

Series 1791DS
Model 1791DS-IB12
Safety Input Module
Model 1791DS-IB8XOB8
Safety Input/Output Module
(Solid-state Output)
Model 1791DS-IB4XOW4
Safety Input/Output Module
(Relay Output)
User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of

electromechanical equipment. Safety Guidelines for the Application,
Installation and Maintenance of Solid State Controls (Publication SGI-1.1
available from your local Rockwell Automation sales office or online at
http://www.ab.com/manuals/gi) describes some important differences
between solid state equipment and hard-wired electromechanical devices.
Because of this difference, and also because of the wide variety of uses for
solid state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is
acceptable.
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
IMPORTANT
ATTENTION
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.
Identifies information that is critical for successful

application and understanding of the product.
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
recognize the consequence
SHOCK HAZARD
Labels may be located on or inside the equipment (e.g.,

drive or motor) to alert people that dangerous voltage may
be present.
BURN HAZARD
Labels may be located on or inside the equipment (e.g.,

drive or motor) to alert people that surfaces may be
dangerous temperatures.
DeviceNet is a registered trademark of the Open DeviceNet Vendor Association, Inc.
Preface
What This Preface Contains
This preface describes how to use this manual.

Read and understand this manual before using the modules described
in this manual.
Consult your Rockwell Automation representative if you have any
questions or comments.
The following table lists where to find specific information within this
preface.
For information about
Who Should Use This

Manual
See Preface page
Who Should Use This Manual
Common Techniques Used in This Manual
Where to Find More Information
How to Use This Manual
About Specifications, Dimensions, and Weights
Terminology
This manual is intended for users of the 1791DS Series DeviceNet

Safety I/O Modules.
Publication 1791DS-UM001A-EN-P - January 2005
Preface
Common Techniques Used

in This Manual
The following conventions are used throughout this manual:

Numbered lists provide sequential steps.
Bulleted lists provide information, not procedural steps.
Information in bold text identifies menu windows, screen
options, screen names, or areas of the screen, such as dialog
boxes, status bars, radio buttons, and parameters.
The screen captures shown in this manual are

pictures of the softwares actual screens.
TIP
Where To Find More

Information
This symbol identifies helpful tips.
Refer to the following as needed for additional help when setting up

and using your modules.
See this publication
Publication number
DeviceNet Modules in Logix5000 Control Systems

User Manual
DNET-UM004
GuardLogix Controller Systems Safety Reference Manual
1756-RM093
GuardLogix Controllers User Manual
1756-UM020
GuardLogix Safety Application Instructions Safety Reference

Manual
1756-RM095
GuardPLC Controller Systems User Manual
1753-UM001
GuardPLC Safety Reference Manual
1755-RM001
Preface
How To Use This Manual
About the Specifications,

Dimensions, and Weights
in this Manual
Read and understand this manual before using the described

products. Consult your Rockwell Automation representative if you
have any questions or comments. This manual describes how to use
1791DS Series modules and includes the sections described in the
following table.
See
For details about
Preface
How to use the manual
Chapter 1 - Overview
Overview of the modules described in this manual
Chapter 2 - Operation of
Safety Functions
Safety functions
Chapter 3 General Procedures
Installation, connecting cables and connectors, node

address setting
Chapter 4Configuration
Configuration procedures; setting password, network,

safety input, test output, safety output; remote I/O
allocation
Chapter 5 - Specifications
Specifications and LED indicators for the modules
Chapter 6 Safety Input Terminal
Specifications for the safety input terminal including

dimensions and circuit/terminal arrangements
Chapter 7 Safety I/O Terminal

(Solid-state Output)
Specifications for the safety I/O terminal (solid-state

output) including dimensions and circuit/terminal
arrangements
Chapter 8 - Safety I/O

Terminal (Relay Output)
Specifications for the safety I/O terminal (relay output)

including dimensions and circuit/terminal arrangements
Chapter 9 - Troubleshooting
and Maintenance
Indicators, error processing, error history, and product

maintenance
Chapter 10 Wiring Examples
Wiring and safety categories and examples of wiring for

each application
Appendix A - DeviceNet
Explicit Messages
Explicit messages including format, list, and how to use
Appendix B - Calculated
Values of PFD and PFH
Calculations for Probability of Failure on Demand and

Probability of Failure per Hour
Product specifications and accessories may change at any time based

on improvements and other reasons. Consult with your Rockwell
Automation representative to confirm actual specifications of
purchased product.
Dimensions and weights are nominal and are not to be used for
manufacturing purposes, even when tolerances are shown.
Preface
Terminology
Refer to the following table for the meaning of common terms.

This term
Means
Bus Off
Indicates a status of very high error count occurrence on a

communication cable. A Bus Off error is detected when the
internal error counter counts more errors than the
predetermined threshold value (the error counter returns to
zero when the master is started or restarted.)
Connection
Logical communication channel for communication between

nodes. Connections are maintained and controlled between
master and slaves.
DeviceNet Safety
An implementation of a safety protocol on standard DeviceNet.
MTBF
Acronym for Mean Time Between Failure. The average time

between failure occurrences.
ODVA
Acronym for Open DeviceNet Vendor Association. A

non-profit association of vendors established for the promotion
of DeviceNet.
PFD
Acronym for Probability of Failure on Demand. The average

probability of a system to fail to perform its design function on
demand.
PFH
Acronym for Probability of Failure per Hour. The probability

of a system to have a dangerous failure occur per hour.
Proof Test
Periodic test performed to detect failures in a safety-related

system so that, if necessary, the system can be restored to an
"as new" condition or as close as practical to this condition.
Safety Network Number

(SNN)
Uniquely identifies a network across all networks in the safety

system. The end user is responsible for assigning a unique
number for each safety network or safety sub-net within a
system.
Standard
Devices or portions of devices that do not participate in the

safety function.
Table of Contents
Preface
What This Preface Contains . . . . . . . . . . . . . . . . . . . . Preface-1

Who Should Use This Manual . . . . . . . . . . . . . . . . . . Preface-1
Common Techniques Used in This Manual. . . . . . . . . Preface-2
Where To Find More Information . . . . . . . . . . . . . . . Preface-2
How To Use This Manual . . . . . . . . . . . . . . . . . . . . . Preface-3
About the Specifications, Dimensions, and Weights in this
Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preface-3
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preface-4
Chapter 1
Overview
What This Chapter Contains . . . .

Before You Begin . . . . . . . . . . . .
Suitability for Use . . . . . . . . . . . .
Safety Precautions . . . . . . . . . . . .
Precautions for Safe Use . . . . . . .
Legislation and Standards . . . . . .
EC Directives . . . . . . . . . . . . . . .
EMC Directive . . . . . . . . . . . .
Low-voltage Level Directive . .
Complying with EC Directives
Precautions for Correct Use . . . . .
About the Modules . . . . . . . . . . .
Features of the Modules . . . . . . .
Catalog Numbers . . . . . . . . . . . .
List of Functions . . . . . . . . . . . . .
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1-1
1-1
1-1
1-2
1-3
1-5
1-5
1-6
1-6
1-6
1-8
1-9
1-10
1-11
1-12
What This Chapter Contains . . . . . . . . . . . . . . . . . . . .

Safety I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safe State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Self-diagnostics Functions. . . . . . . . . . . . . . . . . . . .
Configuration Lock . . . . . . . . . . . . . . . . . . . . . . . .
Safety Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test Pulse from Test Output . . . . . . . . . . . . . . . . . .
Setting Dual Channel Mode and Discrepancy Time .
Dual channels, equivalent . . . . . . . . . . . . . . . . . . .
Dual channels, complimentary . . . . . . . . . . . . . . . .
Fault Recovery. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Output with Test Pulse. . . . . . . . . . . . . . . . .
Dual Channel Setting . . . . . . . . . . . . . . . . . . . . . . .
Fault Recovery. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Reaction Time . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Reaction Time . . . . . . . . . . . . . . . . . . . . . . . . .
I/O Status Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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2-1
2-1
2-1
2-1
2-2
2-2
2-2
2-5
2-6
2-7
2-7
2-8
2-8
2-8
2-9
2-9
2-9
2-10
2-10
Chapter 2
Operation of Safety Functions
Table of Contents
Chapter 3
General Procedures
What This Chapter Contains . . . . . . . . . .

Installation . . . . . . . . . . . . . . . . . . . . . . .
Connecting I/O Power and I/O Cables. . .
Recommended Materials and Tools. . .
Connecting Communications Connectors .
Node Address Setting . . . . . . . . . . . . . . .
Configuration . . . . . . . . . . . . . . . . . . . . .
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3-1
3-1
3-3
3-3
3-5
3-6
3-6
Chapter 4
Configuration
What This Chapter Contains . . . . . . . .

Setting the Password (GuardPLC only)
Setting I/O Parameters . . . . . . . . . . . .
Allocating Remote I/O. . . . . . . . . . . . .
I/O Allocations . . . . . . . . . . . . . . .
I/O Data . . . . . . . . . . . . . . . . . . . .
I/O Data Supported by Each Model . . .
I/O Assembly Data . . . . . . . . . . . . . . .
Reference Data . . . . . . . . . . . . . . . . . .
Input Data . . . . . . . . . . . . . . . . . . .
Output Data . . . . . . . . . . . . . . . . .
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4-1
4-1
4-1
4-4
4-4
4-4
4-5
4-8
4-9
4-9
4-14
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5-1
5-1
5-2
5-2
5-3
5-4
5-4
What This Chapter Contains . . . . . . . . . . .

Specifications . . . . . . . . . . . . . . . . . . . . . .
Safety Input Specifications . . . . . . . . . .
Test Output Specifications . . . . . . . . . .
Nomenclature . . . . . . . . . . . . . . . . . . . . . .
Internal Circuit and Terminal Arrangement.
Dimensions. . . . . . . . . . . . . . . . . . . . . . . .
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6-1
6-1
6-1
6-2
6-2
6-3
6-4
Chapter 5
Specifications
What This Chapter Contains . . . .

Specifications . . . . . . . . . . . . . . .
Indicators . . . . . . . . . . . . . . . . . .
MS/NS Indicators . . . . . . . . . .
Configuration Lock Indicator .
IN PWR/ OUT PWR Indicators
I/O Indicators . . . . . . . . . . . .
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Chapter 6
Safety Input Terminals
Table of Contents
Chapter 7
Safety I/O Terminals with Solid
State Outputs
What This Chapter Contains . . . . . . . . . . . . . . . . . . . .

Interpret the Status Indicators . . . . . . . . . . . . . . . . . . .
Safety Input Specifications . . . . . . . . . . . . . . . . . . .
Test Output Specifications . . . . . . . . . . . . . . . . . . .
Safety Output Specifications for Solid-state Outputs.
Nomenclature and Dimensions . . . . . . . . . . . . . . . . . .
Internal Circuit and Terminal Arrangement . . . . . . . . . .
Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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7-1
7-1
7-1
7-1
7-2
7-2
7-3
7-4
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8-1
8-1
8-1
8-1
8-2
8-2
8-3
8-4
Chapter 8
Safety I/O Terminals with Relay
Outputs
What This Chapter Contains . . . . . . . . . . . . . . . .

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Input Specifications . . . . . . . . . . . . . . .
Test Output Specifications . . . . . . . . . . . . . . .
Safety Output Specifications for Relay Outputs
Nomenclature and Dimensions . . . . . . . . . . . . . .
Internal Circuit and Terminal Arrangement . . . . . .
Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 9
Troubleshooting and Maintenance What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . 9-1
Troubleshooting . . . . . .
Safety Input Error. . .
Test Output Errors .
Safety Output Errors.
Maintenance . . . . . . . . .
Cleaning . . . . . . . . .
Inspection . . . . . . . .
Replacing Modules. .
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9-2
9-2
9-3
9-3
9-4
9-4
9-5
9-6
Chapter 10
Wiring Examples
Wiring and Safety Categories . . . . . . . . . . . . . . . . . . . . . . . 10-1

Examples of Wiring for Each Application . . . . . . . . . . . . . . 10-2
Emergency Stop Switch Dual Channel Inputs with Manual
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
Two-Hand Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
User Mode Switch Input. . . . . . . . . . . . . . . . . . . . . . . . 10-4
Muting Lamp Output . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
Limit Switch Dual Channel Inputs and a Manual Reset. . 10-6
Solid-state Outputs for Dual Channel Mode. . . . . . . . . . 10-7
Relay Outputs with Dual Channel Mode and EDM Input 10-8
Table of Contents
Appendix A
DeviceNet Explicit Messages
What This Appendix Contains . . . . . . . . . . . . . . . . . . . . . . A-1

Basic Format of Explicit Messages . . . . . . . . . . . . . . . . . . . A-1
Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Appendix B
Calculated Values of PFD and PFH What This Appendix Contains . . . . . . . . . . . . . . . . . . . . . . B-1
Calculated Values of PFD and PFH . . . . . . . . . . . . . . . . . . B-1
Index
Chapter
Overview
What This Chapter Contains
This chapter describes overview information about series 1791DS

Safety I/O Modules that implement the DeviceNet Safety protocol and
include various features for a safety system.
Before You Begin
Always heed the following when using a module:

Make sure that the module is handled by a safety administrator
who thoroughly understands the machine to be installed.
"Safety administrator" is used in this manual to mean a person
qualified, authorized, and responsible to secure safety in the
design, installation, operation, maintenance, and disposal of the
machine.
It is assumed that the module will be used properly according to
the installation environment, performance and functions of the
machine. The safety administrator must conduct a risk
assessment on the machine and determine the suitability of the
module before installation.
Thoroughly read and understand this manual before installing
and operating the module.
Keep this manual in a safe place where the operator can refer to
it whenever necessary.
Suitability for Use
Rockwell Automation shall not be responsible for conformity with any

standards, codes, or regulations that apply to the combination of the
products in the customer's application or use of the product. Take all
necessary steps to determine the suitability of the product for the
systems, machine, and equipment with which it will be used. Know
and observe all prohibitions of use applicable to this product.
Never use the products for an application involving serious risk to life
or properly without ensuring that the system as a whole has been
designed to address the risks and that the Rockwell Automation
product is properly rated and installed for the intended use within the
overall equipment or system.
1-2
Overview
Safety Precautions
Safety status of the module is defined as
follows:
OFF status of safety output
OFF status of network output
Use the module in applications where the
safe status for the module produces the safe
status.
Serious injury may occur due to breakdown of
safety outputs. Do not connect loads beyond
the rated value to the safety outputs.
Serious injury may possibly occur due to loss of
required safety functions. Wire the module
properly so that supply voltages or voltages for
loads do NOT touch the safety outputs
accidentally or inadvertently.
Connect loads across the output terminals and
the 0V line (PNP outputs).
ATTENTION
For 1791DS-IB4XOW4 modules apply only one AC

line phase to the relay and insert a fuse at each
output terminal whose current rating is less than
3.15 A to protect safety output contacts from
welding closed. Confirm fuse selection with the
fuse manufacturer, dependant on the connected
load characteristics.
ATTENTION
L1 L2 L3 N
L1 L2 L3 N
1791DS-IB4XOW4
Fuse
Fuse
Load
1791DS-IB4XOW4
Load
Load
Correct
ATTENTION
Load
Incorrect
Serious injury may occur due to loss of safety

functions. Use appropriate devices referring to the
following Controlling Devices Sample
Requirements Table.
Overview
1-3
Controlling Devices Sample Requirements Table

Emergency stop
Use approved devices with direct opening mechanism complying
switches
with IEC/EN 60947-5-1.
Door interlocking
Use approved devices with direct opening mechanism complying
switches
with IEC/EN 60947-5-1 and capable of switching microloads of
Limit switches
24V dc 5mA.
Safety sensors
Use approved devices complying with the relevant product
standards, regulations and rules in the country where used.
Relays with forcibly
Use approved devices with forcibly guided contacts complying
guided contacts,
with EN 50205. For feedback purposes use devices with contacts
Contactors
capable of switching micro loads of 24V dc 5mA.
Other devices
Evaluate whether devices used are appropriate to satisfy the
requirements of safety category level.
Precautions for Safe Use
The following are precautions for safe use:

Use the module within an enclosure with IP54 protection or
higher of EN 60529.
Incorrect wiring may lead to loss of safety function. Wire
conductors correctly and verify operation of the module before
commissioning system in which the module is incorporated.
Do not apply DC voltages exceeding the rated voltages to the
module.
Use DC supply satisfying the following requirements to prevent
electric shock.
DC power supply with double or reinforced insulation, for
example, according to IED/EN60950 or EN 50178 or a
transformer according to IEC/EN61558
DC supply satisfies requirement for class 2 circuits or limited
voltage/current circuit stated in UL 508
Apply properly specified voltages to the module inputs.
Applying inappropriate voltages causes the module to fail to
perform its specified function, which leads to loss of safety
functions or damage to the module.
Test outputs are NOT safety outputs. Never use these outputs as
safety outputs in any way.
After installation of the module, qualified personnel must
confirm the installation and conduct trial operation and
maintenance.
A safety administrator familiar with the machine in which the
module is to be installed must conduct and verify the
installation.
Do not disassemble, repair, or modify the module. This may
result in loss of safety functions.
1-4
Overview
Use only appropriate components or devices complying with

relevant safety standards corresponding to the required safety
category and safety integrity level. Conformity to requirements
of the safety category and safety integrity level must be
determined for the entire system. It is recommended to consult
a certification body regarding assessment of conformity to the
required safety integrity level.
The customer must confirm compliance with the applicable
standards for the entire system.
Disconnect the module from the power supply before wiring.
Devices connected to the module may operate unexpectedly if
wiring is performed while power is supplied.
Do not get your fingers caught when handling the terminal
blocks.
The life of the module depends on switching conditions.
Always conduct trial operation under actual conditions on the
machine to which the module is being applied to confirm
operation and use a switching frequency that will not exceed
performance levels.
Do not use the 1791DS-IB4XOW4 model in atmospheres subject
to flammable or explosive gasses. Arcs or relay heating
accompanying switching may cause a fire or explosion.
Overview
Legislation and Standards
1-5
In Japan, "Type Test" requirements are provided in Article 44 of the

Industrial Safety and Health Law. These requirements apply to
complete systems and can not be applied to a 1791DS module by
itself. Accordingly, to use the module in Japan as a "Safety device for
press machine or shearing tool" pursuant to Article 42 of the
above-mentioned law, it is necessary to apply for testing of the entire
system.
In Europe, the 1791DS module is subject to the European Union (EU)
Machinery Directive Annex IV, B, Safety Components, Items 1 and 2.
The type approval of TUV-Rheinland addresses the requirements of
the following Directives and Standards:
EU legislation
Machinery Directive 98/37/EC
Low Voltage Directive 73/23/EEC
EMC Directive 89/336/EEC
European standards
EN61508 (SIL1-3), EN954-1 (Category 4, 3, 2, 1, B),
EN611311-2, EN418, EN60204-1
International standards
IEC61508 (SIL1-3), IEC61131-2, IEC60204-1,
IEC61000-6-2, IEC61000-6-4
U.S. standards
ANSI RIA15.06, ANSI B11.19
1791DS modules received UL Listing to standards of USA and Canada
including:
UL508, UL1604, CSA 22.1 No.14, CSA 22.2 No. 213 (for
1791DS-IB12 and 1791DS-IB8XOB8)
UL508, CSA 22.1 No. 14 (for 1791DS-IB4XOW4)
1791DS modules received the following certification from ODVA.
DeviceNet Conformance Test
DeviceNet Safety Conformance Test
EC Directives
DeviceNet products conform to the EMC Directive and Low-Voltage

Directive.
1-6
Overview
EMC Directive
Rockwell Automation devices that comply with EC Directives also
conform to the related EMC standards so that they can more easily be
built into other devices or the overall machine. The actual products
have been checked for conformity to EMC standards. Whether they
conform to the standards in the system used by the customer,
however, must be confirmed by the customer.
EMC-related performance of Rockwell Automation devices that
comply with EC Directives will vary depending on the configuration,
wiring, and other conditions of the equipment or control panel in
which the Rockwell Automation devices are installed. The customer
must, therefore, perform the final check to confirm that devices and
the overall machine conform to EMC standards.
Low-voltage Level Directive

Always ensure that devices operating at voltages of 50 to 1,000V ac
and 75 to 1,500V dc meet the necessary safety standards for the
Controller (EN 61131-2).
Complying with EC Directives

DeviceNet products that comply with EC Directives must be installed
as follows:
1. DeviceNet Units are designed for installation inside control
panels. All DeviceNet Units must be installed within control
panels.
2. Use reinforced insulation or double insulation for the DC power
supplies used for the communications power supply, internal
circuit power supply, and the I/O power supplies.
3. DeviceNet products that comply with EC Directives also
conform to the Common Emission Standard (EN 50081-2).
Radiated emission characteristics (10-m regulations) may vary
depending on the configuration of the control panel used, other
devices connected to the control panel, wiring, and other
conditions. You must therefore confirm that the overall machine
or equipment complies with EC Directives.
Overview
1-7
4. DeviceNet products that comply with EC Directives must have

configurations with less than 30 m (98.43 ft)of I/O wiring and
less than 10 m (32.81 ft) of power supply wiring.
The following examples show how to reduce noise.
1. Reduce electrical noise from the communications cable by
installing a ferrite core on the communications cable within 10
cm (3.93 in) of the DeviceNet Master Unit.
Ferrite Core (Data Line Filter)* LF130B
(manufactured by Easy Magnet Co.)
Impedance specifications
25 MHz
156
100 MHz
250
mm
(inches)
30
(1.18)
13
(0.51)
33
(1.30)
29
(1.14)
2. Wire the control panel with cables that are as short as possible
and ground to 100 or less.
3. Keep DeviceNet communications cables as short as possible and
ground to 100 or less.
1-8
Overview
Precautions for Correct Use
Observe the following precautions to prevent operation failure,

malfunctions, or undesirable effects on product performance.
Do not install the module in locations subject to:
direct sunlight
temperatures or humidity outside the specified ranges
condensation as the result of severe changes in temperature
corrosive or flammable gases
dust (especially iron dust) or salts
water, oil, or chemicals
shock or vibration beyond rated specifications
When mounting:
Use DIN Rail [35 mm (1.38 in) wide] to mount the module into
the control panel.
Mount modules to DIN Rail so that the module does not fall off
the DIN Rail, for example, due to vibration.
Leave at least 50 mm (1.96 in) above and below the module to
allow adequate ventilation and room for wiring.
When wiring:
Do not place communications lines and I/O lines in the same
wiring duct or track as high voltage lines.
Wire correctly after confirming the signal names of all terminals.
Do not remove the shield from a module before wiring. Always
remove the shield after completing wiring, however, to ensure
proper heat dispersion.
Insulated post terminals (DIN 46228-4 standard) should be used
for stranded wires before connecting the wires.
Tighten screws on communications and I/O connectors securely
[tightening torque: 0.25 to 0.3 Nm (2.16 to 2.59 inch-pounds)].
When cleaning modules:
Do not use thinner, benzene, or acetone.
Overview
About the Modules
1-9
The 1791DS modules implement the DeviceNet Safety protocol and

provide various features for a safety system.
Use the modules to construct a safety control /network system that
meets the requirements for Safety Integrity Level 3 defined in
IEC61508 (Functional Safety of Electrical, Electronic, and
Programmable Electronic Safety-related Systems) and the requirements
for Safety Category 4 of EN954-1.
Remote I/O communications for safety I/O data of the modules are
performed through safety connections supporting the DeviceNet
Safety protocol, and data processing is performed in the Safety
Controller.
The status of safety I/O data can be monitored by a PLC through a
standard connection using an existing DeviceNet network.
GuardLogix
or GuardPLC
Rockwell Software Configurator
DeviceNet Master
DeviceNet Network
1791DS series
Safety I/O Terminal
1791DS series
Safety I/O Terminal
Emergency
Stop Button
Safety Door Switch
Two-hand
Switch
Contactor
Safety
Relay
Enable Switch
Safety
Relay
Unit
Safety Limit Switch
Valve
Safety Light Curtain
1-10
Overview
Features of the Modules
CIP Safety Protocol

Unlike standard DeviceNet, the CIP Safety protocol includes
the message arrival time assurance function (time stamps) and
data crosscheck function at the time of message arrival,
improving the reliability of communications data.
The safety protocol supported by the module has a higher
priority on DeviceNet, so safety data is not influenced by
standard DeviceNet communications.
Safety Inputs
In addition to contact output devices, such as emergency stop
switches, solid-state output devices, such as Safety Light
Curtains, can be connected.
The consistency between two input signals (channels) can be
evaluated (dual channel mode), allowing the module to be
used for Safety Category 4.
The time of a logical discrepancy between two channels can
be monitored using a discrepancy time setting.
An external wiring short-circuit check is possible by turning
ON an input (the module must be wired in combination with
test outputs when this function is used).
Input delays (ON delays and OFF delays) can be set.
Test Outputs
Four separate test outputs are provided: T0, T1, T2, and T3.
Broken wires in an external indicator (muting lamp) can be
detected for test output terminal T3.
Power (24 V) can be supplied to devices, such as safety
sensors.
Test outputs can be set as standard outputs for use as monitor
outputs.
Safety Outputs
Solid-state Outputs
The consistency between two output signals (channels) can
be evaluated (dual channel mode), allowing the module to be
Up to 0.5 A can be provided per output.
Relay Outputs
The consistency between two output signals (channels) can
be evaluated (dual channel mode), allowing the module to be
Up to 2 A can be provided per output point.
Safety relays can be replaced.
I/O Status Data
Overview
1-11
In addition to I/O data, the module includes status data to

check I/O circuits. The status data includes the following
data, for which remote I/O communications can be used.
Individual Point Input Status
(ON = Normal(OK), OFF = Fault(Alarm))
Combined Input Status
Individual Point Output Status
Combined Output Status
Individual Output Readback
(actual ON/OFF state of the outputs)
Individual Test Output Status
((ON = Normal(OK), OFF = Fault(Alarm))
Security
The configuration information of the module can be
protected by a password.
Detachable I/O Connectors
I/O connectors are detachable.
I/O connectors are structured to prevent improper insertion
(mechanically keyed).
Catalog Numbers
The following types of safety I/O modules are available:

safety input module
safety I/O module with solid-state outputs
safety I/O module with relay outputs
I/O Points
Catalog Number
1791DS-IB12
1791DS-IB8XOB8
1791DS-IB4XOW4
Name
Safety Test output

input
Safety input module 12

4 outputs*
inputs
Safety I/O module 8 inputs 4 outputs*
with solid-state
points
outputs
Safety I/O module 4 inputs 4 outputs*
with relay outputs
Safety output
Solid-state Relay
output
output
8 outputs
4 outputs
*Each test output can be set to function as a test output or a standard

output. Test outputs are used in combination with a safety input.
Broken wires in an external indicator can be detected for terminal T3
only.
1-12
Overview
List of Functions
1791DS Safety I/O Modules
Item
Self-diagnosis function
Configuration lock
Automatic baud rate

detection
Contents of remote I/O
communications
Description
Self-diagnosis is performed when power is turned ON and periodically during operation.
When an error occurs, it is treated as a fatal error, the MS indicator will light in red, and all safety output and
output data to the network will turn OFF.
After configuration data has been downloaded and verified, configuration data within the module can be
protected.
When the data is protected, the LOCK indicator on the front panel will light in yellow.
When the data is not protected, the LOCK indicator on the front panel will flash in yellow.
The module is automatically set to the baud rate of the network.
I/O data for
control
Safety Inputs
Safety Outputs
Standard Outputs
Output readback Safety Output

Monitors
Status data
Individual Safety
Input Status
Combined Safety
Input Status
Individual Safety
Output Status
Combined Safety
Output Status
Individual Test
Output Status
Muting Lamp Status
No. of connections
Safety I/O
Standard I/O
The ON/OFF state of each safety input terminal 1791DS ->

DeviceNet master
Safety Master
The ON/OFF state of each safety output terminal Safety Master ->
1791DS
The ON/OFF state of each test output terminal
(T0 to T3)
DeviceNet Master or
Safety Master ->
1791DS
The actual On/OFF state of each safety output
1791Ds ->
DeviceNet Master
Safety Master

(ON = OK, OFF = Fault)
Muting Lamp Status of T3
(ON = OK, OFF = Fault) if T3 is configured for
Muting Lamp operation
4 (Single-cast, Multi-cast)
2 (Poll, Bit-Strobe, COS, and Cyclic)
Overview
1-13
Item
Description
Allocation patterns 1791DS-IB12
of remote I/O
communications-
For remote I/O communications, you can select and allocate the following I/O data, for
which there are 15 patterns when combined: Safety Input Data, Individual Safety Input
Status, Combined Safety Input Status, Muting Lamp Status, Individual Test Output
Status, Standard Output Data.
1791DS-IB8XOB8 For remote I/O communications, you can select and allocate the following I/O data, for
Status, Combined Safety Input Status, Combined Safety Output Status, Individual Safety
Output Status, Muting Lamp Status, Standard Output Data, Safety Output Readback,
Individual Test Output Status.
1791DS-IB4XOW4 For remote I/O communications, you can select and allocate the following I/O data, for
Status, Combined Safety Input Status, Combined Safety Output Status, Individual Safety
Output Status, Muting Lamp Status, Standard Output Data, Safety Output Monitor,
Individual Test Output Status.
Safety Inputs
Item
Input channel mode
Dual channel mode
Input delays
Input error latch time
Description
Any of the following modes can be selected according to the external input device for each input.
Not used - An external input device is not connected.
Safety Pulse Test - Used with a contact output device in combination with a test output. Using
this setting, short circuits between input signal lines and the power supply (positive side) and
short circuits between input signal lines can be detected.
Safety - A solid-state output safety sensor is connected.
Standard - A non-safety device is connected, for example, a reset switch.
The consistency between signals on two channels can be evaluated. The following settings can be
selected. The discrepancy time is set for Dual channel operation.
Single channel - Used as a single channel.
Dual channel equivalent - Used as a dual channel pair. Status is OK when both channels are ON
or OFF.
Dual channel complimentary - Used as dual channel. Status is OK when one channel is ON and
the other channel is OFF.
ON Delay
An input signal is treated as being OFF during the ON delay setting time (0 to
126 ms, in increments of 6 ms) after the input contacts rising edge. The input
will turn ON only if the input contact remains ON after the ON delay time has
elapsed. This helps prevent chattering of the input contacts.
OFF Delay
An input signal is treated as being ON during the OFF delay setting time (o to
126 ms, in increments of 6 ms) after the input contacts falling edge. The
input will turn OFF only if the input contact remains OFF after the OFF delay
time has elapsed. This helps prevent chattering of the input contacts.
An input or test output error will be held for a minimum of this amount of time. This time should be set to
ensure that the Safety Controller recognizes the error. (0 to 65,530 ms, in increments of 10 ms)
1-14
Overview
Test Outputs
Item
Description
Test output mode
Any of the following modes can be selected to accomodate the connected external device.
Not used
An external device is not connected
Standard output
The output is connected to a standard device.
Pulse test output
A contact output device is connected. Used in combination with a safety

input.
Power supply output
The power supply terminals of a safety sensor are connected.

The voltage supplied to I/O power (V,G) is output from the test output
terminal.
An indicator is connected.
Turned ON to detect broken lines in an external indicator.
Muting lamp output

(terminal T3 only)
Output status after
communications
error
Short circuit
detection
Broken wire
detection of
external indicator
It is possible to select whether to hold or clear the previous value when a communications error occurs.
Supported.
Supported for muting output only.
Safety Output
Item
Description
Any
of the following Safety Output modes can be selected.
Output channel mode
- Not used - External output devices are not connected.
- Safety - When the safety output is ON, the test pulse is not output (remains ON).
- Safety Pulse Test - When the output is ON, the test pulse is turned OFF for 470 s in a cycle of 648 ms.
Using this function, short-circuits between output signal lines and the power supply (positive side) and
short-circuits between output signal lines can be detected.
The consistency between signals on two channels can be evaluated.
Dual channel setting
Either of the following settings can be selected:
- Single channel - used as single channel.
- Dual channel - when both channels are OK, outputs can be turned ON. If an error is detected on one of
the channels, the other channel is also turned OFF.
Output error latch time A safety output error will be held for a minimum of this amount of time. This time should be set to ensure
that the Safety Controller recognizes the error. (0 to 65,530 ms, in increments of 10 ms)
Short-circuit detection Supported
Overcurrent detection Supported
Chapter
Read this chapter for information about safety functions.
Safety I/O Modules
Safe State
The following status is treated as the safe state by the Safety I/O
Modules.
Safety outputs: OFF
Output data to network: OFF
Output to Netw ork OFF
DeviceNet
Safety
Status
Output OFF
Input
The module must be used for applications in which it enters

into a safe state when the safety outputs turn OFF, and the
output data to the network turns OFF.
Self-diagnostics Functions
Self-diagnostics is performed when the power is turned ON and
periodically during operation. If an error occurs, it will be treated as a
fatal error (the MS indicator will light in red), and the safety outputs
and output data to the network will turn OFF.
2-2
Configuration Lock
After configuration data has been downloaded and verified, the
configuration data within the module can be protected, using
RSNetworx for DeviceNet software.
DeviceNet
Configurator
DeviceNet
Configurator
RSNetworx
for DeviceNet
Configuration
Operation
Configuration
LockLock
Operation
DeviceNetNetwork
Network
DeviceNet
Configuration Data
Configuration Data
Download
Download
Safety I/O Terminal 1791DS

Safety I/O Terminal DST1
Configuration Data
If the data is protected, the LOCK indicator on the front panel

will light in yellow. If the data is not protected, the LOCK
indicator on the front panel will flash in yellow.
Safety Inputs
Test Pulse from Test Output

A test output is used in combination with a safety input. Specify the
corresponding test output terminal to use as the test source. The test
output terminal is used as a power supply to connect an external
input device to the safety input terminal.
In the case of 1791DS-IB12
DST1-ID12S-1
When IN0 and T0 are used in combination
IN0 T0
V
T0
T1
T0
T1
T0
T1
T0
T1
24V dc output with test pulse
24V 250ms
250 s 0V
Safety input
terminal
External contact
24V
2-3
A test pulse is output from the test output terminal to diagnose the
internal circuit when the external input contact turns ON. Using this
function, short-circuits between input signal lines and the power
supply (positive side), and short-circuits between input signal lines
can be detected.
24 24V
V !
VV
"
24
V
24V
00VV
T0
"
External contact
External contact
IN0
IN0
"
"
Short circuit between input signal

Short-circuit between input signal lines a nd
lines
and power supply (Positive side)
powe r s upply P( os itive s ide)
External contact
T1
External contact
External contact
IN1
IN1
"
Short circuit
between
Short-circuit
between
inputinput
signalsignal
lines
lines
If an error is detected, safety input data and safety input status will
turn OFF.
2-4
Normal Operation
24V
T0
0V
ON
External Device
OFF
ON
Input Terminal 0
OFF
ON
Safety Input 0
Remote
I/O
data
OFF
Safety Input
Status 0
ON
OFF
Fault Detection
24V
T0
0V
ON
External Device
ON
Input Terminal 0
OFF
ON
Safety Input 0
Remote
I/O
data
OFF
Safety Input
Status 0
ON
OFF
Fault
detected
2-5
Setting Dual Channel Mode and Discrepancy Time

The consistency between signals on two channels can be evaluated.
Either of the following settings can be selected. This function
monitors the time during which there is a discrepancy in the logic
between the two channels set as dual channels. If the length of the
discrepancy exceeds the set discrepancy time (0 to 65,530 ms in
increments of 10 ms), the safety input data and the individual safety
input status will turn OFF for both inputs.
IMPORTANT
The dual channel function is used with 2 consecutive

inputs that start from even input numbers: inputs 0
and 1, inputs 2 and 3, inputs 4 and 5, etc.
The following table shows the relation between terminal input status
and remote I/O data.
Dual channel mode
Dual channels,
equivalent
Dual channels,
complimentary
Input terminal
IN0
IN1
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Remote I/O data

Safety input 0 Safety input 1 Status of
safety input 0
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
OFF
ON
OFF
OFF
ON
ON
ON
OFF
ON
OFF
ON
OFF
Status of
safety input 1
ON
OFF
OFF
ON
OFF
ON
ON
OFF
Meaning of data
and status
OFF, normal (OK)
OFF, fault
OFF, fault
ON, normal (OK)
OFF, fault
OFF, normal (OK)
ON, normal (OK)
OFF, fault
2-6
Dual channels, equivalent

The status is treated as Normal (OK) when both channels are ON or
OFF. If one channel is ON and the other channel is OFF, it will be
treated as a Fault (Alarm). In the Fault (Alarm) state the safety input
data and individual safety input status will turn OFF for both inputs.
* Norm
al
Normal
Operation
IN0
IN1
ON
OFF
ON
OFF
Discrepancy time
Safety Input 0
Remote
I/O
data
Safety Input 1
Safety Input
Status 0, 1
Fault
Detection
* Error
IN0
IN1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Discrepancy time
Safety Input 0
Remote
I/O
data
Safety Input 1
Safety Input
Status 0, 1
ON
OFF
ON
OFF
ON
OFF
Fault
Error
detected
2-7
Dual channels, complimentary

The status is treated as Normal(OK) when one channel is ON and the
other channel is OFF. When both channels are ON or both channels
are OFF, it is treated as a Fault (Alarm). In the Fault (Alarm) state,
safety input 0 will be OFF and safety input 1 will be OFF, and the
safety input status will turn OFF for both inputs.
Normal
Operation
* Norm
al
IN0
IN1
ON
OFF
ON
OFF
Discrepancy time
Safety Input 0
Remote
I/O
data
Safety Input 1
Safety Input
Status 0, 1
Fault
* ErrorDetection
IN0
IN1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Discrepancy time
Safety Input 0
Remote
I/O
data
Safety Input 1
Safety Input
Status 0, 1
ON
OFF
ON
OFF
Fault
Error
detected
ON
OFF
Fault Recovery
If an error is detected, the safety input data will remain in the OFF
state. The procedure for activating the safety input data again is as
follows.
1. Remove the cause of the error.
2. Turn OFF the safety input. The safety input status will turn ON
after the input error latch time has elapsed. The I/O indicator
(red) will turn OFF. The input data can now be controlled.
2-8
Input Delays
ON Delay - An input signal is treated as being OFF during the ON
delay setting time (0 to 126 ms, in increments of 6 ms) after the input
contacts rising edge. The input will turn ON only if the input contact
remains ON after the ON delay time has elapsed. This helps prevent
chattering of the input contacts.
INPUT SIGNAL
ON
OFF
Remote I/O data

Safety input
ON
OFF
ON-delay
OFF Delay - An input signal is treated as being ON during the OFF

delay setting time (0 to 126 ms, in increments of 6 ms) after the input
contacts falling edge. The input will turn OFF only in the input
contact remains OFF after the OFF delay time has elapsed. This helps
prevent chattering of
the input contacts.
ON
Safety input terminal
INPUT SIGNAL
OFF
Remote
I/O
Input data
of DST1
Safety input
data
ON
OFF
OFF-delay
Safety Outputs
Safety Output with Test Pulse

When the output is ON, the test pulse is turned OFF for 470us in a
cycle of 648 ms. Using this function, short-circuits between output
signal lines and the power supply (positive side) and short-circuits
between output signal lines can be detected. If an error is detected,
the safety output data and individual safety output status will turn
OFF.
OUT
ON
OFF
470 s
648 ms
IMPORTANT To prevent the test pulse from causing the connected
device to malfunction, pay careful attention to the

input response time of the device.
2-9
Dual Channel Setting

When the data of both channels are in the ON state, and neither
channnel has an Alarm, the outputs will be turned ON. The status is
treated as OK when both channels are OK. If an Alarm is detected for
one channel, the safety output data and the individual safety output
status will turn OFF for both channels.
Normal
* Normal operation
OUT0
OUT1
Remote
I/O
data
Safety Output
Status 0, 1
Fault
detection
* Error
OUT0
OTU0
OUT1OUT1
Remote
I/O
data
Safety Output
Status 0, 1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Error
Error
ON
detected
OFF
Fault Recovery
If a fault is detected, the safety output will remain in the OFF state.
The procedure for activating the safety output data again is:
1. Remove the cause of the error.
2. Turn OFF the safety output or outputs. The safety output status
will turn ON when the output error latch time has elapsed. The
I/O indicator (red) will turn off. The output data may now be
controlled.
Input Reaction Time
The input reaction time is the time from when an input signal is
changed to when the new signal state is avalable to be sent onto the
network.For a signal with a safe state of OFF, the Maximum input
reaction time = 16.2 ms + the OFF delay time configured for the input.
2-10
For a signal with a safe state of ON (2nd channel of a Complementary

Input) , the Maximum input reaction time = 16.2 ms + the ON delay
time configured for the input.
The maximum time from when an input signal is changed to when the
new signal state is sent onto the network would be the reaction time
described above plus the input data production rate.
Output Reaction Time
The output reaction time is the time from when a network signal is
received to when the state of the output terminal is changed.
For Solid State outputs, max. output reaction time = 6.2 ms
For Relay outputs, max. output reaction time = 26.2 ms
I/O Status Data
In addition to I/O data, the module supports status data to check the
I/O circuits. The status data includes the following data, for which
remote I/O communications can be performed.
(ON = Normal/OK, OFF = Fault/Alarm)
Individual Output Readback
(actual ON/OFF state of the outputs)
Normal Flags indicate whether each safety input, safety output, or test
output is normal (normal status: ON, error (fault) status: OFF). For
fatal errors communications connections may be broken, so the status
of the Normal Flags then cannot be read.
AND flags are provided for an AND of the status of all safety inputs or
all safety outputs (when all inputs or outputs are normal: ON, when
one or more of them has an error: OFF). This is known as the
combined safety input/output status.
Output monitors indicate the actual ON/OFF status of each safety
output.
Chapter
General Procedures
This chapter explains general procedures for using the module which
include:
1. Install the module in the control panel.
2. Wire I/O power and cables.
3. Connect communications connectors.
4. Set the node address.
5. Configure the system, making settings for the module. Refer to
Chapter 4 for configuration procedures.
The baud rate of the entire system is determined by the baud rate of
the Master Unit. The baud rate does not need to be set for each
module.
.
N o d e A d d re s s S w i tc he s
R e fe r to S e c ti o n 2 -5
In d ic a to r s
R e fe r to S e c tio n 4 -2
C o m m un ic a tio n s
c o n n e c to r
T e rm i n a l b lo c k
Installation
Use the DIN Rail [35 mm (1.38 in) wide] to install the module in the
control panel.
3-2
General Procedures
Wiring duct
End plate
(Model PFP-M)
50mm or more
35mm DIN rail
50mm or more
End plate
(Model PFP-M)
Wiring duct
For dimensions, refer to the description of individual modules

(Chapters 5 to 7).
IMPORTANT
Use the module in an environment that is within

the general specifications.
Use the module in an enclosure rated IP54

(IEC60529) or higher.
Use DIN Rail [35 mm (1.38 in) wide] to mount
the module in the control panel.
Always use an end plate on each end of the
module to secure it.
Allow a minimum of 50 mm (1.96 in) above and

below the module for ventilation.
General Procedures
Connecting I/O Power and

I/O Cables
3-3
The following table lists the applicable wires that fit the I/O connector
(when using recommended post crimp terminals).
Solid wire
0.2 to 2.5 mm2 AWG24 to 12
Stranded wires
0.34 to 1.5 mm2 AWG22 to 16
For the terminal arrangement of the terminal block and wiring for
external I/O, refer to the description of each individual module in this
manual.
Recommended Materials and Tools

Ferrules with Plastic Insulating Collars
Use ferrules with insulating collars conforming to
DIN46228-4. The ferrule with similar appearance but not
conforming to the standard, may not match the terminal block
of the module. (The wire dimensions shown in the figure are
rough dimensions. Confirm before application.)
IMPORTANT
Use wires of the same diameter for any two-wire

ferrules that are used.
3-4
General Procedures
Reference Specifications (Product specifications of Phoenix Contact)

Wire dimensions
For two wires
For one wire
Model of ferrule
AI 0.34-8TQ
AI 0.5-8WH
AI 0.75-8GY
AI 1.0-8RD
AI 1.5-8BK
AI-TWIN
2 x 0.5-8WH
AI-TWIN
2 x 0.75-8GY
AI-TWIN
2 x 1-8RD
Crosssectional
area of
conductor
(mm2)
0.34
0.5
0.75
1.0
1.5
Ferrule specifications
Inner
Inner
diameter of diameter of
conductor insulation Dimensions
D1
cover D2
mm (in)
mm (in)
AWG
Removed
length of
insulation
mm (in)
Entire
length L1
mm (in)
Length of
metal part
L2
mm (in)
22
20
18
18
16
10 (0.39)
10 (0.39)
10 (0.39)
10 (0.39)
10 (0.39)
12.5 (0.49)
14 (0.55)
14 (0.55)
14 (0.55)
14 (0.55)
8 (0.31)
8 (0.31)
8 (0.31)
8 (0.31)
8 (0.31)
0.8 (0.03)
1.1 (0.04)
1.3 (0.05)
1.5 (0.06)
1.8 (0.07)
2 x 0.5
10 (0.39)
15 (0.59)
8 (0.31)
1.5 (0.06)
2 x 0.75
10 (0.39)
15 (0.59)
8 (0.31)
1.8 (0.07)
2x1
10 (0.39)
15 (0.59)
8 (0.31)
2.05 (0.080)
D2
Insulating
Insulation collar
cover
D2
L2
L2
L1
L1
Insulating
collar
Insulation cover
2.0 (0.08)
2.5 (0.09)
2.8 (0.11)
3.0 (0.12)
3.4 (0.13)
2.5/4.7
(0.09/0.18)
2.8/5.0
(0.11/0.19)
3.4/5.4
(0.13/0.21)
D1
For one wire
D1
For two wires
See figure for

one wire
See figure for

two wires
General Procedures
3-5
Crimping tool for ferrule

Manufacturer: PHOENIX CONTACT
Model: CRIMPFOX UD6
IMPORTANT
Use ferrules when wiring cables.

I/O connectors are detachable. Tighten the screws
on the I/O connector to 0.25 to 0.3 Nm.
The I/O connector has a structure the helps

prevent incorrect wiring. Make connections at
the specified locations corresponding to the
terminal numbers.
Do not remove the shield from the module before
wiring.
Always remove the shield after completing wiring
to ensure proper heat dispersion.
Connecting
Communications
Connectors
Colored stickers are provided on the communications connector that

match the colors of the wires to be inserted. Check that the colors of
the wires and stickers match when wiring the connectors. The colors
are as follows:
No.
Color
Signal
Red
Power cable positive side (V+)
White
High side of communications data (CAN_H)
Shield
Blue
Low side of communications data (CAN_L)
Black
Power cable negative side (V-)
IMPORTANT
When connecting a communication connector

with the module, tighten the screws on the
communications connector to 0.25 to 0.3 Nm
(2.16 to 2.59 inch-pounds).
The internal power for the module is supplied from the

communications power supply (V+, V-).
3-6
General Procedures
Node Address Setting
Set the node address using the two rotary switches on the front panel
of the module. The default setting is 63.
Set the tens digit of node address (decimal) using the left rotary
switch, and set the ones digit using the right rotary switch. A value
between 00 and 63 is valid for proper use.
Tens digit of node address
Ones digit of node address
If a node address between 64 and 99 is set, the node address can be

set from RSNetworx for DeviceNet.
IMPORTANT
Configuration
The node address setting rotary switches must be

set while the communications power supply is
turned OFF.
Configure the module using RSNetworx for DeviceNet or RSLogix

5000.
Refer to Chapter 4 - Configuration for details on settings. Refer to the
corresponding module configuration software tool and its help files
(RSLogix 5000 or RSNetworx for DeviceNet).
Chapter
Configuration
This chapter provides information about configuration settings.

Configure the module using RSNetworx for DeviceNet. Refer to the
corresponding software help files for Network Configurator operating
procedures. This chapter covers the following configuration settings:
Set the password.
Set I/O parameters.
Allocate remote I/O
Setting the Password

(GuardPLC only)
Set the password using RSNetworx for DeviceNet. A password is not

set at the factory; be sure to set one. The password will be required
when performing I/O settings or when changing the password.
IMPORTANT
The password must be managed by a safety

administrator. If you forget the password, consult
your Rockwell Automation representative.
The password must be managed by a safety administrator. If you

forget the password, please consult your Rockwell Automation
representative.
Setting I/O Parameters
The module has the following parameter groups: General Parameters,

Safety Input Parameters, Test Output Parameters, and Safety Output
Parameters. The settings in each parameter group are listed in the
following tables. All parameters are set using RSLogix 5000 or
RSNetworx for DeviceNet.
IMPORTANT
Parameters directly related to safety are marked with

an X in the left column.
4-2
Configuration
General Parameters
Parameter name
x Safety Output Error Latch
Time
x Safety Input Error Latch
Time
Test Output Idle State
Value
0 to 65,530 ms
(in increments of 10 ms)
0 to 65,530 ms
(in increments of 10 ms)
Clear OFF or Keep output data
Safety Input Parameters

Parameter name
Value
Description
0 to 126 ms (in
increments of 6 ms)
0 to 126 ms (in
increments of 6 ms)
Not Used
Safety Test Pulse
Filter time for OFF to ON transition.
x
x
x
Input Delay Time

Off -> On
Input Delay Time
On -> Off
Input Point Mode
Safety
Standard
Safety Input Test Source
Not used
Test Output 0
Test Output 1
Test Output 2
Test Output 3
Input Point Operation Type Single Channel
Dual Channel Equivalent
Dual Channel
complimentary
Description
Safety output errors will be latched for this time.
Default
1,000 ms
Safety input or test output errors will be latched for 1,000 ms

this time.
Definition of output data in idle state.
Clear OFF
Filter time for ON to OFF transition.

External input device is not connected.
Used with a contact output device and in combination with a test output.
Using this setting, short-circuits between input signal lines and the power
supply (positive side) and short-circuits between input signal lines can be
detected.
A solid-state output safety sensor is connected.
A non-safety device, such as a reset switch, is connected.
The test output that is used with the input.
Used as single channel.

Used as dual channel. Normal (OK) when both channels are ON or OFF.
Used as dual channel. Normal (OK) when one channel is ON and the other
channel is OFF.
Configuration
IMPORTANT
4-3
If the test pulse from Test Output is set to the Safety

Input Channel mode, the Safety Input Test Source
and Pulse Test Output of the Test Output must be set
to the Test Output Mode.
Test Output Parameters

Parameter name
x Test Output Mode
Value
Not Used
Standard
Description
An external device is not connected.
The output is connected to a standard device.
Pulse Test
A contact output device is connected. Used in combination

with a safety input.
The power supply of a Safety Sensor is connected. The
voltage supplied to I/O power (V, G) is output from the test
output terminal.
An indicator is connected. Turned ON to detect broken
lines in an external indicator.
Action to perform when a communications error is
Clear OFF
detected.
Power Supply
Test Output Fault Action
Muting Lamp Output

(Terminal T3 only)
Clear OFF
Hold Last Data
Safety Output Parameters

Parameter name
Value
x Output Point Mode
Not Used
Safety
Safety Pulse Test
(Can be set the model

1791DS-IB8XOB8 only.)
Output Point Operation Single Channel
Type
Dual Channel
Default
Not Used
Description
Default
An external output devices is not connected.
Not Used
When the output is ON, the test pulse is not output (remains
ON).
When the output is ON, the test pulse is turned OFF for 470 s
in a cycle of 648 ms. Using this function, short-circuits between
output signal lines and the power supply (positive side) and
short-circuits between output signal lines can be detected.
Used as single channel.
Dual Channel
Used as dual channel. When both channels are normal (OK),
outputs can be turned ON.
4-4
Configuration
Allocating Remote I/O
I/O Allocations
The module internally stores I/O data. Connection paths can be set
using RSLogix 5000 or RSNetworx for DeviceNet to allocate I/O data
for the Master Unit. No settings are made by default. Be sure to set the
required connection paths.
I/O Data
The module stores the following data:
SAFE: The Controller can use this information in safety-related
functions.
NON-SAFE: Additional information that must not be relied on
for safety functions.
Data
Input data
Individual Safety Output Status

SAFE
Muting Lamp Status
SAFE
Safety Output Monitor
NON-SAFE
NON-SAFE
Description
Indicates the ON/OFF status of each input terminal.
ON: 1 OFF: 0
An AND of the status of all input terminals.
All terminals are normal: 1
An error has been detected in one or more input terminals: 0
Indicates the status of each input terminal.
Normal (OK): 1 Fault (Alarm): 0
An AND of the status of all safety output terminals.
All terminals are normal: 1
An error has been detected in one or more output terminals: 0
Indicates the status of each safety output terminal.
Indicates the status when terminal T3 is configured as the muting lamp output.
Normal (OK)l: 1 Fault (Alarm): 0
Monitors the outputs of the safety output terminals.
ON: 1 OFF: 0
Indicates the status of each of the test output terminals.
Safety Output Data

SAFE
Standard Output Data
NON-SAFE
Controls the safety output.

ON: 1 OFF: 0
Controls the test output when test output mode is set to a standard output.
ON: 1 OFF: 0
Safety Input Data

SAFE
Combined Safety Input Status
SAFE
Individual Safety Input Status
SAFE
Combined Safety Output Status
SAFE
Output data
Configuration
I/O Data Supported by Each

Model
4-5
The following tables show the I/O data supported by each module.
Refer to the I/O Assembly Data section of this chapter for data
arrangements.
From among the I/O data, safety connections for up to four items,
including one output, can be allocated for the Master Unit, and
standard connections for up to two items can be allocated for the
Master Unit (Scanner).
Communications with up to 15 Safety Controllers for
each connection can be performed using
multi-casting. If four connections are used, only a
maximum of 30 Safety Controllers total can
communicate with the module.
IMPORTANT
1791DS-IB12
The default I/O data is as follows:
Safety connection: Safety (instance No. 20C)
Standard connection: Safety - Pt. Status - Muting Status - Test
Output Status (instance No. 312)
Inputs
x
x
Test
Test output status with general status
assembly
21
340
Standard Output
Data
Safety Output
Data
312
Individual Test
Output Status
Safety - Pt. Status - Muting Status - Test

Output Status
Safety Output
Readback
Muting Lamp
Status
Individual Safety
Output Status
x
x
x
x
x
Combined Safety
Output Status
20C
224
22C
310
311
Individual Safety
Input Status
Safety
Small Safety - Pt Status
Safety - Pt. Status
Safety - Combined Status - Muting Status
Safety - Pt. Status - Muting Status
Combined Safety
Input Status
Safety Input Data
Standard
connection
x
x
x
x
Assembly
Instance No.
Safety
connection
x
x
x
x
Configuration Software
Setting
(see Module Definition*)
Outputs
x
x
x
x
x
x
x
x
x
*Found in RSLogix5000, I/O Module Properties, General Tab
4-6
Configuration
1791DS-IB8XOB8
Safety connections: Safety (instance No. 204 and 234)
Standard connection: Safety - Readback - Pt. Status - Muting
Status - Test Output Status (instance No. 323)
Inputs
Outputs
Safety
204
Safety - Combined Status - Muting 320
Status
x
x
Safety - Pt. Status - Muting Status 321
Safety - Readback - Pt. Status Muting Status
322
Safety - Readback - Pt. Status 323

Muting Status - Test Output Status
Test
21
Safety
234
Combined
351
Output Readback/test output status 341

with general status assembly
Muting Lamp
Status
x
x
Standard Output
Data
Safety Output
Data
Individual Test
Output Status
Safety Output
Readback
Individual Safety
Output Status
Combined Safety
Output Status
Individual Safety
Input Status
Combined Safety
Input Status
Safety Input Data
Standard
connection
Assembly
Instance No.
Safety
connection
x
x
Configuration
Software Setting
Configuration
4-7
1791DS-IB4XOW4
Safety connections: Safety (instance No. 203 and 233)
Standard connection: Safety - Readback - Pt. Status - Muting
Status - Test Output Status (instance No. 333)
Inputs
Outputs
Safety
203
Safety - Combined Status - Muting 330
Status
x
x
Safety - Pt. Status - Muting Status 331
Safety - Readback - Pt. Status Muting Status
332
Safety - Readback - Pt. Status 333

Muting Status - Test Output Status
Test
21
Safety
233
Combined
350
Output Readback/test output status 342

with general status assembly
Muting Lamp
Status
x
x
Standard Output
Data
Safety Output
Data
Individual Test
Output Status
Safety Output
Readback
Individual Safety
Output Status
Combined Safety
Output Status
Individual Safety
Input Status
Combined Safety
Input Status
Safety Input Data
Standard
connection
Assembly
Instance No.
Safety
connection
x
x
Configuration
Software Setting
4-8
Configuration
I/O Assembly Data
The Bits in the Tag definitions of RSLogix 5000 and RSNetworx are
different than those shown in the following section. The following
defines the name associations for consistency with the programming
software.
Bit definitions in the following tables
RSLogix 5000 Tag Name
Safety Input 0
Safety Input 11
Safety Input 0 Status
Pt00Data
Pt11Data
Pt00InputStatus
Safety Input 11 Status

Safety In Status
Muting Lamp Status
Pt11InputStatus
InputStatus
MutingStatus
Safety Output 0
Safety Output 7
Standard Output 0
Standard Output 3
Safety Output 0 Status
Safety Output 7 Status
Safety Out Status
Safety Output 0 Monitor
Safety Output 7 Monitor
Pt00Data
Pt07Data
Test00Data
Test03Data
Pt00OutputStatus
Pt07OutputStatus
OutputStatus
Pt00Readback
Pt07Readback
Test Output 0 Status

Test Output 3 Status
Pt00TestOutputStatus
Pt03TestOutputStatus
Configuration
Reference Data
Instance (hex)
203
Byte
0
4-9
Input Data
Bit 7
Reserved
Bit 6
Bit 5
Bit 4
Bit 3
Safety
Input 3
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
Bit 0
Safety
Input 0
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
Bit 0
Safety
Input 0
Applicable Catalog Number: 1791DS-IB4XOW4
Instance (hex)
204
Byte
0
Bit 7
Safety
Input 7
Bit 6
Safety
Input 6
Bit 5
Safety
Input 5
Bit 4
Safety
Input 4
Bit 3
Safety
Input 3
Applicable Catalog Number: 1791DS-IB8XOB8
Instance (hex) Byte

20C
0
1
Bit 7
Safety
Input 7
Reserved
Bit 6
Safety
Input 6
Bit 5
Safety
Input 5
Bit 4
Safety
Input 4
Bit 3
Safety
Input 3
Safety
Input 11
Bit 2
Safety
Input 2
Safety
Input 10
Bit 1
Safety
Input 1
Safety
Input 9
Bit 0
Safety
Input 0
Safety
Input 8
Applicable Catalog Number: 1791DS-IB12
Instance (hex)
224
Byte
0
1
Bit 7
Safety
Input 7
Safety
Input 7
Status
Bit 6
Safety
Input 6
Safety
Input 6
Status
Bit 5
Safety
Input 5
Safety
Input 5
Status
Bit 4
Safety
Input 4
Safety
Input 4
Status
Bit 3
Safety
Input 3
Safety
Input 3
Status
Bit 2
Safety
Input 2
Safety
Input 2
Status
Bit 1
Safety
Input 1
Safety
Input 1
Status
Bit 0
Safety
Input 0
Safety
Input 0
Status
Bit 3
Safety
Input 3
Safety
Input 11
Bit 2
Safety
Input 2
Safety
Input 10
Bit 1
Safety
Input 1
Safety
Input 9
Bit 0
Safety
Input 0
Safety
Input 8
Safety
Input 7
Status
Safety
Input 7
Status
Safety
Input 5
Status
Safety
Input 4
Status
Instance (hex)
22C
Byte
0
1
Bit 7
Safety
Input 7
Safety
Input 3
Status
Safety
Input 11
Status
Bit 6
Safety
Input 6
Safety
Input 2
Status
Safety
Input 10
Status
Bit 5
Safety
Input 5
Safety
Input 1
Status
Safety
Input 9
Status
Bit 4
Safety
Input 4
Safety
Input 0
Status
Safety
Input 8
Status
4-10
Configuration
Instance (hex)
300
Byte
0
Bit 7
Reserved
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Output
Input
Power Error Power Error
Applicable Catalog Number: 1791DS-IB12, 1791DS-IB8XOB8, 1791DS-IB4XOW4
Instance (hex)
310
Byte
0
1
Bit 7
Safety
Input 7
Muting
Lamp
Status
Bit 6
Safety
Input 6
Combined
Safety In
Status
Bit 5
Safety
Input 5
Reserved
Bit 4
Safety
Input 4
Bit 3
Safety
Input 3
Safety
Input 11
Bit 2
Safety
Input 2
Safety
Input 10
Bit 1
Safety
Input 1
Safety
Input 9
Bit 0
Safety
Input 0
Safety
Input 8
Bit 3
Safety
Input 3
Safety
Input 11
Bit 2
Safety
Input 2
Safety
Input 10
Bit 1
Safety
Input 1
Safety
Input 9
Bit 0
Safety Input
0
Safety Input
8
Safety
Input 7
Status
Safety
Input 6
Status
Safety
Input 5
Status
Safety Input
4 Status
Instance (hex)
311
Byte
0
1
Bit 7
Safety
Input 7
Safety
Input 3
Status
Safety
Input 11
Status
Muting
Lamp
Status
Bit 6
Safety
Input 6
Safety
Input 2
Status
Safety
Input 10
Status
Reserved
Bit 5
Safety
Input 5
Safety
Input 1
Status
Safety
Input 9
Status
Bit 4
Safety
Input 4
Safety
Input 0
Status
Safety
Input 8
Status
Instance (hex)
312
Byte
0
Bit 7
Safety
Input 7
Bit 6
Safety
Input 6
Bit 5
Safety
Input 5
Bit 4
Safety
Input 4
Bit 3
Safety
Input 3
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
Bit 0
Safety
Input 0
Safety
Input 3
Status
Safety
Input 2
Status
Safety
Input 1
Status
Safety
Input 0
Status
Safety
Input 11
Safety
Input 10
Safety
Input 9
Safety
Input 8
Safety
Input 11
Status
Safety
Input 10
Status
Safety
Input 9
Status
Safety
Input 8
Status
Safety
Input 7
Status
Safety
Input 6
Status
Safety
Input 5
Status
Safety
Input 4
Status
Muting
Lamp
Status
Reserved
Test Output Test Output Test Output Test Output

3 Status
2 Status
1 Status
0 Status
Configuration
Instance (hex)
320
Byte
0
1
Bit 7
Safety
Input 7
Muting
Lamp
Status
Bit 6
Safety
Input 6
Combined
Safety In
Status
Bit 5
Safety
Input 5
Combined
Safety Out
Status
Bit 4
Safety
Input 4
Reserved
Bit 3
Safety
Input 3
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
4-11
Bit 0
Safety
Input 0
Instance (hex)
321
Byte
0
Bit 7
Safety
Input 7
Bit 6
Safety
Input 6
Bit 5
Safety
Input 5
Bit 4
Safety
Input 4
Bit 3
Safety
Input 3
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
Bit 0
Safety
Input 0
Safety
Input 7
Status
Safety
Input 6
Status
Safety
Input 5
Status
Safety
Input 4
Status
Safety
Input 3
Status
Safety
Input 2
Status
Safety
Input 1
Status
Safety
Input 0
Status
Safety
Output 7
Status
Safety
Output 6
Status
Safety
Output 5
Status
Safety
Output 4
Status
Safety
Output 3
Status
Safety
Output 2
Status
Safety
Output 1
Status
Safety
Output 0
Status
Muting
Lamp
Status
Reserved
Bit 2
Safety
Input 2
Safety
Input 2
Status
Safety
Output 2
Status
Safety
Output 2
Monitor
Bit 1
Safety
Input 1
Safety
Input 1
Status
Safety
Output 1
Status
Safety
Output 1
Monitor
Bit 0
Safety
Input 0
Safety
Input 0
Status
Safety
Output 0
Status
Safety
Output 0
Monitor
Instance (hex)
322
Byte
0
1
Bit 7
Safety
Input 7
Safety
Input 7
Status
Safety
Output 7
Status
Safety
Output 7
Monitor
Muting
Lamp
Status
Bit 6
Safety
Input 6
Safety
Input 6
Status
Safety
Output 6
Status
Safety
Output 6
Monitor
Reserved
Bit 5
Safety
Input 5
Safety
Input 5
Status
Safety
Output 5
Status
Safety
Output 5
Monitor
Bit 4
Safety
Input 4
Safety
Input 4
Status
Safety
Output 4
Status
Safety
Output 4
Monitor
Bit 3
Safety
Input 3
Safety
Input 3
Status
Safety
Output 3
Status
Safety
Output 3
Monitor
4-12
Configuration
Instance (hex)
323
Byte
0
1
Bit 7
Safety
Input 7
Safety
Input 7
Status
Safety
Output 7
Status
Safety
Output 7
Monitor
Muting
Lamp
Status
Bit 6
Safety
Input 6
Safety
Input 6
Status
Safety
Output 6
Status
Safety
Output 6
Monitor
Reserved
Bit 5
Safety
Input 5
Safety
Input 5
Status
Safety
Output 5
Status
Safety
Output 5
Monitor
Bit 4
Safety
Input 4
Safety
Input 4
Status
Safety
Output 4
Status
Safety
Output 4
Monitor
Bit 3
Safety
Input 3
Safety
Input 3
Status
Safety
Output 3
Status
Safety
Output 3
Monitor
Test Output
3 Status
Bit 2
Safety
Input 2
Safety
Input 2
Status
Safety
Output 2
Status
Safety
Output 2
Monitor
Test Output
2 Status
Bit 1
Safety
Input 1
Safety
Input 1
Status
Safety
Output 1
Status
Safety
Output 1
Monitor
Test Output
1 Status
Bit 0
Safety
Input 0
Safety
Input 0
Status
Safety
Output 0
Status
Safety
Output 0
Monitor
Test Output
0 Status
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
Bit 0
Safety
Input 0
Applicable Catalog Number:1791DS-IB8XOB8
Instance (hex) Byte

330
0
Bit 7
Muting
Lamp
Status
Bit 6
Combined
Safety In
Status
Bit 5
Bit 4
Combined Reserved
Safety Out
Status
Bit 3
Safety
Input 3
Instance (hex) Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
331
Safety
Input 3
Status
Safety
Input 2
Status
Safety
Input 1
Status
Safety
Input 0
Status
Safety
Input 3
Safety
Input 2
Safety
Input 1
Safety
Input 0
Muting
Lamp
Status
Reserved
Safety
Output 3
Status
Safety
Output 2
Status
Safety
Output 1
Status
Safety
Output 0
Status
Instance (hex)
332
Byte
0
Bit 7
Safety
Input 3
Status
Bit 6
Safety
Input 2
Status
Bit 5
Safety
Input 1
Status
Bit 4
Safety
Input 0
Status
Bit 3
Safety
Input 3
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
Bit 0
Safety
Input 0
Safety
Output 3
Monitor
Safety
Output 2
Monitor
Safety
Output 1
Monitor
Safety
Output 0
Monitor
Safety
Output 3
Status
Safety
Output 2
Status
Safety
Output 1
Status
Safety
Output 0
Status
Muting
Lamp
Status
Reserved

Configuration
Instance (hex)
333
Byte
0
Bit 7
Safety
Input 3
Status
Bit 6
Safety
Input 2
Status
Bit 5
Safety
Input 1
Status
Bit 4
Safety
Input 0
Status
Bit 3
Safety
Input 3
Bit 2
Safety
Input 2
Bit 1
Safety
Input 1
Bit 0
Safety
Input 0
Safety
Output 3
Monitor
Safety
Output 2
Monitor
Safety
Output 1
Monitor
Safety
Output 0
Monitor
Safety
Output 3
Status
Safety
Output 2
Status
Safety
Output 1
Status
Safety
Output 0
Status
Muting
Lamp
Status
Reserved
Test
Output 3
Status
Test
Output 2
Status
Test
Output 1
Status
Test
Output 0
Status
Bit 3
Bit 2
Bit 1
Bit 0
Test
Output 3
Status
Test
Output 2
Status
Output
Input
4-13
Instance (hex)
340
Byte
0
Bit 7
Reserved
Reserved
Bit 6
Bit 5
Bit 4
Applicable Catalog Number:1791DS-IB12
Instance (hex)
341
Byte
0
Bit 7
Reserved
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Safety
Output 7
Monitor
Safety
Output 6
Monitor
Safety
Output 5
Monitor
Safety
Output 4
Monitor
Safety
Output 3
Monitor
Safety
Output 2
Monitor
Output
Input
Reserved
Test
Output 3
Status
Test
Output 2
Status
Test
Output 1
Status
Test
Output 0
Status
Instance (hex)
342
Byte
0
1
Bit 7
Reserved
Test
Output 3
Status
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Test
Output 2
Status
Test
Output 1
Status
Test
Output 0
Status
Safety
Output 3
Monitor
Safety
Output 2
Monitor
Safety
Output 1
Monitor
Safety
Output 0
Monitor
4-14
Configuration
Output Data
Instance (hex) Byte

21
0
Bit 7
Reserved
Bit 6
Bit 5
Bit 4
Bit 3
Standard
Output 3
Bit 2
Standard
Output 2
Bit 1
Standard
Output 1
Bit 0
Standard
Output 0
Applicable Catalog Number:1791DS-IB12, 1791DS-IB8XOB8, 1791DS-IB4XOW4
Instance (hex)
233
Byte
0
Bit 7
Reserved
Bit 6
Bit 5
Bit 4
Bit 3
Safety
Output 3
Bit 2
Safety
Output 2
Bit 1
Safety
Output 1
Bit 0
Safety
Output 0
Bit 2
Safety
Output 2
Bit 1
Safety
Output 1
Bit 0
Safety
Output 0
Bit 2
Safety
Output 2
Bit 1
Safety
Output 1
Bit 0
Safety
Output 0
Instance (hex)
234
Byte
0
Bit 7
Safety
Output 7
Bit 6
Safety
Output 6
Bit 5
Safety
Output 5
Bit 4
Safety
Output 4
Bit 3
Safety
Output 3
Instance (hex)
350
Byte
0
Bit 7
Standard
Output 3
Bit 6
Standard
Output 2
Bit 5
Standard
Output 1
Bit 4
Standard
Output 0
Bit 3
Safety
Output 3
Instance (hex) Byte

351
0
1
Bit 7
Safety
Output 7
Bit 6
Safety
Output 6
Reserved
Bit 5
Safety
Output 5
Bit 4
Safety
Output 4
Bit 3
Safety
Output 3
Bit 2
Safety
Output 2
Bit 1
Safety
Output 1
Bit 0
Safety
Output 0
Standard
Output 3
Standard
Output 2
Standard
Output 1
Standard
Output 0
Chapter
Specifications
This chapter includes information about common specifications and

LED indicators.
Specifications
Common Specifications
Item
Communications power supply
voltage
Specifications
11 to 25V dc (Supplied from the communications
connector)
I/O power supply voltage
20.4 to 26.4V dc (24V dc, -15 to +10%)
EMC
Conforms to IEC61131-2
Vibration
0.35 mm at 10 to 57 Hz
5 g at 57 to 150 Hz
Operating shock
15 g (1791DS-IB12, -IB8XOB8)
10 g (1791DS-IB4XOW4)
Operating ambient temperature
-10 to +55C (+14 to +131F)
Relative humidity
10 to 95% non-condensing
For 1791DS-IB4XOW4, 10 to 85% non-condensing
Operating environment
Storage temperature
Mounting
Protection degree
No corrosive gases
-40 to +70C (-40 to +158F)
35-mm DIN Rail
IP20
Overvoltage Category
II
Current Consumption and Weights

Item
Specifications
Weight
1791DS-IB12
1791DS-IB8XOB8
24V dc 100mA
24V dc 110mA
420g (0.93 lbs)

420g (0.93 lbs)
1791DS-IB4XOW4
24V dc 100mA
600g (1.32 lbs)
5-2
Specifications
DeviceNet Communications Specifications

Item
Communications protocol
Topology
Specifications
Conforms to DeviceNet and DeviceNet Safety
Combination of multi-drop and T-branch connections (for trunk or branch lines)
Baud rate
Communications media
Communications distances
125 kbps, 250 kbps, or 500 kbps

Special 5-wire cables (2 signal lines, 2 power lines, 1 shield line)
Baud rate
Network length
Branch line length
500 kbps
Communications power supply

Max. number of nodes
Total branch line length
100m max [328.08 ft]

6 m max.
39 m max.
(100m max) [](328.08 ft)]
[19.68 ft]
[127.95 ft]
250 kbps
250m max [820.21 ft]
6 m max.
78 m max.
(100m max) [(328.08 ft)]
[19.68 ft]
[255.90 ft]
125 kbps
500m max [1640.42 ft]
6 m max.
156 m max.
(100m max) [(328.08 ft)]
[19.68 ft]
[511.81 ft]
Values in parentheses indicate the length when Thin Cables are used.
11 to 25V dc
64 nodes (including computer when used)
DeviceNet Physical Conformance Data

Network power consumption
300 mA @ 11V ac (100 mA @24V dc)
Connector style
Open - pluggable, single row wire terminal with screw clamps
Isolated physical layer
No
LEDs supported
Module status, network status
MAC ID setting
Rotary switch (0-63), software selectable (0-63)
Default MAC ID
63
Communication Rate Setting
Auto baud rate detection
Safety Network Number Setting
Software selectable (1-65535)
Default SNN
1
DeviceNet Communication Data - Standard
Connection type
Poll, bit strobe, COS *1, cyclic *1
Predefined master/slave connection
Group 2 server
Number of target connections
2
Max. size/ target connection
5 bytes
UCMM client
No
UCMM server
Yes, up to 2 connections
Max. message data size
300 bytes
DeviceNet Communication Data - Safety
Connection type
Single-cast, multi-cast (support Type 1 and Type 2 safety open)
Number of originator connection
0
Max. size/originator connection
Number of target connections/module 4 input and 1 output
Max. size/target connection
5 bytes
EPI setting
Min. 6 ms, 1 ms step
*1 - COS and cyclic cannot allocate at the same time.
Specifications
Indicators
5-3
MS/NS Indicators
This section describes the meanings of MS and NS indicators for the
module. The MS (Module Status) indicator displays the status of a
node on the network. The NS (Network Status) indicator displays the
status of the entire network. The MS and NS indicators can be green
or red, and they can be ON, flashing, or OFF. The meanings indicated
by the combination of their colors and status are as given in the
following table.
Indicator
MS
Color
Green
Red
Status
MS
Normal
Meaning (main fault)

Normal operating status
MS
Standby
Waiting for safety communication from the safety controller
MS
Fatal fault
Hardware fault
MS
Green/Red
NS
Green
MS
Minor fault
Switch settings incorrect, etc.
Initialization status
The 1791DS module is performing initialization process or waiting for

configuration.
Power is not being supplied to the module.
Waiting for initial processing to start.
The 1791DS module is being reset.
Network is operating normally (communications established).
No power
MS
NS
NS
Red
NS
NS
Definition
NS
Online/connected
Online/not connected
Network is operating normally, however, communications are not

established.
Fatal link failure
Communications fault (the 1791DS module has detected that
network communications are not possible.)
Node address duplication
BusOff fault detected.
Minor communications fault Communications timeout
Not online/Not powered
: Lit
Waiting for node address duplication check at the master or the

power supply is OFF.
: Flashing
: Not lit
Configuration Lock Indicator

The LOCK indicator indicates that the configuration data has been
locked.
Indicator
LOCK
Color
Yellow
Status
Meaning
Normal configuration, and configuration is locked.
Normal configuration, but configuration is not locked in the module.
Configuration has not been performed.
: Lit
: Flashing
: Not lit
5-4
Specifications
IN PWR/ OUT PWR Indicators

The IN PWR and OUT PWR indicators indicate the status of the I/O
power supplied to the module.
Color
Green
LED Indicators
IN PWR
Status
Meaning
Normal status of input power
Input power is not supplied.
OUT PWR
Green
Normal status of output power

Output power is not supplied.
Output power exceeds the upper/lower limit of the power range.
: Lit
: Flashing
: Not lit
I/O Indicators
The I/O indicators show the ON/OFF and fault status of I/O.
IMPORTANT
Name
IN0 to INn*
Color
Yellow
The indicators are not lit while the module is being

configured.
Status
Meaning
Safety input ON.
Safety input OFF.
Red
A fault occurred in an input circuit.

When dual channels are set: a fault occurred in the other channel.
OUT0 to OUTn*
Yellow
Safety output ON.

Safety output OFF.
Red
A fault occurred in an output circuit.

When dual channels are set: a fault occurred in the other channel.
: Lit
: Flashing
: Not lit
*n indicates the terminal number.
Chapter
This chapter includes the following information about the

1791DS-IB12 module:
status indicators
nomenclature and dimensions
internal circuit and terminal arrangement
Specifications
Safety Input Specifications

The following table shows the safety input specifications for the
module.
Item
Input type
ON voltage
Specifications
Sinking input (PNP)
11V dc min.
OFF voltage
OFF current
5V dc max.
1 mA max.
Input current
6 mA
6-2
Test Output Specifications

The following table shows the test output specifications for the
module.
Nomenclature
Item
Output type
Specifications
Source output (PNP)
Rated output current

Residual voltage
Leakage current
0.7 A
1.2 V max.
0.1 mA max.
The following figure shows details of module.
Node Address Switches
LED indicators
DeviceNet
Communications
Connector
Terminal block
For more information on

Meaning of LED indicators
DeviceNet communication connectors
Refer to this section

Chapter
LED Indicators
4
Connecting Communications 2
Connectors
Terminal block arrangement
Internal Circuit and Terminal 5

Arrangement
Internal Circuit and

Terminal Arrangement
6-3
The following figure shows the internal circuit of the 1791DS-IB12

module.
Model 1791DS-IB12
DC-DC
Converter
(Non-Isolation)
Internal Circuit
V+
CAN
H
DRAIN
CAN
L
DeviceNet
Physical
Layer
Input Power
Supply Circuit
Test Output Circuit

(Current Sourcing)
Safety Input Circuit (Current Sinking)
V1
11
12
13
T0
14
15
T1
16
T0
T1
17
T0
10
18
T1
19
T0
21
20
T1
22
31
T0
23
24
10
32
33
T1
T0
25
11
34
26
T2
35
T1
27
T2
36
28
T2
37
29
T3
38
30
T3
39
T3
40
The following table shows the terminal arrangement of the terminal

block for the module.
Terminal No.
Name
Functions
1, 2
Power terminals for the input devices

Wire Plus side (24 V)
11, 12
Power terminals for the input devices

The terminals must be wired to the negative side
(0 V).
35 to 40
Common terminals
Terminals 11, 12 and 35 to 40 are internally connected.
3 to 10
21 to 24
0-11
Terminals for safety input
13 to 20
25 to 30
31 to 34
T0 to T3
Terminals for test output
6-4
Dimensions
The following figure shows the dimensions of the 1791DS-IB12

module.
170 (6.69)
71.4 (2.81)
42.75 (1.68)
35.5 (1.39)
65 (2.55)
68.15 (2.68)
mm (inches)
Chapter
Safety I/O Terminals with Solid State Outputs

1791DS-IB8XOB8 module:
Interpret the Status

Indicators
status indicators
dimensions

module.
Item
Input type
ON voltage
OFF voltage
Specifications
Sinking input (PNP)
11V dc min.
5V dc max.
OFF current
Input current
1 mA max.
6 mA

The following table gives the test output specifications for the module.
Item
Output type
Residual voltage
Leakage current
Specifications
Sourcing output (PNP)
0.7 A
1.2 V max.
0.1 mA max.
7-2
Safety Output Specifications for Solid-state Outputs

The following table shows the safety output specifications for the
solid-state outputs on the module.
Item
Output type
Specifications
Source output (PNP)

Residual voltage
Leakage current
0.5 A
1.2 V max.
0.1 mA max.
While safety outputs are in their ON state, the signal sequence shown
in the figure is output continuously to enable diagnosis. Confirm the
response times of the devices connected to the safety outputs so that
the devices do not malfunction due to the OFF pulse.
Typ. 648
ms 648ms
Typ.
ON
OFF
Typ. 470 s
Typ. 470 s
Nomenclature and
Dimensions
The following figure shows the names of each part of the module.
LED Indicators
DeviceNet
Communications
Connector
Terminal block


Chapter
LED Indicators
4
Connectors

Arrangement

7-3
The following figure shows the internal circuit of the module. The
table shows the terminal arrangement of the terminal block for the
module.
Model 1791DS-IB8XOB8
DC-DC
Converter
(Non-Isolation)
Internal Circuit
V+
CAN
H
DRAIN
CAN
L
DeviceNet
Physical
Layer
Input Power
Supply Circuit
Test Output Circuit

(Current Sourcing)
Safety Input Circuit

(Current Sinking)
Output Power
Supply Circuit
Safety Output Circuit (Current Sourcing)
V1
V0
11
G0
V0
12
G0
13
T0
14
15
T1
16
T0
17
T1
T0
10
18
19
T1
T2
Terminal No.
1,2
Name
V0
11,12
G0
3 to 10
13 to 20
21, 22
0 to 7
T0 to T3
V1
31, 32
G1
23 to 30
33 to 40
0 to 7
G1
IMPORTANT
21
20
T3
V1
31
G1
22
23
V1
32
G1
24
33
G1
25
34
G1
26
35
G1
27
36
G1
28
37
G1
29
38
G1
30
39
G1
40
G1
Functions
Power terminals for the input devices. The terminals
must be wired to the positive side (24 V).
Power terminals for the input devices. The terminals
must be wired to the negative side (0 V).
Terminals for test output
Power terminals for the output devices. The terminals
Power terminals for the output devices. The terminals
Terminals for safety outputs
Common terminals. The terminals No. 31 to 40 are
internally connected.
Power supply terminal V1 for the outputs is

internally monitored. Supply the voltage in the
specified range (20.4 to 26.4V dc). If the voltage is
supplied outside this range, voltage will not be
supplied to the output circuits.
7-4
Dimensions
The following figure shows the dimensions of the 1791DS-IB8XOB8.
170 (6.69)
71.4 (2.81)
42.75 (1.68)
35.5 (1.39)
65 (2.55)
68.15 (2.68)
mm (inches)
Chapter
Safety I/O Terminals with Relay Outputs

1791DS-IB4XOW4 module:
Specifications
status indicators
dimensions

module.
Item
Input type
ON voltage
OFF voltage
Specifications
Sinking input (PNP)
11V dc min.
5V dc max.
OFF current
Input current
1 mA max.
6 mA

The following table shows the test output specifications for the
module.
Item
Output type
Specifications
Sourcing output (PNP)
0.7 A
Residual voltage
Leakage current
1.2 V max.
0.1 mA max.
8-2
Safety Output Specifications for Relay Outputs

The following table shows the safety output specifications for the
module.
Item
Relays
Specifications
G7SA-2A2B
EN50205 Class A
Minimum applicable load

Rated load for a resistive load
1 mA at 5V dc
240V ac 2 A
30V dc 2A
Rated load for an inductive load
2 A at 240V ac (cos =0.3)

1 A at 24V dc
5,000,000 operations min.
(at approx. 7,200 operations/hr)
Mechanical life expectancy

Electrical life expectancy
Nomenclature and
Dimensions
100,000 operations min.

(at the rated load and approx. 1,800 operation/hr)
The following figure shows the names of each part of the module.
Safety Relay
LED Indicators
LED Indicators
DeviceNet
Communications
Connector
Terminal block


LED Indicators
Connectors
Arrangement
Chapter
4

8-3
The following figure shows the internal circuit of the module. The
table shows the terminal arrangement of the terminal block for the
module.
Model 1791DS-IB4XOW4
DC-DC Converter
(Non Isolation)
Internal Circuit
V+
CAN
H
DRAIN
DeviceNet
Physical
Layer
Input Power
Supply Circuit
CAN
L
Safety Input Circuit
Test Output Circuit

(Current Sourcing)
(Current Sinking)
Ry0
Output Power
Supply Circuit
Ry1
Ry2
Ry3
V1
V0
11
G0
V0
12
G0
13
T0
14
T1
15
T0
16
T1
T2
17
G0
T2
18
10
T3
19
G0
G0
Terminal No.
1,2
Name
V0
11,12
G0
3 to 6
7 to 10
13 to 16
21, 22
IN0 to IN3
T0 to T3
31, 32
G1
23 to 30
33 to 40
0A1-3A2
0B1-3B2
V1
T3
20
G0
21
V1
31
G1
22
23
V1
32
G1
24
0A1
33
25
0A2
34
0B1
26
1A1
35
0B2
27
1A2
36
1B1
28
2A1
37
1B2
29
2A2
38
2B1
30
3A1
39
2B2
3A2
40
3B1
3B2
Functions
Power terminals for the input devices and internal relay
feedback monitor. The terminals must be wired to the
positive side (24 V).
The terminals No.1 and 2 are internally connected.
Power terminals for the input devices and internal relay
feedback monitor. The terminal must be wired to the
negative side (0 V).
The terminals No. 11, 12 and 17 to 20 are internally
connected.
Terminals for test/standard output
Power terminals for driving internal relays. The terminals
Power terminals for driving internal relays. The terminals
Terminals for safety output
8-4
ATTENTION
Apply only one AC line phase to the relays. Insert a

fuse rated at 3.15 A or less for each output terminal
to protect safety output contacts from welding.
Confirm the fuse selection with the fuse
manufacturer to ensure the dependability of the
characteristics of the connected load.
L1 L2 L3 N
L1 L2 L3 N
1791DS-IB4XOW4
Fuse
Fuse
Load
1791DS-IB4XOW4
Load
Load
Correct
IMPORTANT
Load
Incorrect
Supply power to both V0 and V1. The states of the

relay contacts are internally monitored from the
power supply of V0.
Power supply terminal V1 for the outputs is
internally monitored. Supply the voltage in the
specified range (20.4 to 26.4V dc). If the voltage is
supplied outside this range, voltage will not be
supplied to the output circuits.
Dimensions
The following figure shows the dimensions of the module.
35.5 (1.39)
63 (2.48)
90 (3.54)
94.7 (3.72)
mm (inches)
170 (6.69)
83.2 (3.27)
Chapter
Troubleshooting and Maintenance

MS/NS indicators
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
MS
NS
ON (green)module
This chapter includes information about Indicators and error

processing, troubleshooting, and maintenance.
Description
Probable cause and remedy
Safety I/O communications in Safety I/O communications and Standard I/O communications are being
progress
performed (normal status).
ON (green)
Flashing (green)
ON (green)
Flashing (green)
OFF
Flashing (green)
Standard I/O communications Standard I/O communications and/or message communications are being
or message communications performed (normal status).
in progress
Waiting for completion of
node address duplication
check at the master.
If this indicator status has occurred for only specific module Terminals,
check that the module baud rate settings are correct and then restart the
module.
Waiting for safety or standard

connection
Flashing (green)
Flashing (green/red)
OFF
ON (red)
Module performing
initialization process or
waiting for configuration.
Watchdog timer error
Replace the module.
OFF
Flashing (red)
Switch settings are incorrect. Check the switch settings and restart the module.
OFF
Flashing (green)
Node address duplication
Reset the module so that it has a unique node address, and then restart the
module.
ON (red)
Flashing (green)
ON (red)
Flashing (green)
Flashing (red)
BusOff status
Check the following items and restart the module.
(communications stopped due Do Master and module baud rates match?
to consecutive data errors)
Are lengths of cables (trunk and branch lines) correct?
Are cables broken or loose?
Are Terminating Resistors connected to both ends of the trunk line only?
Is noise interference excessive?
Communications timeout
Check the following items and restart the module.

Do Master and module baud rates match?
Are lengths of cables (trunk and branch lines) correct?
Are cables broken or loose?
Are Terminating Resistors connected to both ends of the trunk line only?
Is noise interference excessive?
Is the network grounded properly ?
: Lit
: Flashing
: Not lit
9-2
Troubleshooting
I/O errors can be read out from safety input status, test output status,
and safety output status.
Status data when I/O is normal (OK): ON(1)
Status data when a fault (Alarm) occurs I/O: OFF (0)
The details of errors can be read out by using Explicit messages.
IMPORTANT
For I/O error latch time settings, the OFF status is

maintained for at least the error latch time (0 to
65,530 ms, in increments of 10 ms) when individual
safety input status turns OFF.
Safety Input Error

Code
01Hex
02Hex
Error Content
Configuration invalid
External test signal error
Probable Cause
The configuration is invalid.
1) The power source (positive side) is in contact
with the input signal line
2) Short-circuit between input signal lines
3) Trouble with the connected device
Countermeasure
Configure the module correctly.
1) Check the wiring.
2) Replace the connected device.
03Hex
04Hex
Internal input error

Discrepancy error
Trouble with the internal circuit

1) Ground fault or break in an input signal line
Replace the module.

05Hex
Error in the other dual channel Dual channels are set and an error occurred in the Remove the error in the other channel.
input
other channel.
Explicit Message for Reading the Cause of the Error

Explicit
Read/ Function
Command
Message
write
Service Class
Code
ID
Read Reads the cause for OE hex 3D hex
Safety Input
the normal (OK) flag
Cause of
(1 to 12) specified
Error
by the instance ID*
Information
Read
Response
Instance Attribute Data
ID
ID
Size
01 to 0C 6E Hex
0: No error
hex
01 Hex: Configuration invalid
02 Hex: External test signal error
03 Hex: Internal input error
04 Hex: Discrepancy error
05 Hex: Error in the other dual
channel input
*The instance numbers for safety input 0 to 11 are 1 to 12 (01 to 0C Hex), respectively.
9-3
Test Output Errors

Code
01Hex
02Hex
Error Content
Overload detected
Probable Cause
1) Ground fault or short-circuit of an output signal line
05Hex
Output ON error
1) The power source (positive side) is in contact with the 1) Check the wiring.
output signal line
2) Replace the module
2) Trouble with the internal circuits
06Hex
Undercurrent detected for Trouble with the connected device

muting lamp

Explicit
Read/ Function
Message write
Service Class
Code
ID
OE hex 09 hex
Test Output Read Reads the cause
for the normal (OK)
Cause of
flag (1 to 4)
Error
specified by the
Information
instance ID**
Read
Countermeasure
Replace the connected device
Command
Response
ID
ID
Size
01 to 04 76 hex
0:No Error
hex
01 Hex: Configuration invalid
02 Hex: Overload detected
05 Hex: Output ON error detected
06 Hex: Undercurrent detected for
muting lamp
**The instance numbers for test outputs 0 to 3 are 1 to 4 (01 to 04 hex), respectively.
Safety Output Errors

Code
01Hex
02Hex
03Hex
04Hex
Error Content
Over current detected
Short-circuit detected
Output ON error
05Hex
Error in the other dual channel

output
Internal relay output circuit
error
Relay error
06Hex
07Hex
08Hex
09Hex
Probable Cause
Trouble with the connected device.
Ground fault of the output signal line
1) The power source (positive side) is in
contact with the output signal line
2) Trouble with the internal circuit
Dual channels are set and an error occurred

in the other channel
Trouble with the internal circuit
1791DS-IB4XOW4 module only
Trouble with the relay
1791DS-IB4XOW4 module only
Output data error
Wrong setting for output data
Short-circuit detected in output Short-circuit between output signal lines
Countermeasure
Replace the connected device.
Check the wiring
1)Check the wiring.
2)Replace the module.
Remove the error in the other channel.
Replace the module.
Replace the relay.
Check the program.
Check the wiring
9-4

Explicit
Read/ Function
Command
Message
write
Service Class
Code
ID
Safety Output Read Reads the cause for 0E Hex 3B
hex
the normal (OK) flag
Cause of Error
(No. 1 to 8)
Information
specified by the
Read
Instance ID.**
Response
ID
ID
Size
01 to 08 6E hex
hex
0:No error
01 Hex: configuration invalid
02 Hex: overcurrent detected
03 Hex: short circuit detected
04 Hex: output ON error
05 Hex: error in the other dual
channel output
06 Hex : internal relay output
circuit error (replace module)
07 Hex : internal relay output
circuit error (replace relay)
08 Hex: output data error
09 Hex: short-circuit detected in
output
**The instance numbers for safety outputs 0 to 7 are 1 to 8 (01 to 08 hex), respectively.
Maintenance
Read this section for information about routine cleaning and

inspection recommended as regular maintenance. Handling methods
when replacing the module are also explained here.
Cleaning
Clean the module regularly as described in the following to keep the
network in optimal operating condition.
Wipe the module with a dry, soft cloth for regular cleaning.
When dust or dirt cannot be removed with a dry cloth, dampen
the cloth with a neutral cleanser (2%), wring out the cloth, and
wipe the module.
Smudges may remain on the module from gum, vinyl, or tape
left on for a long time. Remove these smudges when cleaning.
IMPORTANT
Never use volatile solvents such as paint thinner or

benzene, or chemical wipes to clean the module. These
substances may damage the surface of the module.
9-5
Inspection
Inspect the system periodically to keep it in its optimal operating
condition. In general, inspect the system once every 6 to 12 months,
but inspect more frequently if the system is used in high-temperature,
humid, or dusty conditions.
Inspection Equipment
Prepare the following equipment before inspecting the system.
Equipment Required for Regular Inspection
Phillips screwdriver
flat-blade screwdriver
screwdriver for connecting communications connectors
tester (or digital voltmeter)
industrial alcohol and clean cloth
Other Equipment That May Be Required
synchroscope
oscilloscope
thermometer or hygrometer
Inspection Procedure
Check the items in the following table and correct any condition that
is below standard.
Inspection
item
Environmental
conditions
Installation
conditions
Safety relays
operation
Details
Standard
Equipment
Are ambient and cabinet temperatures correct?

Are ambient and cabinet humidity correct?
Has dust or dirt accumulated?
Are the Units installed securely?
Are the connectors of the communications cables
fully inserted?
Are the external wiring screws tight?
Refer to the specifications for each module.

Refer to the specifications for each module.
No dust or dirt
No looseness
No looseness
Are the connecting cables undamaged?

Does the safety relay contact go to OFF state?
No external damage
No welded contact
Thermometer
Hygrometer
Visual inspection
Phillips screwdriver
Flat-blade
screwdriver
Flat-blade
screwdriver
Visual inspection
Visual inspection
No looseness
9-6
ATTENTION
The maintenance interval for relay contacts must not

exceed a period of 6 months to fulfill category 4 in
accordance with EN 954-1.
G7SA-2A2B must be used when replacing safety

relays.
Replacing Modules
The Network consists of the DeviceNet Master Unit and 1791DS
modules. The entire network is affected when a 1791DS module is
faulty, so a faulty module must be repaired or replaced quickly. We
recommend having spare module available to restore network
operation as quickly as possible.Precautions for Replacing a Module
Observe the following precautions when replacing a faulty module:
After replacement be sure there are no errors with the new
module.
When a module is being returned for repair, attach a detailed
description of the problem and return the module to your
Rockwell Automation representative.
If there is a faulty contact, try wiping the contact with a clean,
lint-free cloth dampened with alcohol.
IMPORTANT
Be sure to perform a system test of the related safety

function(s) after replacing a module.
Settings after Replacing a Module

After replacing a module, set the new modules switches to the same
settings that were on the old module. For related information see:
GuardLogix Controllers User Manual (Publication Number
1756-UM020) for information on replacing a module in the
system
GuardLogix Controller Systems Safety Reference Manual
(Publication Number 1756-RM093) for safety considerations
when replacing I/O
Chapter
10
Wiring Examples
Wiring and Safety

Categories
Connected
Device
Reset Switch
Test pulse from test

output
No
This chapter contains information about wiring and safety categories.

The following table shows input device connection methods and their
safety categories.
Connection
Schematic Diagram
Connect the switch between

IN0 and T0.
IN0
T0
IN1
Safety
Category
-
T1
Connect the switch between

24V DC and IN0.
IN0
T0
IN1
T1
24V
Emergency stop
switch
Yes
Connect the switches

between IN0 and T0, and
IN1 and T1.
4
IN0
T0
IN1
T1
Door monitor
No

between T0 and IN0, IN1.
3
IN0

between 24V dc and IN0,
IN1.
IN0
T0
T0
IN1
IN1
T1
T1
24V
10-2
Wiring Examples
Light Curtain
Yes
OSSD2
OSSD1
Connect the OSSD1 and

OSSD2 to IN0 and IN1,
respectively.
4
IN0
T0
T1
OSSD2
OSSD1
Examples of Wiring for

Each Application
IN1
Emergency Stop Switch Dual Channel Inputs with Manual Reset

An example of the wiring and controller configuration when using the
1791DS-IB12 Slave is described in the following. If used in
combination with the programs in a safety controller, this wiring is
Safety Category 4 in accordance with EN 954-1 wiring requirements.
E1: 24V dc power supply
V
IN0
IN1
IN
11
T2
T0
T1
T1
E1
S1
Controller Configuration
Safety Input 0
Safety Input 1
Safety Input 11
Test Output 0
Test Output 1
Test Output 2
11
21
12
22
S2: Reset switch
S2
Parameter name
Safety Input 0 Channel Mode
Safety Input 0 Test Source
Dual Channel Safety Input 0/1 Mode
Dual Channel Safety Input 0/1 Discrepancy Time
Test Output 0 Mode
Test Output 1 Mode
Test Output 2 Mode
S1: Emergency stop switch

(positive opening mechanism)
Value
Test pulse from test output
Test Output 0
100 x 10 ms (application dependent)
Test Output 1
Used as standard input
Not Used
Single Channel
Pulse Test Output
Pulse Test Output
Power Supply Output
Wiring Examples
10-3
Two-Hand Input
Refer to the following for an example of the wiring and controller
configuration when using the 1791DS-IB12 module. If used in
combination with the programs of a safety controller, the wiring is
Category 4 in accordance with EN954-1 wiring requirements.
IN0
IN1
IN2
IN3
T0
T1
T0
T1
E1
S11
Controller Configuration
Safety Input 0
Safety Input 1
Safety Input 2
Safety Input 3
Test Output 0
Test Output 1
Parameter Name
Test Output 0 Mode
Test Output 1 Mode
E1: 24V dc power source

S11, S12: Two-hand
control switch
S12
Value
Test Output 0
Dual Channel Complementary
Test Output 0
Test Output 1
Dual Channel Complementary
Test Output 1
Pulse Test Output
Pulse Test Output
10-4
Wiring Examples
User Mode Switch Input

Refer to the following for an example of the wiring and configuration
when using the 1791DS-IB12 module.
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
T0
T1
T0
T1
T0
T1
T0
T1
E1
S1

S1: User mode switch
Controller configuration
Safety Input 0
Safety Input 1
Safety Input 2
Safety Input 3
Safety Input 4
Safety Input 5
Safety Input 6
Safety Input 7
Test Output 0
Parameter name
Test Output 0 Mode
Value
Test Output 0
Single Channel
Test Output 0
Test Output 0
Single Channel
Test Output 0
Test Output 0
Single Channel
Test Output 0
Test Output 0
Single Channel
Test Output 0
Pulse Test Output
Wiring Examples
10-5
Muting Lamp Output

when using the 1791DS-IB12 module.
L1: External Muting Lamp
V
T3
E1
Test Output 3
L1
Parameter name
Test Output 3 Mode
Value
Muting Lamp Output
10-6
Wiring Examples
Limit Switch Dual Channel Inputs and a Manual Reset

when using the 1791DS-IB12 module. If used in combination with the
programs in a safety controller, this wiring is Category 4 in accordance
with EN954-1 wiring requirements.
V
IN0
IN1
IN11
T2
T0
T1
T1
S1: Safety Limit Switch

(positive opening
mechanism))
S2: Limit switch
11
E1
S3: Reset switch
S1
CLOSE
Safety
Guard
12
23
S2
Safety Input 0
Safety Input 1
Safety Input 11
Test Output 0
Test Output 1
Test Output 2
S3
24
Parameter name
Value
Test Output 0

Test Output 0 Mode
Test Output 1 Mode
Test Output 2 Mode

Test Output 1
Used as standard input
Not Used
Single Channel
Pulse Test Output
Pulse Test Output
Power Supply Output
Wiring Examples
10-7
Solid-state Outputs for Dual Channel Mode

when using the 1791DS-IB8XOB8 module.
If used in combination with the programs of the safety controller, this
wiring is Safety Category 4 in accordance with EN954-1 wiring
requirements.
V1
OUT
0
OUT
1
G1
G1
G1
E1
Safety Output 0
Safety Output 1
L1
Parameter Name
Safety Output 0 Channel Mode
Dual Channel Safety Output 0/1 Mode
L1, L2: Loads
L2
Value
Safety Pulse Test
Dual Channel
Safety Pulse Test
10-8
Wiring Examples
Relay Outputs with Dual Channel Mode and EDM Input

An example of the wiring and configuration when using the
1791DS-IB4XOW4 is described in the following. When used in
combination with the programs of the safety controller, this wiring is
Category 4 accordance with EN954-1 wiring.
V0
G0
IN0
T0
V1
G1
OUT
0
OUT
1
C0
C1
KM1
KM2
E1
KM1
E2
F1
F2
M
KM2
E1, E2: 24V dc power source

M: 3-phase motor
Safety Input 0
Test Output 0
Safety Output 0
Safety Output 1
Parameter Name
Test Output 0 Mode
Dual Channel Safety Output 0/1 Mode
KM1
KM2
KM1, KM2: Magnetic contactors

F1, F2: Fuses7
Value
Test Output 0
Single Channel
Pulse Test Output
Used
Dual Channel
Used
Appendix
What This Appendix

Contains
This appendix lists DeviceNet explicit messages sent from the Master
Unit to a 1791DS module that can be used to read or write any
parameter of a specified 1791DS module. The 1791DS module
processes the commands sent from the Master and then returns
responses.
Basic Format of Explicit

Messages
The basic format of each command and response is as follows.

Command Block
Destination node address Service code Class ID
Instance ID
Attribute ID
Data
Destination Node Address - The node address of the module that is

sending the explicit messages is specified with one hexadecimal byte.
Service Code, Class ID, Instance ID, Attribute ID - The parameters
used for specifying the command, processing object, and processing
content.
IMPORTANT
The number of bytes designated for Class ID,

Instance ID, and Attribute ID depend on the Master
Unit. When sent from a DeviceNet Master, the Class
ID and Instance ID are 2 bytes (4 digits) each, and
the Attribute ID is 1 byte (2 digits).
Data - Data is not required when the read command is used.

Response Block
Normal Response Block
Number of bytes received
Source node address
Error Response Block
Number of bytes received 0004Hex
(fixed)
Service code
Data
Source node address Service code Error code
A-2
Number of Bytes Received - The number of bytes received from the

source node address is returned in hexadecimal. When an error
response is returned for an explicit message, the number of bytes is
always 0004 Hex.
Source Node Address - The node address of the node from which
the command was sent is returned in hexadecimal.
Service Code - For normal completions, the service code specified in
the command with the leftmost bit turned ON is stored as shown in
the following table.
Function
Command service code
Response service code
Read data
10 Hex
90 Hex
Write data
0E Hex
8E Hex
Reset
05 Hex
85 Hex
Save
16 Hex
96 Hex
When an error response is returned for an explicit message, the value

is always 94 Hex.
Data - Read data is included only when a read command is executed.
Error code - The explicit message error code. For details, refer to the
list of error codes in the following table.
Error Codes
Response Error Name
Code
08FF
Service not supported
09FF
Invalid attribute value
16FF
Object does not exist
15FF
Too much data
13FF
Not enough data
0CFF
Object state conflict
20FF
Invalid Parameter
0EFF
Attribute is not setable
10FF
Device state conflict
14FF
Attribute not supported
19FF
Store operation failure
2AFF
Group 2 only server general failure
Cause
The Service code is incorrect.
The specified Attribute value is not supported. The data written was outside valid range.
The specified Instance ID is not supported.
The data is larger than the specified size.
The data is smaller than the specified size.
The specified command cannot be executed due to an internal error.
The specified operation command data is not supported.
An Attribute ID supported only for reading has been executed for a write service code.
The specified command cannot be executed due to an internal error.
The specified Attribute is not supported.
The data cannot be stored in memory.
The specified command or Attribute is not supported or the Attribute was not set.
A-3
Explicit Messages
Reading General Status
Explicit
message
Read/ Function
write
General Status Read

Read
Read the specified

Slaves status flags
(8 bits)
Command
Service Class Instance Attribute Data size
code
ID
ID
ID
0E Hex 95 Hex 01 Hex 65 Hex
-
Response
1 byte
Bit 0: input power error
Bit 1: output power error
Bit 2 through 7: reserved
Setting and Monitoring a Safety Input

Explicit
message
Read/ Function
write
Command
Service
Code
Class Instance Attribute Data size

ID
ID
ID
Safety Input
Cause of
Error
Information
Read
Read
0E Hex
3D Hex 01 to 0C
Hex
Reads the cause

for the normal flag
(1 to 12) specified
by the Instance ID
turning OFF.
Setting and Monitoring a Safety Output

Explicit
Read/ Function
message
write
Safety Output
Cause of
Error (Fault)
Information
Read
Read
Reads the cause for

the normal flag (1 to
8) specified by the
Instance ID turning
OFF.
Response
Command
Service Class
Code
ID
0E Hex 3B
Hex
6E Hex
0: no error
01 Hex: configuration invalid
02 Hex: external test signal error
03 Hex: internal input error
04 Hex: discrepancy error
05 Hex: error in the other dual
channel input
Response
Instance Attribute Data size
ID
ID
01 to 08 6E Hex
Hex
0: no error
01 Hex:
configuration invalid
02 Hex:
over current detected
03 Hex:
short circuit detected
04 Hex:
output ON error
05 Hex:
error in the other dual channel
output
06 Hex:
internal relay output
circuit error (replace module)
07 Hex:
relay failure (replace relay)
08 Hex:
dual channel violation
09 Hex:
Short circuit detected at
safety output
A-4
Setting and Monitoring the Test Output Point

Explicit
message
Read/ Function
write
Safety Output
Cause of Error
(Fault)
Information
Read
Read
Reads the cause for

the normal flag (1 to
8) specified by the
Instance ID turning
OFF.
Command
Service Class Instance Attribute Data size
Code
ID
ID
ID
0E Hex 09 Hex 01 to 04 6E Hex
Hex
Setting Hold/Clear for Communications Errors (Test Output)

Explicit message Read/ Function
Command
write
Service Class Instance
code
ID
ID
Setting for Output
Status (Hold or
Clear) after
Communications
Error
Setting for Output

Status (Hold or
Clear) after
Communications
Error
0E Hex
Reads whether hold
or clear is set as the
output status after a
communications error
for an output (1 to
4) specified by the
instance ID. The setting
can be read
for a specified number
of points.
10 Hex
Write Sets whether hold or
clear as the output
status after a
communications error
for an output (1 to 4)
specified by the
instance ID. The
setting can be read
for a specified
number of points.
Read
09 Hex 01 to 04
Hex
Response
0 = no error
01 Hex:
configuration invalid
02 Hex:
overload detected
03 Hex:
cross circuit detected
05 Hex:
output ON error
06 Hex:
undercurrent detected for
muting lamp
Response
Attribute
ID
Data size
05 Hex
1 byte
00 Hex:
clear
01 Hex:
hold
09 Hex 01 to 04
Hex
05 Hex
1 byte
00 Hex:
clear
01 Hex:
hold
Appendix
Calculated Values of PFD and PFH
What This Appendix

Contains
This appendix lists calculated values for Probability of Failure on

Demand (PFD) and Probability of Failure per Hour (PFH)
Calculated Values of PFD

and PFH
Calculated values of PFD and PFH of safety I/O terminal are given in
the following tables. These values must be calculated for the overall
devices within the system to comply with the SIL level required for
application.
Calculated PFD
Model
1791DS-IB12
1791DS-IB8XOB8
1791DS-IB4XOW4
IMPORTANT
Calculated PFH
Model
1791DS-IB12
1791DS-IB8XOB8
1791DS-IB4XOW4
Proof Test Interval (year)

0.25
0.5
1
2
0.25
0.5
1
2
0.25
0.5
PFD
9.58E-07
1.92E-06
3.83E-06
7.66E-06
1.21E-06
2.41E-06
4.82E-06
9.64E-06
5.81E-06
1.18E-05
The proof test interval of the 1791DS-IB4XOW4 must

not exceed 0.5 years because the maintenance
interval for the relay contacts must not exceed a
period of 6 month to satisfy safety category 4 in
accordance with EN954-1.
Proof Test Interval (year)

0.25
0.25
0.25
PFH
8.75E-10
1.11E-09
5.24E-09
B-2
Calculated Values of PFD and PFH
Notes:
Index
Numerics
1791DS-IB12
Dimensions 6-4
Internal Circuit 6-3
Specifications 6-1
Terminal Arrangement 6-3
1791DS-IB4XOW4
Dimensions 8-4
Specifications 8-1
1791DS-IB8XOB8
Dimensions 7-4
Specifications 7-1
A
About 1791DS modules 1-9
B
Baud Rate 3-1, 5-2
Branch Line Length 5-2
Bus Off Preface-4
C
Cleaning 9-4
Colored Stickers 3-5
Communications Protocol 5-2
Configuration 4-1
Connecting
Communications Connectors 3-5
Controlling Devices Sample
Requirements Table 1-3
Current Consumption 5-1
D
DeviceNet Communications
Specification 5-2
Dimensions
For 1791DS-IB12 6-4
For 1791DS-IB4XOW4 8-4
For 1791DS-IB8XOB8 7-4
DIN Rail 1-8, 3-1
Directives 1-5
Dual Channel Complementary 2-7
Dual Channel Equivalent 2-6
E
EC Directives 1-5
EMC Directives 1-6
Error 9-2
Indicators and Error Processing 9-1
Safety Input 9-2
Test Output 9-3
Explicit Messages 9-2, A-1
F
Features of 1791DS modules 1-10
Ferrite Core 1-7
I
I/O Assembly Data 4-8
I/O Connector 3-3
I/O Data 4-5
I/O Errors 9-2
I/O Parameters 4-1
Indicators and Error Processing 9-1
Input Delay Time 2-9
Inspection 9-5
Installation 3-1
L
Legislation 1-5
Limit Switch Dual Channel Inputs and a
Manual Reset Wiring 10-6
M
Maintenance Interval
For Relay Contacts 9-6
Maintenance 9-4
Maximum Number of Nodes 5-2
Model Lineup 1-11
Mounting 1-8
MTBF Preface-4
Muting Lamp Output Wiring 10-5
N
Node Address Setting 3-6
Nodes
Maximum Number 5-2
Noise 1-7
Index
O
ODVA Preface-4, 1-5
OFF-Delay Function 2-8
ON-Delay Function 2-8
Output Delay Time 2-10
P
Password 4-1
PFD Preface-4, B-1
PFH Preface-4, B-1
Precautions 1-2, 1-3
Publications, Related Preface-2
R
Related Publications Preface-2
Relay Outputs with Dual Channel Mode
and EDM Input Wiring 10-8
Remote I/O Allocations 4-4
Replacing Units 9-6
S
Safety Categories and Wiring 10-1
Safety Functions
Safety Input 2-2
Safety Output 2-8
Safety I/O Terminal (Relay Output) 8-1
Safety I/O Terminal (Solid State Output)
7-1
Safety Input Terminal 6-1
Safety Output Error 9-3
Setting I/O Parameters 4-1
Setting the Password 4-1
SNN (Safety Network Number)
Preface-4
Solid-state Outputs for Dual Channel

Mode Wiring 10-7
Specifications
Common for 1791DS 5-1
DeviceNet Communications 5-2
For 1791DS-IB12 6-1
For 1791DS-IB4XOW4 8-1
For 1791DS-IB8XOB8 7-1
Standards 1-5
Stickers on Communications Connectors
3-5
T
Terminology 1-9
Topology 5-2
Troubleshooting 9-2
Two-Hand Input Wiring 10-3
U
User Mode Switch Input Wiring 10-4
V
Ventilation 1-8, 3-2
W
Weights 5-1
Who Should Use This Manual Preface-1
Wiring
Muting Lamp Output 10-5
Relay Outputs with Dual Channel Mode
and EDM Input 10-8
Solid-state Outputs for Dual Channel
Mode 10-7
Two-Hand Input 10-3
User Mode Switch Input 10-4
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1791DS-UM001A-EN-P Pub. Date January 2005
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DeviceNet Safety

Safety I/O Modules

Important User Information

Solid state equipment has operational characteristics differing from those of

Identifies information about practices or circumstances

Identifies information that is critical for successful

Labels may be located on or inside the equipment (e.g.,

Labels may be located on or inside the equipment (e.g.,

DeviceNet is a registered trademark of the Open DeviceNet Vendor Association, Inc.

What This Preface Contains

This preface describes how to use this manual.

Who Should Use This

See Preface page

Who Should Use This Manual

Common Techniques Used in This Manual

Where to Find More Information

How to Use This Manual

About Specifications, Dimensions, and Weights

This manual is intended for users of the 1791DS Series DeviceNet

Publication 1791DS-UM001A-EN-P - January 2005

Common Techniques Used

The following conventions are used throughout this manual:

The screen captures shown in this manual are

Where To Find More

Publication 1791DS-UM001A-EN-P - January 2005

This symbol identifies helpful tips.

Refer to the following as needed for additional help when setting up

DeviceNet Modules in Logix5000 Control Systems

GuardLogix Controller Systems Safety Reference Manual

GuardLogix Controllers User Manual

GuardLogix Safety Application Instructions Safety Reference

GuardPLC Controller Systems User Manual

GuardPLC Safety Reference Manual

How To Use This Manual

About the Specifications,

Read and understand this manual before using the described

For details about

How to use the manual

Overview of the modules described in this manual

Chapter 3 General Procedures

Installation, connecting cables and connectors, node

Configuration procedures; setting password, network,

Specifications and LED indicators for the modules

Chapter 6 Safety Input Terminal

Specifications for the safety input terminal including

Chapter 7 Safety I/O Terminal

Specifications for the safety I/O terminal (solid-state

Chapter 8 - Safety I/O

Specifications for the safety I/O terminal (relay output)

Indicators, error processing, error history, and product

Chapter 10 Wiring Examples

Wiring and safety categories and examples of wiring for

Explicit messages including format, list, and how to use

Calculations for Probability of Failure on Demand and

Product specifications and accessories may change at any time based

Publication 1791DS-UM001A-EN-P - January 2005

Publication 1791DS-UM001A-EN-P - January 2005

Refer to the following table for the meaning of common terms.

Indicates a status of very high error count occurrence on a

Logical communication channel for communication between

An implementation of a safety protocol on standard DeviceNet.

Acronym for Mean Time Between Failure. The average time

Acronym for Open DeviceNet Vendor Association. A

Acronym for Probability of Failure on Demand. The average