Compact GuardLogix 5370 Controllers

User Manual
Original Instructions
Compact GuardLogix 5370 Controllers

Catalog Numbers 1769-L30ERMS, 1769-L33ERMS, 1769-L33ERMOS, 1769-L36ERMS, 1769-L36ERMOS, 1769-L37ERMOS
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Table of Contents
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Preface Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 1
System Overview Safety Application Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Safety Network Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Safety Task Signature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Distinguishing Between Standard and Safety Components . . . . . . . 17
HMI Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Controller Data Flow Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Compact GuardLogix 5370 Controller System . . . . . . . . . . . . . . . . . . 19
Controller Functionality. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Programming Requirement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Chapter 2
Install the Controller Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
North American Hazardous Location Approval. . . . . . . . . . . . . . 22
European Hazardous Location Approval . . . . . . . . . . . . . . . . . . . . 23
Compact GuardLogix 5370 Controller Parts . . . . . . . . . . . . . . . . . . . . 23
Install the Secure Digital (SD) Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Plan the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Assemble the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Mount the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Minimum Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
System Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Mount the Controller on a Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Mount the Controller on a DIN Rail. . . . . . . . . . . . . . . . . . . . . . . . 30
Connect Power to the Control System . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Connect to the Controller via a USB Cable. . . . . . . . . . . . . . . . . . . . . . 31
Connect the Controller to an EtherNet/IP Network . . . . . . . . . . . . . 32
Connect to Different EtherNet/IP Network Topologies. . . . . . 32
Chapter 3
Complete the Controller Setup Set the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Use the BOOTP Server to Set the lP Address . . . . . . . . . . . . . . . . 34
Use the DHCP Server to Set the lP Address . . . . . . . . . . . . . . . . . 35
Use the RSLinx Classic Software to Set the lP Address . . . . . . . . 36
Use the Studio 5000 Environment to Set the lP Address . . . . . . 38
Use the SD Card to Set the lP Address . . . . . . . . . . . . . . . . . . . . . . 41
Rockwell Automation Publication 1769-UM022B-EN-P - December 2016 3

Table of Contents
Change the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Change the IP Address with RSLinx Software. . . . . . . . . . . . . . . . 43
Change the IP Address with Logix Designer Software. . . . . . . . . 44
Change the IP Address with an SD Card . . . . . . . . . . . . . . . . . . . . 45
Load Controller Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Use the ControlFLASH Software to Load Firmware . . . . . . . . . 46
Use the AutoFlash Utility to Load Firmware. . . . . . . . . . . . . . . . . 49
Use the Secure Digital Card to Load Firmware . . . . . . . . . . . . . . . 52
Select the Operating Mode of the Controller . . . . . . . . . . . . . . . . . . . . 53
Chapter 4
Configure the Controller Create a Controller Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Set Passwords for Safety -lock and -unlock . . . . . . . . . . . . . . . . . . . . . . . 58
Protect the Safety Task Signature in Run Mode . . . . . . . . . . . . . . . . . . 59
Electronic Keying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
I/O Device Replacement Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Enable Time Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Configure a Peer Safety Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Chapter 5
Communicate Over Networks The Safety Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Managing the Safety Network Number (SNN). . . . . . . . . . . . . . . 64
Assigning the Safety Network Number (SNN) . . . . . . . . . . . . . . . 65
Changing the Safety Network Number (SNN). . . . . . . . . . . . . . . 66
EtherNet/IP Network Communication. . . . . . . . . . . . . . . . . . . . . . . . . 70
Available Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
EtherNet/IP Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Nodes on EtherNet/IP Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
EtherNet/IP Network Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . 72
EtherNet/IP Network Connections. . . . . . . . . . . . . . . . . . . . . . . . . 75
Socket Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Quality of Service (QoS) and I/O Module Connections . . . . . . 76
DeviceNet Network Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Available Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Compact I/O 1769-SDN DeviceNet Scanner. . . . . . . . . . . . . . . . 77
Chapter 6
Add and Configure Standard I/O Select I/O Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Modules Local Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Standard Distributed I/O Modules Over an
EtherNet/IP Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Standard Distributed I/O Modules Over a
DeviceNet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4 Rockwell Automation Publication 1769-UM022B-EN-P - December 2016

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Validate Standard I/O Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Estimate Requested Packet Interval . . . . . . . . . . . . . . . . . . . . . . . . . 85
Module Fault Related to RPI Estimates. . . . . . . . . . . . . . . . . . . . . . 86
Calculate System Power Consumption . . . . . . . . . . . . . . . . . . . . . . 87
Physical Placement of I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . 89
Power Supply Distance Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Configure Standard I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Common Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . 95
I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Configure Standard Distributed I/O Modules on an
EtherNet/IP Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Configure Standard Distributed I/O Modules on a
DeviceNet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Monitor Standard I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
End Cap Detection and Module Faults . . . . . . . . . . . . . . . . . . . . . 102
Chapter 7
Add, Configure, Monitor, and Add Safety I/O Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Replace CIP Safety I/O Devices Configure Safety I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Set the IP Address by Using Network Address Translation
(NAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Set the Safety Network Number (SNN). . . . . . . . . . . . . . . . . . . . . . . . 106
Unicast Connections on EtherNet/IP Networks. . . . . . . . . . . . . . . . 106
Set the Connection Reaction Time Limit . . . . . . . . . . . . . . . . . . . . . . 107
Specify the Requested Packet Interval (RPI) . . . . . . . . . . . . . . . . 107
View the Maximum Observed Network Delay . . . . . . . . . . . . . . 108
Set the Advanced Connection Reaction Time
Limit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Understanding the Configuration Signature. . . . . . . . . . . . . . . . . . . . 110
Configuration via the Logix Designer Application. . . . . . . . . . . 110
Different Configuration Owner (listen-only connection) . . . . 110
Reset Safety I/O Device Ownership. . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Address Safety I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Safety I/O Modules Address Format . . . . . . . . . . . . . . . . . . . . . . . 111
Kinetix 5500, Kinetix 5700, and PowerFlex 527 Drive
Address Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Monitor Safety I/O Device Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Reset Safety I/O Device to Out-of-box Condition . . . . . . . . . . . . . . 113
Replace a Safety I/O Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Replacement with ‘Configure Only When No Safety
Signature Exists’ Enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Replacement with ‘Configure Always’ Enabled. . . . . . . . . . . . . . 118

Table of Contents
Chapter 8
Elements of a Control Application Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Task Priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Scheduled and Unscheduled Programs . . . . . . . . . . . . . . . . . . . . . 127
Routines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Extended Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Access Extended Properties in Logic. . . . . . . . . . . . . . . . . . . . . . . . 130
Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Add-on Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Access the Module Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Create the Add-On Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
System Overhead Time Slice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Configure the System Overhead Time Slice . . . . . . . . . . . . . . . . . 137
Chapter 9
Develop Safety Applications The Safety Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Safety Task Period Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Safety Task Execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Safety Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Safety Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Safety Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Tag Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Constant Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
External Access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Produced/Consumed Safety Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Configure the Peer Safety Controllers’ Safety
Network Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Change the Electronic Keying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Produce a Safety Tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Consume Safety Tag Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Safety Tag Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Create Tag Mapping Pairs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Monitor Tag Mapping Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Safety Application Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Safety-lock the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Generate a Safety Task Signature. . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Programming Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Table of Contents
Chapter 10
Develop Integrated Motion over Motion Axes Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
an EtherNet/IP Network AXIS_VIRTUAL Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
AXIS_CIP_DRIVE Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Application
Maximum Number of Position Loop-configured Drives . . . . . . . . . 163
Position Loop-configured Drive Limits. . . . . . . . . . . . . . . . . . . . . 163
Time Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Configure Integrated Motion on the EtherNet/IP Network . . . . . 165
Chapter 11
Go Online with the Controller Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Project to Controller Matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Firmware Revision Matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Safety Status/Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Safety Task Signature and Safety-locked and
-unlocked Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Go Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Chapter 12
Monitor Status and Handle Faults View Status via the Online Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Monitor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
All Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Safety Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Determine if I/O Communication has Timed Out . . . . . . . . . . 178
Determine if I/O Communication to a Specific I/O Module
has Timed Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Monitor Status Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Monitor Safety Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Controller Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Nonrecoverable Controller Faults. . . . . . . . . . . . . . . . . . . . . . . . . . 179
Nonrecoverable Safety Faults in the Safety Application . . . . . . 179
Recoverable Faults in the Safety Application . . . . . . . . . . . . . . . . 180
View Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Develop a Fault Routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Program Fault Routine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Controller Fault Handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Use GSV/SSV Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Table of Contents
Chapter 13
Store and Load Programs with a Use SD Cards for Nonvolatile Memory . . . . . . . . . . . . . . . . . . . . . . . . 185
Secure Digital Card Store a Safety Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Load a Safety Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Manage Firmware with Firmware Supervisor . . . . . . . . . . . . . . . . . . . 193
Appendix A
Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Appendix B
Change Controller Type Change from a Standard to a Safety Controller . . . . . . . . . . . . . . . . . 199
Change from a Safety to a Standard Controller . . . . . . . . . . . . . . . . . 200
Change Safety Controller Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

Summary of Changes
This manual contains new and updated information as indicated in the

following table.
Topic Page
Added 1769-L33ERMOS, 1769-L36ERMOS, and 1769-L37ERMOS catalog numbers. Throughout
Added Armor Compact GuardLogix publication to Table 2. 12
Added the three introductory paragraphs to Chapter 1. 15
Added ‘Available at firmware revision 30’ footnote about 1769-L37ERMOS catalog number. 15, 19, 20, 25, 55,
71, 75, 81, 163
Relocated introductory paragraph in Compact GuardLogix 5370 Controller System section to 19
first page of Chapter 1.
Made the following changes in Table 1: 19
• Added 1769-ERMOS row
• Added embedded power supply information
• Updated the reset button description
• Added footnotes 1 and 2
Added rows for new catalog numbers and corresponding Ethernet nodes to Table 7. 71
Added content to the introductory paragraph in the Firmware Revision Matching subsection. 168
Added footnote to table in Download section. 171

Summary of Changes
Notes:

Preface
This manual describes the necessary tasks to install, configure, program, and
operate a Compact GuardLogix® 5370 controller. This manual is intended for
automation engineers and control system developers.
Compact GuardLogix 5370 controllers are designed to provide solution for

small and medium-sized applications.
Terminology This table defines terms that are used in this manual.
Abbreviation Full Term Definition

1oo2 One Out of Two Refers to the behavioral design of a multi-processor safety system.
CIP Common Industrial Protocol A communication protocol that is designed for industrial automation applications.
CIP safety Common Industrial Protocol – Safety Certified SIL 3/PLe-rated version of CIP.
DC Diagnostic Coverage The ratio of the detected failure rate to the total failure rate.
DLR Device Level Ring A communication protocol that allows multi-port EtherNet/IP devices to operate in ring topologies.
EN European Norm The official European standard.
GSV Get System Value An instruction that retrieves specified controller-status information and places it in a destination tag.
— Multicast The transmission of information from one sender to multiple receivers.
NAT Network Address Translation The translation of an Internet Protocol (IP) address to another IP address on another network.
PFD Probability of Failure on Demand The average probability of a system to fail to perform its design function on demand.
PFH Probability of Failure per Hour The probability of a system to have a dangerous failure occur per hour.
PL Performance Level ISO 13849-1 safety rating.
RPI Requested Packet Interval The expected rate in time for production of data when communicated over a network.
SNN Safety Network Number A unique number that identifies a section of a safety network.
SSV Set System Value An instruction that sets controller system data.
— Standard An object, task, tag, program, or component in your project that is not a safety-related item.
— Unicast The transmission of information from one sender to one receiver.

Preface
Additional Resources These resources contain information about related products from Rockwell
Automation.
Resource Description
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Provides information on safety application requirements for GuardLogix 5570 and Compact
Reference Manual, publication 1756-RM099 GuardLogix 5370 controllers in Studio 5000 Logix Designer applications.
Armor Compact GuardLogix Controllers Installation Instructions, publication Provides information on how to install, mount, and connect Armor Compact GuardLogix
1769-IN022 controllers to a network.
1769-SDN DeviceNet Scanner Module User Manual, publication 1769-UM009 Describes how to use the 1769-SDN scanner module with Compact GuardLogix controllers.
Compact High-speed Counter Module User Manual, publication 1769-UM006 Describes high-speed counter operation for standalone 1769-HSC module when used with
Compact GuardLogix controllers.
Compact I/O™ DeviceNet Scanner Module Installation Instructions, publication Describes how to install the Compact I/O modules.
1769-IN060
Compact I/O Expansion Power Supplies Installation Instructions, publication Describes how to wire the 1769 Compact I/O power supply.
1769-IN028
Compact I/O Modules Installation Instructions, publication 1769-IN088 Describes how to install 1769 Compact I/O modules with any Compact GuardLogix controller.
CompactLogix™ Controllers Specifications Technical Data, publication Provides CompactLogix controller specifications for all Compact GuardLogix controllers.
1769-TD005
CompactLogix System Selection Guide, publication 1769-SG001 Describes information about products used in a Compact GuardLogix control system to assist you
in the design of a control solution.
Ethernet Design Considerations Reference Manual, publication ENET-RM002 Describes the following concepts that you must consider when you design a control system that
includes an EtherNet/IP network:
• EtherNet/IP overview
• Ethernet infrastructure
• EtherNet/IP protocol
EtherNet/IP Embedded Switch Technology Application Guide, publication Describes how to use a DLR network topology.
ENET-AP005
EtherNet/IP Socket Interface Application Technique, publication ENET-AT002 Describes socket interface applications.
Execution Time and Memory Use for Logix5000™ Controller Instructions Explains how to estimate the memory use and execution time of programmed logic, and how to
Reference Manual, publication 1756-RM087 select from different programming options.
Integrated Architecture® and CIP Sync Configuration Application Technique, Describes CIP Sync technology and how to synchronize clocks in the Rockwell Automation®
publication IA-AT003 Integrated Architecture system.
Integrated Motion on the EtherNet/IP Network Configuration and Startup User Describes how to configure an Integrated Motion over an EtherNet/IP motion application and to
Manual, publication MOTION-UM003 start up that motion solution in a Logix5000 control system.
Kinetix® 5500 Servo Drives User Manual, publication 2198-UM001 Provides information to install, configure, start up, and troubleshoot your Kinetix 5500 servo
drive system. Also includes requirements for using Kinetix 5500 drives in safety applications.
Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 Provides information to install, configure, start up, and troubleshoot your Kinetix 5700 servo
drive system. Also includes requirements for using Kinetix 5700 drives in safety applications.
Logix5000 Controllers Common Procedures Programming Manual, publication Guides all user levels in developing projects for Logix5000 controllers and provides links to
1756-PM001 individual guides for information on topics, such as import/export, messages, security, and
programming in different languages.
Logix5000 Controllers Design Considerations Reference Manual, publication Provides advanced users with guidelines for system optimization and with system information
1756-RM094 to guide system design choices.
Logix Controllers Instructions Reference Manual, publication 1756-RM009 Provides information on the Logix5000 instruction set that includes general, motion, and
process instructions.
Logix5000 Controllers Motion Instructions Reference Manual, publication Details how to program the controllers for motion applications.
MOTION-RM002
Logix5000 Controllers Nonvolatile Memory Card Programming Manual, Explains controller power up and corrupt memory situations.
publication 1756-PM017
Logix5000 Controllers Process Control/Drives Instruction Set Reference Manual, Details how to program the controller for process applications.
publication 1756-RM006

Preface
PowerFlex® 527 Adjustable Frequency AC Drive User Manual, Provides information to install, start up, and troubleshoot the PowerFlex 520-series adjustable
publication 520-UM002 frequency AC drive.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines to install a Rockwell Automation® industrial system.
Product Certifications website, Provides declarations of conformity, certificates, and other certification details.
http://www.rockwellautomation.com/global/certification/overview.page
You can view or download publications at

http://www.rockwellautomation.com/global/literature-library/overview.page.
To order paper copies of technical documentation, contact your local Allen-

Bradley distributor or Rockwell Automation sales representative.

Preface
Notes:

Chapter 1
System Overview
Topic Page
Safety Application Requirements 16
Distinguishing Between Standard and Safety Components 17
Controller Data Flow Capabilities 18
Compact GuardLogix 5370 Controller System 19
Programming Requirement 20
The Compact GuardLogix® 5370 controllers offer state-of-the-art control,

communication, and I/O elements in a distributed control package. This
product family includes the following Compact GuardLogix controllers:
• 1769-L30ERMS
• 1769-L33ERMS
• 1769-L33ERMOS
• 1769-L36ERMS
• 1769-L36ERMOS
• 1769-L37ERMOS(1)
The Armor™ Compact GuardLogix controller (1769-L33ERMOS,

1769-L36ERMOS, or 1769-L37ERMOS(1)) combines a Compact
GuardLogix controller with a power supply in an IP67-rated housing for
mounting on a machine. For information on how to install the Armor
Compact GuardLogix controller, see the Armor Compact GuardLogix
Controllers Installation Instructions, publication 1769-IN022.
For a complete description of the CompactLogix 5370 control system

components and functionality, see Table 1 and Table 2, respectively.
(1) Available at firmware revision 30.

Chapter 1 System Overview
Safety Application The Compact GuardLogix 5370 controller system is certified for use in safety
applications up to and including Safety Integrity Level (SIL) 3 and
Requirements Performance Level (PL)e, in which the de-energized state is the safe state.
Safety application requirements include evaluating probability of failure rates
(PFD and PFH), system reaction-time settings, and functional-verification
tests that fulfill SIL 3/PLe criteria.
For SIL 3 and PLe safety system requirements, including functional validation test
intervals, system reaction time, and PFD/PFH calculations, refer to the
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety
Reference Manual, publication 1756-RM099. You must read, understand, and
fulfill these requirements prior to operating a Compact GuardLogix SIL 3, PLe
safety system.
Compact GuardLogix-based SIL 3/PLe safety applications require the use of at

least one safety network number (SNN) and a safety task signature. Both affect
controller and I/O configuration and network communication.
For further details, refer to the GuardLogix 5570 and Compact GuardLogix
5370 Controller Systems Safety Reference Manual, publication 1756-RM099.
Safety Network Number
The safety network number (SNN) must be a unique number that identifies
safety subnets. Each safety subnet that the controller uses for safety
communication must have a unique SNN. Each CIP Safety device must also be
configured with the safety subnet’s SNN. The SNN can be assigned
automatically or manually.
For information on assigning the SNN, see Managing the Safety Network
Number (SNN) on page 62.
Safety Task Signature
The safety task signature consists of an ID number, date, and time that
uniquely identifies the safety portion of a project. This includes safety logic,
data, and configuration. The Compact GuardLogix system uses the safety task
signature to determine the project’s integrity and to let you verify that the
correct project is downloaded to the target controller. Creating, recording, and
verifying the safety task signature is a mandatory part of the safety-application
development process.
See Generate a Safety Task Signature on page 156 for more information.

System Overview Chapter 1
Distinguishing Between Slots in the Compact GuardLogix backplane not used by the safety function
can be populated with other CompactLogix modules that are certified to the
Standard and Safety Low Voltage and EMC Directives.
Components
See the product certifications at http://www.rockwellautomation.com/global/
certification/overview.page to find the CE certificate for the Programmable
Control–CompactLogix Product Family and determine which modules are
certified.
You must create and document a clear, logical, and visible distinction between
the safety and standard portions of the controller project. To aid in creating
this distinction, the Logix Designer application features safety identification
icons to identify the safety task, safety programs, safety routines, and safety
components. In addition, the Logix Designer application uses a safety class
attribute that is visible whenever safety task, safety programs, safety routine,
safety tag, or safety Add-on Instruction properties are displayed.
The controller does not allow writes to safety tag data from external human-
machine interface (HMI) devices or via message instructions from peer
controllers. The Logix Designer application can write safety tags when the
Compact GuardLogix controller is safety-unlocked, does not have a safety task
signature, and is operating without safety faults.
HMI Devices
HMI devices can be used with Compact GuardLogix controllers. HMI devices
can access standard tags just as with a standard controller. However, HMI
devices cannot write to safety tags; safety tags are read-only for HMI devices.

Controller Data Flow Figure 1 explains the standard and safety data-flow capabilities of the Compact
GuardLogix controller.
Capabilities
Figure 1 - Data Flow Capabilities
Compact GuardLogix Controller

Standard Safety
Safety Tasks
Standard Tasks
Safety Programs
Standard Programs
Safety Routines
Standard Routines
Program Safety Data

Program Data
5
1
4
Controller Standard Tags Controller Safety Tags

7
2
3
2 6 7
No. Description
1 Standard tags and logic behave the same way they do in the standard Logix platform.
2 Standard tag data, program- or controller-scoped, can be exchanged with external HMI devices, personal
computers, and other controllers.
3 Compact GuardLogix controllers are integrated controllers with the ability to move (map) standard tag data
into safety tags for use within the safety task.
ATTENTION: This data must not be used to directly control a SIL 3/PLe
output.
4 Controller-scoped safety tags can be read directly by standard logic.

5 Safety tags can be read or written by safety logic.
6 Safety tags can be exchanged between safety controllers over an Ethernet network, including GuardLogix
5570 and Compact GuardLogix 5370 controllers.
7 Safety tag data, program- or controller-scoped, can be read by external devices, such as HMI devices,
personal computers, or other standard controllers.
IMPORTANT Once this data is read, it is considered standard data, not SIL 3/PLe data.

System Overview Chapter 1
Compact GuardLogix 5370 Table 1 describes components used in a typical Compact GuardLogix 5370
controller system.
Controller System
Table 1 - System Components
System Component Description
Controller One of the controllers that is documented in this publication
Power supply One of the following 1769 Compact I/O power supplies:
• 1769-PA2
• 1769-PB2(2)
• 1769-PA4
• 1769-PB4
Communication Any of the following:
networks components • EtherNet/IP network via built-in EtherNet/IP network ports (safety and standard
communication)
• DeviceNet network via a 1769-SDN module (only for standard communication)(3)
• USB connection only for programming and firmware upgrades
Software • Logix Designer application, version 28.00.00 or later
• RSLinx® Classic software, version 3.80.xx or later
• RSNetWorx™ for DeviceNet software, version 25.00.00 or later
Secure Digital (SD) card • 1784-SD1 card - Ships with the Compact GuardLogix 5370 controller and offers 1 GB of
for external nonvolatile memory
memory • 1784-SD2 card - Available for separate purchase and offers 2 GB of memory
I/O modules(1) • Local expansion modules- 1769 Compact I/O modules
• Distributed I/O - Multiple I/O module product lines over DeviceNet and EtherNet/IP
networks
Reset button If pressed and held in when the controller power ups, this button clears the user program
from the internal memory of the controller and from the internal safety partner.
(1) Armor Compact GuardLogix controller systems do not support I/O inside their IP67-rated housings. To get I/O, you must connect
via EtherNet/IP to distributed I/O.
(2) Armor Compact GuardLogix controller systems have this power supply inside their IP67-rated housings.
(3) For safety communication, a bridge module is required that goes from Ethernet to DeviceNet; see page 98.
Controller Functionality Table 2 describes functionality available with Compact GuardLogix 5370
controllers.
Table 2 - CompactLogix 5370 Controller Functionality
Power On-board User
Controller Programs Supply Memory Size (MB) Local Compact
Tasks Supported Internal Energy EtherNet/IP Network Distance I/O Module Motion
Cat. No. Supported Per Task Storage Solution Topology Support Rating Standard Safety Support Axes
1769-L30ERMS 32(2) 100 Yes - Eliminating the Support the following 4 1 0.5 As many as 8 4
need for a battery topologies:
1769-L33ERMS • Device-level ring (DLR) 2 1 As many as 16 8
• Linear
1769-L33ERMOS • Traditional star —
1769-L36ERMS 3 1.5 As many as 30 16
1769-L36ERMOS —
1769-L37ERMOS(1)
(2) Includes one safety task.

Programming Requirement Use Table 3 to identify the programming tool and the versions for use with
your Compact GuardLogix 5370 controllers.
Table 3 - Software Versions
Studio 5000® RSLinx Classic
Cat. No. Environment Software Version
1769-L30ERMS 28.00.00 or later 3.80 or later
1769-L33ERMS
1769-L33ERMOS
1769-L36ERMS
1769-L36ERMOS
1769-L37ERMOS(1)
Safety routines include safety instructions, which are a subset of the standard
ladder logic instruction set, and safety application instructions. Programs that
are scheduled under the safety task support only ladder logic.
Table 4 - Supported Features
Studio 5000 Logix
Designer Application
Feature Safety Task Standard Task
Add-on instructions X
Alarms and events
Controller logging
X
Data access control
Equipment phase routines
Event tasks
Firmware supervisor X
Function block diagrams (FBD)
Integrated motion
Ladder logic X
Language switching
X
Memory card
Network address translation (NAT)
Online import and export of program components
Safety and standard connections X
Sequential function chart (SFC) routines
Structured text
Unicast connections for produced and consumed safety tags
X
Unicast connections for safety I/O devices on EtherNet/IP networks
For information on how to use these features, refer to the Logix5000™ Controllers
Common Procedures Programming Manual, publication 1756-PM001, the
publications that are listed in Additional Resources on page 10, and online help.

Chapter 2
Install the Controller
Topic Page
Precautions 21
Compact GuardLogix 5370 Controller Parts 23
Install the Secure Digital (SD) Card 24
Plan the System 25
Assemble the System 26
Mount the System 27
Mount the System 27
Connect Power to the Control System 31
Connect to the Controller via a USB Cable 31
Connect the Controller to an EtherNet/IP Network 32
Precautions
ATTENTION: Environment and Enclosure
This equipment is intended for use in a Pollution Degree 2 industrial
environment, in overvoltage Category II applications (as defined in
IEC 60664-1), at altitudes up to 2000 m (6562 ft) without derating.
This equipment is supplied as open-type equipment. It must be mounted
within an enclosure that is suitably designed for those specific environmental
conditions that will be present and appropriately designed to prevent
personal injury resulting from accessibility to live parts. The enclosure must
have suitable flame-retardant properties to prevent or minimize the spread of
flame, complying with a flame spread rating of 5VA or be approved for the
application if nonmetallic. The interior of the enclosure must be accessible
only by the use of a tool. Subsequent sections of this publication may contain
additional information regarding specific enclosure type ratings that are
required to comply with certain product safety certifications.
In addition to this publication, see the following:
• Industrial Automation Wiring and Grounding Guidelines, publication
1770-4.1, for additional installation requirements
• NEMA 250 and IEC 60529, as applicable, for explanations of the degrees of
protection provided by different types of enclosures

Chapter 2 Install the Controller
North American Hazardous Location Approval

The following information applies when operating this equipment in Informations sur l’utilisation de cet équipement en environnements
hazardous locations. dangereux.
Products marked “CL I, DIV 2, GP A, B, C, D” are suitable for use in Class Les produits marqués “CL I, DIV 2, GP A, B, C, D” ne conviennent qu'à
I Division 2 Groups A, B, C, D, Hazardous Locations and nonhazardous une utilisation en environnements de Classe I Division 2 Groupes A, B,
locations only. Each product is supplied with markings on the rating C, D dangereux et non dangereux. Chaque produit est livré avec des
nameplate indicating the hazardous location temperature code. marquages sur sa plaque d'identification qui indiquent le code de
When combining products within a system, the most adverse température pour les environnements dangereux. Lorsque plusieurs
temperature code (lowest “T” number) may be used to help produits sont combinés dans un système, le code de température le
determine the overall temperature code of the system. Combinations plus défavorable (code de température le plus faible) peut être utilisé
of equipment in your system are subject to investigation by the local pour déterminer le code de température global du système. Les
authority having jurisdiction at the time of installation. combinaisons d'équipements dans le système sont sujettes à
inspection par les autorités locales qualifiées au moment de
l'installation.
WARNING: EXPLOSION HAZARD - AVERTISSEMENT: RISQUE D’EXPLOSION –
• Do not disconnect equipment unless power has • Couper le courant ou s'assurer que
been removed or the area is known to be l'environnement est classé non dangereux avant
nonhazardous. de débrancher l'équipement.
• Do not disconnect connections to this equipment • Couper le courant ou s'assurer que
unless power has been removed or the area is l'environnement est classé non dangereux avant
known to be nonhazardous. Secure any external de débrancher les connecteurs. Fixer tous les
connections that mate to this equipment by using connecteurs externes reliés à cet équipement à
screws, sliding latches, threaded connectors, or l'aide de vis, loquets coulissants, connecteurs
other means provided with this product. filetés ou autres moyens fournis avec ce produit.
• Substitution of components may impair suitability • La substitution de composants peut rendre cet
for Class I, Division 2. équipement inadapté à une utilisation en
• If this product contains batteries, they must only environnement de Classe I, Division 2.
be changed in an area known to be nonhazardous. • S'assurer que l'environnement est classé non
dangereux avant de changer les piles.

Install the Controller Chapter 2
European Hazardous Location Approval

The following applies to products marked II 3 G. Such modules:
• Are Equipment Group II, Equipment Category 3, and comply with the Essential Health and Safety Requirements relating to the design and
construction of such equipment given in Annex II to Directive 94/9/EC. See the EC Declaration of Conformity at
http://www.rockwellautomation.com/global/certification/overview.page for details. The type of protection used is “Ex nA IIC T5 Gc”
according to EN 60079-15. The specific temperature code is marked on the product.
• Are intended for use in areas in which explosive atmospheres caused by gases, vapors, mists, or air or dust mixtures are unlikely to occur, or
are likely to occur only infrequently and for short periods. Such locations correspond to Zone 2 classification according to ATEX directive
1999/92/EC.
• May have catalog numbers that end in ‘K’ to indicate conformal coating.
• Complies to standards EN60079-0:2002+A11:2013, EN 60079-15:2010, reference certificate number DEMKO 15ATEX1388X
WARNING: Special Conditions for Safe Use:

• This equipment shall be mounted in an ATEX certified enclosure with a minimum ingress protection rating of at least IP54
(as defined in IEC60529) and used in an environment of not more than Pollution Degree 2 (as defined in IEC/EN 60664-1)
when applied in Zone 2 environments. The enclosure must utilize a tool-removable cover or door.
• This equipment shall be used within its specified ratings defined by Rockwell Automation.
• Provision shall be made to prevent the rated voltage from being exceeded by transient disturbances of more than 140% of
the rated voltage when applied in Zone 2 environments.
• This equipment must be used only with ATEX-certified Rockwell Automation backplanes.
• Secure any external connections that mate to this equipment by using screws, sliding latches, threaded connectors, or other
means provided with this product.
• Do not disconnect equipment unless power has been removed or the area is known to be nonhazardous.
Compact GuardLogix 5370 These parts are included in the box when you order your controller:
Controller Parts • Controller - Specific catalog number varies by order
• 1784-SD1 Secure Digital (SD) card with 1 GB of memory storage
A 1784-SD2 SD card with 2 GB of memory storage, or more 1784-SD1
SD cards, are also available if you need more memory.
IMPORTANT The life expectancy of nonvolatile media is dependent on the

number of write cycles that are performed. Nonvolatile media use a
wear leveling technique or technology for prolonging the service
life, but avoid frequent writes.
Avoid frequent writes when logging data. We recommend that you
log data to a buffer in the memory of your controller and limit the
number of times data is written to removable media.

Install the Secure Digital (SD) Compact GuardLogix® 5370 controllers ship from the factory with the
1784-SD1 SD card installed.
Card
Complete these steps to reinstall a removed SD card into the controller or to
install a new SD card into the controller.
We recommend that you leave the SD card in the controller, even when it is not
used. If the controller experiences a major non-recoverable fault, extended fault
information is saved to the card.
WARNING: When you insert or remove the SD card while power is on, an
electrical arc can occur. This could cause an explosion in hazardous location
installations.
Be sure that power is removed or the area is nonhazardous before you proceed.
1. Verify that the SD card is locked or unlocked according to your

preference. Consider the following when deciding to lock the card
before installation:
– If the card is unlocked, the controller can write data to it or read data
from it.
Unlocked
SD Card Locked
2. Open the door for the SD card (A).

A B C
3. Insert the SD card into the SD card slot.

You can install the SD card in only one orientation. The beveled corner
is at the top. An orientation logo is printed on the card.
If you feel resistance when inserting the SD card, pull it out and change
the orientation.
4. Gently press the card until it clicks into place (B).
5. Close the SD card door (C).
We recommend that you keep the SD card door closed during normal system
operation. For more information on the SD card, see Chapter 13.

Plan the System When you plan your Compact GuardLogix 5370 controller system, consider
the following:
• The controller is the left-most device in the system.
• Only one controller can be used on a local 1769 CompactBus. The
controller supports the local bank and up to two more banks.
• The controller has a power supply distance rating of four. This rating
means that the controller must be within four slots of the power supply.
You can install as many as three modules between the power supply and
the controller, as shown in the following graphic.
Compact GuardLogix
5370 Controller Compact I/O Modules Power Supply End Cap
• The controllers support this many local expansion modules across

multiple I/O banks.
Cat. No. Local Expansion Modules Supported, max

1769-L30ERMS 8
1769-L33ERMS 16
1769-L33ERMOS —
1769-L36ERMS 30
1769-L36ERMOS —
1769-L37ERMOS(1)
• Each I/O bank requires its own power supply.

• You must terminate the end of the last bank in a Compact GuardLogix
5370 controller system. You can terminate a bank at the left or right end
of the bank dependent upon your system design.
A 1769-ECx end cap is required to terminate the end of the last bank in
the control system.
For example, if a Compact GuardLogix 5370 controller system uses one
bank, you must use a 1769-ECR right end cap to terminate the right end
of the bank.
See Physical Placement of I/O Modules on page 87 for requirements
related to Compact I/O local expansion modules.

For examples of Compact GuardLogix 5370 controller systems that use

one bank or multiple banks, see Mount the System on page 27.
ATTENTION: Compact GuardLogix 5370 controller systems do not

support removal and insertion under power (RIUP). These events
occur while the Compact GuardLogix 5370 controller system is under
power:
• Any break in the connection between the power supply and the
controller, for example, removing the power supply, controller, or an
I/O module, can subject the logic circuitry to transient conditions
above the normal design thresholds and can result in damage to
system components or unexpected behavior.
• Removing an end cap or an I/O module faults the controller and can
also result in damage to system components.
Assemble the System You can attach an adjacent Compact I/O™ module or 1769 Compact I/O
power supply to Compact GuardLogix 5370 controllers before or after
mounting. For mounting instructions, see System Dimensions on page 29 or
Mount the Controller on a Panel on page 30.
ATTENTION: Do not remove or replace this module while power is applied.

Interruption of the backplane can result in unintentional operation or
machine motion.
WARNING: Remove power before removing or inserting this module. If you

insert or remove the module while backplane power is on, an electrical arc
can occur. This could cause an explosion in hazardous location installations.
Be sure that power is removed or the area is nonhazardous before proceeding.
Complete these steps to install the controller. This example describes how to
attach a 1769 Compact I/O power supply to the controller.
1. Verify that line power is disconnected.

2. Use your fingers or a small screwdriver Bus
to push the bus lever of the 1769 Lever
Compact I/O power supply back Positioning
slightly to clear the positioning tab. Tab
3. Move the bus lever to the right of the

positioning tab so it is in the unlocked
position.

4. Use the upper and lower tongue-and-groove slots to secure the

controller and power supply together.
Upper
Tongue-and-groove
Slot
Lower
Tongue-and-groove
Slot
5. Move the power supply back along the tongue-and-groove slots until the
bus connectors align with each other.
6. Use your fingers or a small screwdriver to Bus
push the bus lever of the power supply Lever
back slightly to clear the positioning tab.
Positioning
7. Move the bus lever of the power supply Tab
to the left of the positioning tab until it
clicks; make sure that it locks.
8. If your system does not use any local
expansion modules, use the
tongue-and-groove slots described
earlier to attach a 1769-ECR Compact
I/O end cap terminator to the last module in the system.
IMPORTANT You must install an end cap onto the right side of the Compact
GuardLogix 5370 controller system either at the end of the
controller or at the end of any local expansion modules that can be
installed onto the controller.
9. Wire the 1769 Compact I/O power supply according to the directions
in the Compact I/O Expansion Power Supplies installation instructions,
publication 1769-IN028.
If you are using local expansion modules, see Local Expansion Modules
on page 79.
Mount the System ATTENTION: This controller must be mounted to a well-grounded mounting
surface, such as a metal panel. Additional grounding connections from the
power supply’s mounting tabs or DIN rail (if used) are not required unless the
mounting surface cannot be grounded.
See Industrial Automation Wiring and Grounding Guidelines, Rockwell
Automation publication 1770-4.1, for additional information.

You can mount a Compact GuardLogix 5370 controller system on a panel or

on a DIN rail.
ATTENTION: During panel or DIN rail mounting of all devices, be sure that
all debris (such as metal chips or wire strands) is kept from falling into the
controller. Debris that falls into the controller can cause damage while the
controller is energized.
A Compact GuardLogix 5370 controller system must be mounted so that the

modules are horizontal to each other. If you separate modules into multiple
banks, the banks can be vertical or horizontal to each other.
Figure 2 shows system examples with local expansion modules included.
Figure 2 - Example of Banks and System Configurations

Horizontal Orientation
1769-ECR
End Cap
Bank 1 Bank 2 Bank 3

1769-CRLx Cable 1769-CRLx Cable
Vertical Orientations
Bank 1 1769-CRRx Cable Bank 1 1769-CRLx Cable 1769-ECR

End Cap
769-CLLx Cable Bank 2 Bank 2
Table 5 - Compact I/O Communication Bus Expansion Cables
Cat. No. Cable Type

1769-ECR
End Cap 1769-CLLx Left bank to left bank expansion
1769-CRRx Right bank to right bank expansion
1769-CRLx Right bank to left bank expansion
Bank 3
For more information on these cables, see 1769 Compact I/O Communication
Bus Expansion Cables Installation Instructions, publication 1769-IN014.

Minimum Spacing
Maintain spacing from enclosure walls, wireways, and adjacent equipment.

Allow 50 mm (2 in.) of space on all sides, as shown. This spacing provides
ventilation and electrical isolation.
50 mm
(2 in.)
50 mm 50 mm
(2 in.) (2 in.)
50 mm
(2 in.)
System Dimensions
This graphic shows the system dimensions.

Side View Front View
114 mm 89 mm 70 mm 35 mm 18 mm
(4.49 in.) (3.5 in.) (2.76 in.) (1.38 in.) (0.71 in.)
118 mm
(4.65 in.)
132 mm
(5.20 in.)
44 mm 61 mm 35 mm 35 mm 35 mm 35 mm
(1.74 in.) (2.4 in.) (1.38 in.) (1.38 in.) (1.38 in.) (1.38 in.)

Mount the Controller on a Panel
Use two M4 or #8 pan head screws to mount the controller. Mounting screws
are required on many modules. Use this procedure to use the assembled
modules as a template for drilling holes in the panel.
IMPORTANT Due to module-mounting hole tolerance, it is important to follow these

procedures.
1. On a clean work surface, assemble no more than three modules.

2. Using the assembled modules as a template, carefully mark the center of
all module-mounting holes on the panel.
3. Return the assembled modules to the clean work surface, including any
previously mounted modules.
4. Drill and tap the mounting holes for the recommended M4 or #8 screw.
5. Place the modules back on the panel and check for proper hole alignment.
TIP When the module is panel-mounted, the grounding plate (where you
install the mounting screws) grounds the module.
6. Use the mounting screws to attach the modules to the panel.
TIP If you are mounting more modules, mount only the last one of this group
and put the others aside. This reduces remounting time when you are
drilling and tapping the next group of modules.
7. Repeat steps 1…6 for any remaining modules.
Mount the Controller on a DIN Rail
You can mount the Compact GuardLogix 5370 controller on the following
DIN rails:
• EN 50 022 - 35 x 7.5 mm (1.38 x 0.30 in.)
• EN 50 022 - 35 x 15 mm (1.38 x 0.59 in.)
ATTENTION: This controller is grounded to chassis ground through the DIN

rail. Use zinc plated yellow-chromate steel DIN rail to help achieve proper
grounding. The use of other DIN rail materials (for example, aluminum or
plastic) that can corrode, oxidize, or are poor conductors, can result in
improper or intermittent grounding. Secure DIN rail to mo surface
approximately every 200 mm (7.8 in.) and use end-anchors appropriately.
1. Before mounting the controller on a DIN rail, close the DIN rail latches
of the controller.
2. Press the DIN rail mounting area of the controller against the DIN rail.
The latches momentarily open and lock into place.

Connect Power to the Control The way that you connect power to the Compact GuardLogix 5370 controller
system is based on the 1769 Compact I/O power supply that your application
System uses. For more information on connecting power to your system, see the
Compact I/O Expansion Power Supplies Installation Instructions, publication
1769-IN028.
Connect to the Controller The Compact GuardLogix 5370 controller has a USB port that uses a Type B
receptacle. The port is USB 2.0-compatible and operates at 12 Mbps.
via a USB Cable
Use a USB cable to connect your computer to the USB port. With this
connection, you can upgrade firmware and download programs to the
controller directly from your computer.
ATTENTION: The USB port is intended only for temporary local

programming purposes and not intended for permanent connection.
The USB cable is not to exceed 3.0 m (9.84 ft) and must not contain hubs.
WARNING: Do not use the USB port in hazardous locations.
Plug the USB cable into the Compact GuardLogix 5370 controller as shown.

Connect the Controller to an WARNING: If you connect or disconnect the communication cable with
EtherNet/IP Network power applied to this module or any device on the network, an electrical arc
can occur. This could cause an explosion in hazardous location installations.
Connect the RJ45 connector of the Ethernet cable to one of the Ethernet ports
on the controller. The ports are on the bottom of the controller.
ATTENTION: Do not plug a DH-485 network cable or a NAP cable into the
Ethernet port. Undesirable behavior or damage to the port can result.
Bottom of Controller
Port 1 - Front
Port 2 - Rear
IMPORTANT This example shows how to connect the controller to the network through
one port. Depending on the Ethernet network topology of your application,
you can connect both ports of the controller to the EtherNet/IP network.
For more information on EtherNet/IP network topologies, see EtherNet/IP
Network Communication on page 68.
Connect to Different EtherNet/IP Network Topologies
The Compact GuardLogix 5370 controllers have embedded switch technology

and two EtherNet/IP ports that let you use it in different EtherNet/IP
network topologies:
• Device-level Ring network topology - Both ports on the controller are
connected to the network with requirements about how the
connections are made.
• Linear network topology - Both ports on the controller are connected to
the network with requirements about how the connections are made.
• Star network topology - One port on the controller is connected to
the network.
For more information, see EtherNet/IP Network Communication on page 68.

Chapter 3
Complete the Controller Setup
Topic Page
Set the IP Address 33
Change the IP Address 42
Load Controller Firmware 45
Select the Operating Mode of the Controller 53
To complete the tasks that are described in this chapter, you must have the
following software installed on your computer.
• RSLinx® Classic
• Studio 5000® environment
• BOOTP-DHCP server (installed with RSLinx Classic)
• ControlFLASH™ (installed with Studio 5000 environment)
Compact GuardLogix® 5370 controllers require a network Internet Protocol

(IP) address to operate on an EtherNet/IP network.
Set the IP Address The IP address uniquely identifies the controller. The IP address is in the form
xxx.xxx.xxx.xxx where each xxx is a number from 000…254 with some
exceptions for reserved values. These numbers are examples of reserved values
you cannot use:
• 000.xxx.xxx.xxx
• 127.xxx.xxx.xxx
• 224 to 255.xxx.xxx.xxx
Some other values are reserved based on an application-by-application basis.

Chapter 3 Complete the Controller Setup
You can complete one of these tasks dependent on system conditions:

• Set the IP address for a controller that does not have one assigned.
• Change the IP address for a controller that has an IP address that is
assigned to it.
IMPORTANT Compact GuardLogix 5370 controllers have two EtherNet/IP ports to

connect to an EtherNet/IP network; you cannot install any additional
ports to these controllers.
The EtherNet/IP ports carry the same network traffic as part of the
embedded switch of the controller. However, the controllers use only
one IP address.
You must set the IP address of a Compact GuardLogix 5370 controller when
the controller powers up for the first time, that is, when commissioning the
controller for the first time. You are not required to set an IP address each time
that power is cycled to the controller.
You can use these tools to set the IP address of a Compact GuardLogix 5370
controller:
• Bootstrap Protocol (BOOTP) server
• Dynamic Host Configuration Protocol (DHCP) server
• RSLinx Classic software
• Logix Designer application
• SD card
Use the BOOTP Server to Set the lP Address
Bootstrap Protocol (BOOTP) is a protocol that enables the controller to

communicate with a BOOTP server. The server can be used to assign an IP
address. You can use the BOOTP server to set an IP address for your Compact
GuardLogix 5370 controller.
Consider these points when using the BOOTP server:

• The BOOTP server is installed automatically when you install RSLinx
Classic or the Studio 5000 environment on your computer. The
BOOTP server sets an IP address and other Transmission Control
Protocol (TCP) parameters.
• The controller ships from the factory without an IP address and
BOOTP-enabled.
• This section describes how to use a Rockwell Automation BOOTP/
DHCP server. If you use another BOOTP/DHCP server, contact your
network administrator to verify that you are using it correctly.
• To use the BOOTP server, your computer and the controller must be
connected to the same EtherNet/IP network.
• If the controller is BOOTP-disabled, you cannot use the BOOTP server
to set the IP address.

Complete the Controller Setup Chapter 3
There are two conditions in which the Compact GuardLogix 5370 controllers
use the BOOTP servers to set the IP address of the controller:
• Initial power-up - Because the Compact GuardLogix 5370 controller
ships with BOOTP-enabled, when it is first powered up, the controller
sends a request for an IP address on the EtherNet/IP network. You can
use the BOOTP server to set the IP address, as described later in this
section.
• Power-up after controller operation has begun - When controller
power is cycled after operation has begun, the BOOTP/DHCP server
sets the IP address if one of these conditions exists:
– Controller is BOOTP-enabled - You set the IP address manually
with the BOOTP server.
– Controller is DHCP-enabled - The IP address is set automatically via
the DHCP server.
Access the BOOTP/DHCP utility from one of these locations:

• Start>Programs>Rockwell Software>BOOTP-DHCP Server
If you have not installed the utility, you can download and install it from
http://www.rockwellautomation.com/global/support/tools.page.
• Tools directory on the programming software installation CD
IMPORTANT Before you start the

BOOTP/DHCP
utility, make sure
that you have the
hardware (MAC)
address of the
controller. The
hardware address is
on the front of the
controller and uses
an address in a
format similar to
the following:
00:00:BC:2E:69:F6
Use the DHCP Server to Set the lP Address
Dynamic Host Configuration Protocol (DHCP) server automatically assigns IP

addresses to client stations logging on to a TCP/IP network. DHCP is based on
BOOTP and maintains some backward compatibility. The main difference is
that BOOTP manual configuration (static), while DHCP enables static and
dynamic allocation of network addresses and configurations to newly attached
controllers.

Be cautious when you use the DHCP server to configure a controller. A

BOOTP client, such as the CompactLogix controllers, can start from a DHCP
server only if the DHCP server is written to handle BOOTP queries. This
requirement is specific to the DHCP server used. Consult your system
administrator to see if a DHCP server supports BOOTP commands and manual
IP allocation.
ATTENTION: Assign a fixed network address to the Compact GuardLogix

5370 controllers. The IP address of this controller is not to be dynamically
provided.
Failure to observe this precaution can result in unintended machine motion or
loss of process control.
If you use the Rockwell Automation BOOTP or DHCP server in an up-linked

subnet where a DHCP server exists, a controller can procure an address from the
enterprise server before the Rockwell Automation utility even sees the controller.
Disconnect from the up-link to set the address and configure the controller to
retain its static address before reconnecting to the up-link, if necessary.
Use the RSLinx Classic Software to Set the lP Address
You can use RSLinx software to set the IP address of the Compact GuardLogix
5370 controller.
IMPORTANT This section explains how to assign an IP address to a Compact GuardLogix

controller that does not have one already.
To assign an IP address to a Compact GuardLogix controller via RSLinx
software, you must be first connected to your controller via the USB port.
Complete these steps to set the IP address of the controller with RSLinx software.
IMPORTANT These steps show a 1769-L36ERMS controller. The same steps would also
apply to all Compact GuardLogix 5370 controllers with slight variations in
screens.
1. Make sure that a USB cable is connected to your computer and the
controller.
2. Start RSLinx software.
After several seconds, an RSWho dialog box appears.
3. If no RSWho dialog box appears, from the Communications pull-down
menu, choose RSWho.

The RSWho dialog box appears and includes the USB driver.
4. Right-click the EtherNet/IP module and choose Module Configuration.
The Module Configuration dialog box appears.

5. Click the Port Configuration tab.
6. For Network Configuration Type, select Static to assign this configuration

to the port.
IMPORTANT If you click Dynamic on a power cycle, the controller clears the
current IP configuration and starts to send BOOTP requests.
7. Type the new IP address and Network Mask.

8. Click OK.
As with all configuration changes, make sure that you are using the SD card in a
way that does not overwrite the IP address at the next controller power cycle.
For more information on using the SD card, see Chapter 13.

Use the Studio 5000 Environment to Set the lP Address
You can use Logix Designer application to set the IP address of a Compact
GuardLogix 5370 controller. To set the IP address via the application, you must
be connected to your controller via the USB port.
Complete these steps to set the IP address of the controller.
IMPORTANT These steps show a 1769-L36ERMS controller. The same steps also apply to
all Compact GuardLogix 5370 controllers with slight variations in screens.
1. Start the Logix Designer application.

2. Click RSWho to specify the project path.
The RSWho Active dialog box appears.

3. Navigate over the USB network and select the Compact GuardLogix
controller.
4. Click Set Project Path.

5. Click Download.
6. Click Download again.
The new project is downloaded to the controller and the project goes
online, in Remote Program or Program mode.
7. Right-click the controller name and choose Properties.

8. On the Controller Properties dialog box, click the Internet Protocol tab.
The IP Settings Configuration values show that the controller has no IP
address that is assigned to it.
9. Click Manually configure IP settings.

10. Enter desired IP address and other configuration information, and
click OK.
11. When prompted to confirm the IP address setting, click Yes.
The controller now uses the newly set IP address.

Use the SD Card to Set the lP Address
You can use an SD card to set the IP address for a Compact GuardLogix 5370
controller. If you use the SD card to set the IP address, then it removes the need
for software to complete this task.
IMPORTANT To set the IP address from an SD card, software is not required during the
power-up process. However, you must have previously saved the project to
the SD card.
The IP address of the Compact GuardLogix 5370 controller is automatically
configured at power-up as long as you have configured an IP address, stored
the program onto a controller, and set the SD card to the Load Image
parameter set to On Power Up.
The option to set the IP address of a Compact GuardLogix 5370 controller via
an SD card at power-up is only one part of the process to load an entire
project to the controller from the SD card.
Use this option carefully. For example, the SD card can contain a desirable IP
address as part of an undesirable project, for example, a project that is older
than the project currently used on the controller.
These requirements apply when using the SD card to set the IP address on a
Compact GuardLogix 5370 controller:
• A project must be stored on the SD card.
• The project that is stored on the SD card is configured with the Load
Image parameter set to On Power Up.
Additional requirements apply for safety projects. See Chapter 13 and the
GuardLogix 5570 and Compact GuardLogix 5370 Controllers Safety
Reference Manual, publication 1756-RM099.

Change the IP Address You can change the IP address of a Compact GuardLogix 5370 controller after
system operation has begun. In this case, the controller has an IP address that is
assigned to it, but you must change that IP address.
You can use these tools to change the IP address of a controller:

• RSLinx Classic software
• Studio 5000 Logix Designer application
• SD card
IMPORTANT You cannot use either of these tools to change the IP address of a
controller:
• Bootstrap Protocol (BOOTP) server
• Dynamic Host Configuration Protocol (DHCP) server
Consider these factors when you determine how to change the IP address of a
controller:
• Network isolation from, or integration into, the plant/enterprise network
• Network size - For large, isolated networks, it can be more convenient
and safer to use a BOOTP/DHCP server rather than the Studio 5000
environment or RSLinx Classic software. A BOOTP/DHCP server
limits the possibility of duplicate IP address assignment.
However, you can only use the BOOTP/DHCP server to set the IP
address of the controller and not to change it. If you decide to change
the IP address of the controller and want to use a BOOTP/DHCP
server to limit the possibility of duplicate IP address assignment, you
must first clear the IP address.
After clearing the IP address, use the steps that are described at Use the
BOOTP Server to Set the lP Address on page 34 or Use the DHCP
Server to Set the lP Address on page 35 to set the IP address of the
controller.
• Company policies and procedures that deal with plant floor network
installation and maintenance
• Level of involvement by IT personnel in plant-floor network installation
and maintenance
• Type of training that is offered to control engineers and maintenance
personnel

Change the IP Address with RSLinx Software
Complete these steps to change the IP address of the controller.
1. Verify that a USB cable is connected to your computer and the controller.
2. Right-click the controller and choose Module Configuration.
3. Click the Port Configuration tab.
The controller has an IP address and Network Configuration Type.

4. Type the new IP address and Network Mask.
5. For Network Configuration Type, select Static to assign this
configuration to the port.
IMPORTANT If you click Dynamic on a power cycle, the controller clears the
current IP configuration and starts to send BOOTP requests.
6. Click OK.

Change the IP Address with Logix Designer Software
You can change the IP address of a Compact GuardLogix 5370 controller via
Logix Designer application over a USB or EtherNet/IP network connection.
Complete these steps to change the IP address of the controller.
1. Verify that your computer is connected to the controller.

2. Verify that your project is online.
3. Right-click the controller name and choose Properties.
TIP You can also right-click the Ethernet node in the I/O Configuration
section and choose Properties.
The Controller Properties dialog box appears on the Internet Protocol

tab.
4. Change the IP address of the controller.
5. Make other changes where necessary.
6. Click OK.

Change the IP Address with an SD Card
You can use an SD card to change the IP address for a Compact GuardLogix
5370 controller when the controller power is cycled. If you use the SD card to
change the IP address, then you do not need software to complete this task.
IMPORTANT To set the IP address from an SD card, software is not required during the
power-up process. However, you must have previously saved the project to
the SD card.
These requirements apply when using the SD card to change the IP address on
a Compact GuardLogix 5370 controller:
• A project is stored on the SD card.
• The project that is stored on the SD card includes another IP address for
the Compact GuardLogix 5370 controller than the IP address currently
in use on the physical controller that houses the SD card.
• The project that is stored on the SD card is configured with the Load
• Power is cycled to the controller with the SD card installed.
Load Controller Firmware You must download the current firmware before you can use the Compact
IMPORTANT Do not interrupt a firmware upgrade while it is in process. Firmware upgrade

interruption can cause the firmware revision of the Compact GuardLogix
controller to revert to its out-of-the-box revision level, that is, 1.xxx.
To load firmware, you can use any of the following:

• ControlFLASH software that installs with Logix Designer application
• AutoFlash that launches through the application when you download a
project and the controller does not have the matching firmware revision
• SD card (catalog numbers 1784-SD1 or 1784-SD2) with an image
stored on the card

If you use the ControlFLASH or AutoFlash utilities, you need an EtherNet/IP

network or USB connection to the controller.
IMPORTANT The controller firmware revision that is loaded via the ControlFLASH
software or the AutoFlash option can be overwritten after future controller
power cycles if conditions exist that are described in Use the Secure Digital
Card to Load Firmware on page 52.
The firmware is available with the application or you can download it from the
Rockwell Automation Product Compatibility and Download Center (PCDC)
support website at
http://www.rockwellautomation.com/global/support/pcdc.page.
Use the ControlFLASH Software to Load Firmware

You can use the ControlFLASH software to load firmware through a USB or
EtherNet/IP network connection. We recommend the following when you
load firmware via the ControlFLASH software:
• Use a USB connection to load the firmware.
• If one is installed in the controller, remove the SD card.
Complete these steps to use the ControlFLASH software to load firmware.
screens.
1. Verify that a connection exists between your computer and the Compact
2. Choose Start>Programs>FLASH Programming
Tools>ControlFLASH.

3. When the Welcome dialog box appears, click Next.
4. Choose the controller catalog number and click Next.
5. Expand the network until you see the controller.

6. Choose the controller at the first instance in which it appears, as shown

in the following graphic, and click OK.
7. Choose the revision level to which you want to update the controller
and click Next.
8. To start the update of the controller, click Finish and click Yes.

Before the firmware upgrade begins, you see the following dialog box.
Take the required action for your application. In this example, the
upgrade continues when OK is clicked.
After the controller is updated, the status dialog box displays that the
update is complete.
9. Click OK.
10. To close the ControlFLASH software, click Cancel and click Yes.
Use the AutoFlash Utility to Load Firmware
You can use the AutoFlash utility to load firmware through a USB or EtherNet/
IP network connection.
Let the upgrade complete without interruption. If you interrupt a firmware

upgrade that is in process, you are alerted that an error has occurred. In this
case, cycle power to the controller. The firmware revision level reverts to the
1.xxx revision level and you can begin the upgrade process again.

Complete these steps to use the AutoFlash utility to load firmware.
screens.
1. Make sure that the network connection is made and your network driver
is configured in RSLinx Classic software.
2. Create a controller project.
3. Click RSWho to specify the controller path.
The RSWho Active dialog box appears

4. Navigate over the Ethernet network and select the Compact
5. Click Download.
TIP You can click Update Firmware instead of Download to complete this
process. If you do so, skip to step 6.

A dialog box appears to indicate that the project revision and controller
firmware revision are different.
6. Click Update Firmware.
7. Use the check box and pull-down menu to choose your controller and
firmware revision.
8. Click Update.
9. When the Update Firmware dialog box appears, click Yes.
Before the firmware upgrade begins, you can be warned about your
controller missing its SD card. Take the required action, typically click OK.
The firmware upgrade begins.

10. When the firmware upgrade is complete, a Download dialog box appears.
In this example, the project download to the controller continues when
Download is clicked.
Use the Secure Digital Card to Load Firmware

You can use an installed SD card to load firmware on a Compact GuardLogix
5370 controller. If you use the SD card to load firmware, then it removes the
need for software to complete this task.
IMPORTANT An installed SD card automatically updates the firmware of the Compact

GuardLogix 5370 controller, if the SD card was configured with the Load
Your application requires the following to load firmware from an SD card at

power-up:
• You must have saved the project to the SD card before the power cycle.
• The firmware revision in the project that is stored on the SD card differs
from the firmware revision on the Compact GuardLogix 5370 controller.

Select the Operating Mode of WARNING: When you change switch settings while power is on, an electrical
the Controller arc can occur. This could cause an explosion in hazardous location installations.
Be sure that power is removed or the area is nonhazardous before you proceed.
The following graphic shows the mode switch on a Compact GuardLogix 5370
controller. Use the mode switch on the controller to set the operating mode.
RUN
REM
PROG
Reset

IMPORTANT Restrictions apply for safety applications. See Chapter 9, Develop Safety Applications, and the GuardLogix 5570 and Compact
GuardLogix 5370 Safety Reference Manual, publication 1756-RM099, for detailed information on programming restrictions.
Mode Switch
Position Description
Run You can perform these tasks:
• Upload projects.
• Run the program and enable outputs.
You cannot perform these tasks:
• Update controller firmware.
• Create or delete tasks, programs, or routines.
• Create or delete tags or edit online.
• Import a program to the controller.
• Change the port configuration of the controller, advanced port configuration, nor network configuration settings.
• Change controller configuration parameters that are directly set for operation on a device-level ring (DLR) network topology.
Prog You can perform these tasks:
• Update controller firmware.
• Disable outputs.
• Upload/download projects.
• Create, modify, and delete tasks, programs, or routines.
You cannot perform these tasks:
• Use the controller to execute (scan) tasks.
Rem You can perform these tasks:
• Upload/download projects.
• Change between Remote Program, Remote Test, and Remote Run modes through the application.
Remote Run • The controller executes (scans) tasks.
• Enable outputs.
• Edit online.
Remote Program • Update controller firmware.
• Disable outputs.
• Create, modify, and delete tasks, programs, or routines.
• Download projects.
• Edit online.
• The controller does not execute (scan) tasks.
Remote Test • Execute tasks with outputs disabled.
• Edit online.

Chapter 4
Configure the Controller
Topic Page
Create a Controller Project 55
Set Passwords for Safety -lock and -unlock 58
Set Passwords for Safety -lock and -unlock 58
Protect the Safety Task Signature in Run Mode 59
I/O Device Replacement Options 61
Enable Time Synchronization 62
Configure a Peer Safety Controller 62
Create a Controller Project To configure and program your controller, follow these steps to create and
manage a project for the controller with the Logix Designer application.
1. Click the New button on the main toolbar to create a project.

2. Double-click Compact GuardLogix® 5370 controller to expand the list
of controller options.
3. Choose a Compact GuardLogix 5370 controller:
• 1769-L30ERMS
• 1769-L33ERMS
• 1769-L36ERMS
• 1769-L37ERMOS(1)

Chapter 4 Configure the Controller
4. In the Name field, type the name of the project.

5. Click Browse to specify the folder for storing the safety controller
project.
6. Click Next.
7. From the Revision pull-down menu, choose the major revision of
firmware for the controller.
8. From the Security Authority pull-down menu, choose a security

authority option.
For detailed information on security, refer to the Logix5000™
Controllers Security Programming Manual, publication 1756-PM016.
9. Check the box below Security Authority if you want to use the selected
protection for authentication and authorization.
10. In the Description field, enter a description of the project.
11. Click Finish.
The Logix Designer application creates a safety task and a safety program. A
main ladder logic safety routine called MainRoutine is also created within the
safety program.

Configure the Controller Chapter 4
Figure 3 - Safety Task in the Controller Organizer
A red bar under the icon distinguishes safety programs and routines from
standard project components in the Controller Organizer.
When a new safety project is created, the Logix Designer application also
automatically creates a time-based safety network number (SNN).
This SNN defines the EtherNet/IP on which the controller resides as a safety
subnet. It can be viewed and modified via the General tab on the Controller
Properties dialog box.
For most applications, this automatic, time-based SNN is sufficient. However,

there are cases when you need to enter a specific SNN.
Figure 4 - Safety Network Number
Table 6 - Additional Resources
Chapter 9, Develop Safety Applications Contains more information on the safety task, safety programs, and
safety routines.
Chapter 5, Communicate Over Networks Provides more information on managing the SNN.

Set Passwords for You can safety-lock the controller to help protect safety control components
from modification. Only safety components, such as the safety task, safety
Safety -lock and -unlock programs, safety routines, and safety tags are affected. Standard components
are unaffected. You can safety-lock or -unlock the controller project when
online or offline.
The safety-lock and -unlock feature uses two separate passwords. Passwords are
optional.
Follow these steps to set passwords.
1. Click Tools > Safety > Change Passwords.

2. From the What Password pull-down menu, choose either Safety Lock or
Safety Unlock.
3. Type the old password, if one exists.

4. Type and confirm the new password.
5. Click OK.
Passwords can be from 1…40 characters in length and are not
case-sensitive. Letters, numerals, and the following symbols can be
used: ‘ ~ ! @ # $ % ^ & * ( ) _ + , - = { } | [ ] \ : ; ? /.

Protect the Safety Task You can prevent the safety task signature from being either generated or deleted
while the controller is in Run or Remote Run mode, regardless of whether the
Signature in Run Mode safety application is locked or unlocked.
Follow these steps to protect the safety task signature.
1. Open the Controller Properties dialog box.

2. Click the Safety tab.
3. Check Protect Signature in Run Mode.
4. Click OK.

Electronic Keying Electronic keying reduces the possibility that you use the wrong device in a
control system. It compares the device defined in your project to the installed
device. If keying fails, a fault occurs. These attributes are compared.
Attribute Description
Vendor The device manufacturer.
Device Type The general type of the product, for example, digital I/O module.
Product Code The specific type of the product. The Product Code maps to a catalog number.
Major Revision A number that represents the functional capabilities of a device.
Minor Revision A number that represents behavior changes in the device.
The following electronic keying options are available.
Keying Option Description

Compatible Lets the installed device accept the key of the device that is defined in the project when the
Module installed device can emulate the defined device. With Compatible Module, you can typically
replace a device with another device that has the following characteristics:
• Same catalog number
• Same or higher Major Revision
• Minor Revision as follows:
– If the Major Revision is the same, the Minor Revision must be the same or higher.
– If the Major Revision is higher, the Minor Revision can be any number.
Exact Match Indicates that all keying attributes must match to establish communication. If any attribute
does not match precisely, communication with the device does not occur. Exact Match is
required if you are using Firmware Manager.
Carefully consider the implications of each keying option when selecting one.
IMPORTANT Changing electronic keying parameters online interrupts connections to the device
and any devices that are connected through the device. Connections from other
controllers can also be broken.
If an I/O connection to a device is interrupted, the result can be a loss of data.
For more detailed information on electronic keying, see Electronic Keying in

Logix5000 Control Systems Application Technique, publication LOGIX-AT001.

I/O Device Replacement The Safety tab of the Controller Properties dialog box lets you define how the
controller handles the replacement of an I/O device in the system. This option
Options determines whether the controller sets the safety network number (SNN) of an
I/O device that it is connected to and has configuration data for when a safety
task signature(1) exists.
Follow these steps to configure how the controller handles the replacement of
an I/O device in the system.

3. Select the configure option for the controller to use when replacing
safety I/O.
4. Click OK.
Figure 5 - I/O Device Replacement Options
ATTENTION: Enable the Configure Always feature only if the entire routable
CIP Safety control system is not being relied on to maintain SIL 3 during the
replacement and functional testing of a device.
For more information, see Chapter 5, Communicate Over Networks on page 61.
(1) The safety task signature is a number used to uniquely identify each project’s logic, data, and configuration, thereby protecting
the system’s safety integrity level (SIL). See Safety Task Signature on page 14 and Generate a Safety Task Signature on page 156
for more information.

Enable Time Synchronization In a Compact GuardLogix 5370 controller system, the controller must be
designated as the coordinated system time (CST) master. Time
synchronization provides a standard mechanism to synchronize clocks across a
network of distributed devices.
IMPORTANT Time synchronization is required for motion applications.
Follow these steps to configure the controller to become the CST master.

2. Click the Date/Time tab.
3. Check Enable Time Synchronization.
4. Click OK.
Figure 6 - Date/Time Tab
Configure a Peer Safety You can add a peer safety controller to the I/O configuration folder of your
safety project to allow standard or safety tags to be consumed. To share safety
Controller data between peer controllers, you produce and consume controller-scoped
safety tags.
For details on configuring the peer safety controllers and producing and
consuming safety tags, see Produced/Consumed Safety Tags on page 144.

Chapter 5
Communicate Over Networks
Topic Page
The Safety Network 63
EtherNet/IP Network Communication 70
DeviceNet Network Communication 76
All Compact GuardLogix® 5370 controllers support these tasks over an

EtherNet/IP network:
• Control distributed I/O for both safety and standard connections
• Send/receive messages to/from other devices on the same network or
another network
• Produce/consume (interlock) data between controllers
• Socket interface
Compact GuardLogix 5370 controllers support these tasks over a DeviceNet

network:
• Control distributed I/O only for standard connections
• Send messages to devices on the same network; the controller cannot
receive messages from other devices on the network.
All Compact GuardLogix 5370 controllers also support temporary

connections from your computer via a USB connection.
The Safety Network The CIP Safety protocol is an end-node to end-node safety protocol that
allows routing of CIP Safety messages to and from CIP Safety devices through
bridges, switches, and routers.
To maintain high integrity when routing through standard bridges, switches, or

routers, each end node within a routable CIP Safety Control System must have
a unique reference. This unique reference is a combination of a safety network
number (SNN) and the node address of the network device.

Chapter 5 Communicate Over Networks
Managing the Safety Network Number (SNN)
The SNN assigned to safety devices on a network segment must be unique.

You must be sure that a unique SNN is assigned to each CIP Safety network
that contains safety devices.
The SNN assigned to safety devices on a network segment must be unique.

You must be sure that a unique SNN is assigned to each CIP Safety network
that contains safety devices.
TIP Multiple safety network numbers can be assigned to a CIP Safety subnet or a
ControlBus™ chassis that contains more than one safety device.
The SNN can be software-assigned (time-based) or user-assigned (manual).

These two formats of the SNN are described in the following sections.
Time-based SNN
If the time-based format is selected, the SNN value that is generated represents
the date and time at which the number was generated, according to the
personal computer running the configuration software.
Figure 7 - Time-based SNN Format

Communicate Over Networks Chapter 5
Manual SNN
If the manual format is selected, the SNN represents entered values from
1…9999 decimal.
Figure 8 - Manual-based SNN Format
Assigning the Safety Network Number (SNN)
You can allow the Logix Designer application to automatically assign an SNN,
or you can assign the SNN manually.
Automatic Assignment
When a new controller or module is created, a time-based SNN is

automatically assigned via the configuration software. Subsequent new safety-
module additions to the same CIP Safety network are assigned the same SNN
defined within the lowest address on that CIP Safety network.
Manual Assignment
The manual option is intended for routable CIP Safety systems where the
number of network subnets and interconnecting networks is small, and where
users might like to manage and assign the SNN in a logical manner pertaining
to their specific application.
See Changing the Safety Network Number (SNN) on page 66.
IMPORTANT If you assign an SNN manually, make sure that system expansion does not
result in duplication of SNN and node address combinations.
A warning appears if your project contains duplicate SNN and node address
combinations. You can still verify the project but Rockwell Automation
recommends that you resolve the duplicate combinations.

Automatic Versus Manual
For typical users, the automatic assignment of an SNN is sufficient. However,

manual manipulation of the SNN is required if the following is true:
• Safety consumed tags are used.
• The project consumes safety input data from a module whose
configuration is owned by some other device.
• A safety project is copied to another hardware installation within the
same routable CIP Safety system.
Changing the Safety Network Number (SNN)
Before changing the SNN you must do the following:

• If the project is safety-locked, then you must unlock it.
See Safety-lock the Controller on page 154.
• If a safety task signature exists, then you must delete it.

See Delete the Safety Task Signature on page 157.
Change the SNN of the Controller
1. In the Controller Organizer, right-click the controller and choose

Properties.
2. On the General tab of the Controller Properties dialog box, click to
the right of the safety network number to open the Safety Network
Number dialog box.

3. Click Time-based and then Generate.
4. Click OK.
Change the SNN of Safety I/O Modules on the CIP Safety Networks
1. In the Controller Organizer, double-click the first safety I/O module

underneath the Ethernet network to view the General tab.
2. Click to the right of the safety network number to open the Safety
Network Number dialog box.

3. Choose Time-based and click Generate to generate a new SNN for that
EtherNet/IP network.
4. Click OK.
5. Click Copy to copy the new SNN to the Windows Clipboard.
6. Open the General Tab of the Module Properties dialog box of the next
safety I/O module under that EtherNet/IP module.
8. Choose Time-based and click Paste to paste that EtherNet/IP network’s
SNN into that device.
9. Click OK.
10. Repeat steps 6…8 for the remaining safety I/O modules under that
EtherNet/IP communication module.
11. Repeat steps 2…8 for any remaining network communication modules
under the I/O Configuration tree.

Copy and Paste a SNN
If the module’s configuration is owned by another controller, you may need to

copy and paste the SNN from the configuration owner into the module in your
I/O configuration tree.
1. In the software configuration tool of the module’s configuration owner,

open the Safety Network Number dialog box for the module.
2. Click Copy.
3. Click the General tab on the Module Properties dialog box of the I/O
module in the I/O Configuration tree of the consuming controller
project.
This consuming controller is not the configuration owner.
5. Click Paste.
6. Click OK.

EtherNet/IP Network The EtherNet/IP network offers a full suite of control, configuration, and data
collection services by layering the Common Industrial Protocol (CIP) over the
Communication standard Internet protocols, such as TCP/IP and UDP. This combination of
well-accepted standards provides the capability that is required to support
information data exchange and control applications.
The Compact GuardLogix 5370 controllers use socket interface transactions

and conventional communication over the EtherNet/IP network to
communicate with Ethernet devices that do not support the EtherNet/IP
application protocol.
For more information on socket interface transactions, see Socket Interface on

page 75.
Available Software
You use the software that is listed in the following table with a Compact
GuardLogix 5370 controller on an EtherNet/IP network.
Software Required Version Functions Required

Studio 5000® 28.00.00 or later • Configure the CompactLogix™ project Yes
environment • Define EtherNet/IP communication
• Change IP address for devices on network,
including the Compact GuardLogix 5370 controller
RSLinx® Classic 3.80 or later • Assign or change IP addresses to devices on an
EtherNet/IP network
• Configure communication devices
• Provide diagnostics
• Establish communication between devices
BOOTP/DHCP Most current version is Assign IP addresses to devices on an EtherNet/IP No
utility installed when RSLinx network.
Classic software is installed
EtherNet/IP Functionality
The Compact GuardLogix 5370 controllers offer this EtherNet/IP network

functionality:
• Dual built-in EtherNet/IP network ports
• Support for the following EtherNet/IP network topologies:
– Device Level Ring Network Topology
– Linear Network Topology
– Star Network Topology
• Support for CIP safety protocol
• Support for Integrated Motion over an EtherNet/IP network
• Socket interface to communicate with Ethernet devices that do not
support the EtherNet/IP application protocol

• Duplicate IP address detection

• Unicast and multicast communication
• Support messaging, produced/consumed tags, HMI, and distributed I/O
• Interface via RJ45, twisted-pair cables
• Support half/full-duplex 10 Mbps or 100 Mbps operation
• Support standard switches
• No network scheduling required
• No routing tables required
Nodes on EtherNet/IP Network
When configuring your Compact GuardLogix 5370 controller system, you

must account for the number of Ethernet nodes that you include in the I/O
configuration section of your project. Compact GuardLogix 5370 controllers
have limits on the number of nodes they support in the I/O configuration
section.
Table 7 - Compact GuardLogix 5370 Controller Ethernet Node Guidelines
Cat. No. Ethernet Nodes Supported

1769-L30ERMS 16
1769-L33ERMS 32
1769-L33ERMOS
1769-L36ERMS 48
1769-L36ERMOS
1769-L37ERMOS(1) 64
IMPORTANT While Compact GuardLogix 5370 controllers offer the option of using
Ethernet node count to effectively design a control system, the controllers
do have connection limits on an EtherNet/IP network.
For more information on how to design EtherNet/IP network use in your
Compact GuardLogix 5370 controller system, see these resources:
• The EtherNet/IP Capacity Tool available at
http://www.rockwellautomation.com/global/products-technologies/
integrated-architecture/tools/overview.page.
The EtherNet/IP Capacity Tool helps you in the initial layout of your
• Ethernet Design Considerations Reference Manual, publication
ENET-RM002.

Devices Excluded from the Node Count
When considering the Ethernet node limitation of a Compact GuardLogix

5370 controller, you do not count Ethernet devices that exist on the EtherNet/
IP network but are not added to the I/O configuration section of the project.
The following devices are not added to the I/O configuration section in your
project and are not counted among the total number of nodes:
• Computer
• HMIs that are not added to the I/O configuration section, for example,
PanelView™ Plus terminals
• MSG instructions
• Devices with which the Compact GuardLogix 5370 controllers use a
socket interface to communicate.
For example, the following devices require communication via a socket
interface:
– Modbus TCP/IP device
– Barcode scanners
EtherNet/IP Network Topologies
Compact GuardLogix 5370 controllers support these EtherNet/IP network

types:
• Device Level Ring (DLR) Network Topology
• Linear Network Topology
• Star Network Topology
Each of these EtherNet/IP network topologies supports applications that use

Integrated Motion over an EtherNet/IP network.
Device Level Ring (DLR) Network Topology
A DLR network topology is a single-fault tolerant ring network that is

intended for the interconnection of automation devices. A DLR network is
comprised of Supervisor (Active and Backup) nodes and Ring nodes.
DLR network topologies automatically convert to linear network topologies

when a fault is detected. The conversion to the new network topology
maintains communication of data on the network. The fault condition is
typically easily detected and corrected.

Compact GuardLogix 5370 controllers connect directly to a DLR network

topology, that is, without requiring a 1783-ETAP tap to connect to the
network. The controllers can function in any of the roles on a DLR network
topology, that is, active supervisor node, back-up supervisor node or ring node.
IMPORTANT The topology graphics that are shown in this section are examples of
applications that use only DLR network topologies.
We recommend that you exercise caution if you consider designing an
application that includes the connection of a DLR topology with a linear or
star network topology.
For more information on using a DLR network topology, see the EtherNet/IP
Embedded Switch Technology Application Guide, publication ENET-AP005.
Figure 9 shows an example 1769-L33ERMS control system with a DLR

network topology.
Figure 9 - Example 1769-L33ERMS Control System With a DLR Network Topology
1783-ETAP
• Kinetix® 350 1769-L33ERMS

• 1783-ETAP
• PanelView Plus
• 1783-ETAP
Kinetix 5500
1794-AENT FLEX™ I/O
1734-AENTR POINT I/O™
Linear Network Topology
A linear network topology is a collection of devices that are daisy-chained

together across an EtherNet/IP network. Devices that can connect to a linear
network topology use embedded switch technology to remove any need for a
separate switch, as required in Star network topologies.
Figure 10 shows an example 1769-L33ERMS control system with a linear

network topology.

Figure 10 - Example 1769-L33ERMS Control System With a Linear Network Topology
1734-AENTR POINT I/O
• 1794-AENT FLEX PanelView Plus

• 1783-ETAP
Kinetix
5500
Esc Sel
1769-L33ERMS
• PowerFlex® 525
• 1783-ETAP
Star Network Topology
A star network topology is a traditional EtherNet/IP network that includes

multiple devices that are connected to each other via an Ethernet switch.
Figure 11 shows an example 1769-L33ERMS control system with a star

network topology.
Figure 11 - Example 1769-L33ERMS Control System With a Star Network Topology
1769-L33ERMS
Stratix 6000™
Kinetix 6500
PanelView Plus
1734-AENTR POINT I/O

Esc Sel
PowerFlex 525

EtherNet/IP Network Connections
Compact GuardLogix 5370 controllers use connections to manage

communication on the EtherNet/IP network. A connection is a point-to-point
communication mechanism that is used to transfer data between a transmitter
and a receiver. Connections can be logical or physical.
You indirectly determine the number of connections the controller uses by

configuring the controller to communicate with other devices in the system.
Connections are allocations of resources that provide more consistent
communication between devices than unconnected messages.
All EtherNet/IP connections are unscheduled. An unscheduled connection is a

message transfer between controllers that the requested packet interval (RPI)
or the program, such as a MSG instruction, triggers. Unscheduled messaging
lets you send and receive data when needed.
Table 8 - Compact GuardLogix 5370 Controller EtherNet/IP Network Port Specifications
CIP Packet Rate Capacity

Connections Unconnected (packets/second)(2) SNMP Produced/Consumed Tags
Messages Support
(backplane + (password Media Number of Multicast Unicast
Cat. No. Controller TCP CIP Ethernet) I/O HMI/MSG required) Support Tags, max(3) Available
1769-L30ERMS 256 120 256 256 6000 @ 500 400 messages/ Yes Twisted • 32 multicast Yes
bytes/packet second @ 20% pair produced tags
1769-L33ERMS comm. timeslice • 128 unicast
produced tags
1769-L33ERMOS
1769-L36ERMS
1769-L36ERMOS
1769-L37ERMOS(1)
(2) Total packet rate capacity = I/O Produced Tag, max + HMI/MSG, max Packet rates vary depending on packet size. For more detailed specifications, see the capacity section of the EDS file for the
catalog number.
(3) These are the maximum numbers of CIP I/O connections.
Socket Interface
The Compact GuardLogix 5370 controller can use socket interfaces to

communicate with Ethernet devices that do not support the EtherNet/IP
application protocol.
Examples of devices that do not support the EtherNet/IP application protocol

but can be used in a Compact GuardLogix 5370 controller application include
the following:
• Modbus TCP/IP device
• Barcode scanners
• RFID readers

The socket interface is implemented via the Socket Object. Compact

GuardLogix 5370 controllers communicate with the Socket Object via MSG
instructions. All Compact GuardLogix 5370 controllers must use unconnected
MSG instructions with socket interfaces.
For more information on socket services, see the following:

• CompactLogix 5370 Controllers User Manual, publication 1769-UM021
• The EtherNet/IP Socket Interface Application Technique, publication
ENET-AT002
Quality of Service (QoS) and I/O Module Connections
Compact GuardLogix 5370 controllers support Quality of Service (QoS)

technology. QoS lets the controller prioritize EtherNet/IP network traffic. By
default, the Compact GuardLogix 5370 controllers are QoS-enabled. QoS can
be disabled by configuring a message instruction in the Logix Designer
application.
Some EtherNet/IP devices do not support QoS technology unless the device
firmware is upgraded to a required minimum firmware revision level. For
example, the ControlLogix™ 1756-ENBT communication module must use
firmware revision 4.005 or later to support QoS technology.
To make sure communication between Compact GuardLogix 5370 controllers

and I/O modules are maintained, verify that the EtherNet/IP devices use the
minimum firmware revision level of the product that is required to support
QoS technology.
For more information on the following, see Rockwell Automation®

Knowledgebase Tech Note 66325
(available at https://rockwellautomation.custhelp.com/):
• Minimum firmware revision levels of EtherNet/IP devices to support
QoS technology
• Enable/disable QoS
DeviceNet Network The Compact GuardLogix 5370 controllers communicate with other devices
over the DeviceNet network via a Compact I/O 1769-SDN DeviceNet
Communication scanner. The DeviceNet network uses the Common Industrial Protocol (CIP)
to provide the control, configuration, and data collection capabilities for
industrial devices.
IMPORTANT Compact GuardLogix controllers support standard connections to the

DeviceNet network. CIP Safety over DeviceNet networks is not supported.

Available Software
The software applications that are listed in this table are required when using a
Compact GuardLogix 5370 controller on a DeviceNet network.
Software Required Version Functions

Studio 5000 28.00.00 or later Configure the CompactLogix project.
environment
RSLinx Classic 3.80 or later • Configure communication devices
• Provide diagnostics
• Establish communication between devices
RSNetWorx™ 25.00.00 or later if used with the Studio • Configure DeviceNet devices
for DeviceNet 5000 environment versions above • Define the scanlist for the DeviceNet network
Figure 12 shows an example 1769-L33ERMS control system with a DeviceNet

network.
Figure 12 - Example 1769-L33ERMS Control System With a DeviceNet Network
• 1769-L33ERMS
• 1769-SDN Scanner
1606-XLDNET E3 Overload Relay 1734-ADN POINT I/O
Compact I/O 1769-SDN DeviceNet Scanner

You can connect a Compact GuardLogix 5370 controller to a DeviceNet
network via a Compact I/O 1769-SDN DeviceNet scanner for standard
communication.
IMPORTANT CIP Safety is not supported on a DeviceNet network with the 1769-SDN
scanner. DeviceNet safety I/O modules cannot be connected to a Compact
GuardLogix 5370 controller system via the 1769-SDN scanner.

Considerations
Before installing the scanner, consider the following:

• You can connect the scanner to an adjacent controller, power supply, or
I/O module.
• You must account for these two requirements jointly:
– Power supply distance rating; see page 78
– Current capacity in Compact GuardLogix controller systems;
see page 80
• The scanner, as a master, can own up to 63 slave I/O nodes.
• Another DeviceNet master can own a scanner that is simultaneously a
master and be a slave.
Scanner Features
The scanner has the following functionality:

• Supports messaging to devices, not controller to controller
• Supports control-level network to device-level network for
programming, configuration, control, or data collection
• Shares a common application layer with EtherNet/IP networks
• Offers diagnostics for improved data collection and fault detection
Power Supply Distance Rating
Compact GuardLogix 5370 controller systems allow you to install 1769-SDN

scanners as local expansion modules. The 1769-SDN scanner has a power
supply distance rating to consider before you install it.
Power supply distance rating is the number of slots a 1769-SDN scanner can be
installed away from the power supply. The 1769-SDN scanner has a power
supply distance rating of four. Therefore, your Compact GuardLogix 5370
controller system can include up to three modules between the 1769-SDN
scanner and the power supply.
Compact GuardLogix 5370 controller systems do not have embedded I/O

modules. You begin counting local expansion slots with the first Compact I/O
module installed next to the power supply when determining where to install a
1769-SDN scanner and meet its power supply distance rating.
In Compact GuardLogix 5370 controller systems, you can install 1769-SDN

scanners to the left or right side of the power supply. You can also use local and
extra banks in Compact GuardLogix 5370 controller systems, with each
allowing the inclusion of a 1769-SDN scanner.

In the local bank, the controller must be the left-most device in the system and
you can only install up to three modules between the controller and the power
supply. Therefore, any 1769-SDN scanners that are installed to the left of the
power supply in the local bank, are in a module slot that meets the power
supply distance rating requirements of the module.
Compact GuardLogix 5370 controller systems also support the use of extra
banks for the local expansion modules of the system. Each additional bank
requires a 1769 Compact I/O power supply. The bank can be designed with
local expansion modules on either side of the power supply.
In this case, you must install the 1769-SDN scanner with no more three
Compact I/O modules between the scanner and the power, regardless of
whether the modules are installed to the left or right of the power supply.
Figure 13 on page 79 shows 1769-SDN scanners that are installed in a

1769-L36ERMS control system that meet the power supply distance rating of
the module.
Figure 13 - Power Supply Distance Rating Example for a 1769-SDN Scanner
Local Bank
Compact GuardLogix
5370 Controller Power Supply 1769-SDN Scanner
1769-SDN Scanner
Extra Bank

Current Capacity in Compact GuardLogix 5370 Controller Systems
In a local or extra bank, the modules that are installed on either side of the
power supply cannot draw more current than the power supply can supply.
This requirement partially dictates module placement on the bank.
For example, if a bank uses a 1769-PA2 Compact I/O power supply, each side
of the bank has a current capacity of 1A at 5V DC and 0.4A at 24V DC.
Because a 1769-SDN scanner has a current draw of 440 mA at 5 V DC and 0
mA at 24 V DC, you can only install up to two scanners on each side of the
power supply in the bank in this case.
For more information on 1769 Compact I/O power supply maximum current
capacity and calculations you can use to design the modules that are used in
local or extra banks, see Calculate System Power Consumption on page 85.

Chapter 6
Add and Configure Standard I/O Modules
Topic Page
Select I/O Modules 81
Validate Standard I/O Layout 84
Configure Standard I/O 94
Configure Standard Distributed I/O Modules on an EtherNet/IP Network 96
Configure Standard Distributed I/O Modules on a DeviceNet Network 98
Monitor Standard I/O Modules 101
Select I/O Modules Compact GuardLogix® 5370 controller systems offer these standard I/O
module options:
• Local Expansion Modules
• Standard Distributed I/O Modules Over an EtherNet/IP Network
• Standard Distributed I/O Modules Over a DeviceNet Network
Local Expansion Modules
Compact GuardLogix 5370 controller systems support the use of standard

Compact I/O™ modules as local expansion modules along a CompactBus
backplane.
Consider the following when using local expansion modules:

• The controllers support this many local Compact I/O modules across
up to three I/O banks, that is, the local bank and two more banks.
Cat. No. Local Expansion Modules Supported, max

1769-L30ERMS 8
1769-L33ERMS 16
1769-L33ERMOS —
1769-L36ERMS 30
1769-L36ERMOS —
1769-L37ERMOS(1)

Chapter 6 Add and Configure Standard I/O Modules
• When possible, use specialty Compact I/O modules to meet unique

application requirements.
• Consider using a 1492 wiring system for each I/O module as an
alternative to the terminal block that comes with the module.
• Use 1492 PanelConnect™ modules and cables if you are connecting
input modules to sensors.
Install Local Expansion Modules
Complete these steps to install local expansion modules in your Compact

GuardLogix 5370 controller system.
1. Attach the 1769 Compact communication or I/O modules as described

in these publications:
• Compact I/O Modules Installation Instructions, publication
1769-IN088
• Compact I/O DeviceNet Scanner Module Installation Instructions,
publication 1769-IN060
2. If your system uses only a local bank, complete these steps.
a. Use the tongue-and-groove slots to attach a 1769-ECR Compact
I/O end cap terminator to the last module in the system.
b. Move the lever of the end cap bus terminator fully to the left until it
clicks to lock the end cap bus terminator.
3. If your system uses more banks, follow these steps.
a. Install a 1769-CRx Compact I/O communication bus expansion
cable at the right end of the local bank.
b. Connect the 1769-CRx cable to the additional bank as necessary.
That is, how you connect to the first extra bank—on the right or left
side of the bank, determines the expansion cable that is installed at
the end of the local bank. See page 91 for an example of how to
connect a local bank to extra banks.
c. Complete the installation of the remaining banks in your system.
IMPORTANT Make sure that you install an end cap at the end of the last bank
in your system.
Figure 2 on page 26 shows example systems with local expansion modules

included.
Wire Local Expansion Modules
Wire each Compact I/O module that is used as a local expansion module
according to the technical documentation for that module.

Add and Configure Standard I/O Modules Chapter 6
Standard Distributed I/O Modules Over an EtherNet/IP Network
You can include standard distributed I/O modules over an EtherNet/IP

network in your Compact GuardLogix 5370 controller system. Consider the
following when you use distributed I/O modules over an EtherNet/IP
network:
• Each remote EtherNet/IP adapter included in the system must be
counted toward the maximum number of EtherNet/IP nodes for the
controller.
For more information on maximum number of EtherNet/IP nodes, see
Nodes on EtherNet/IP Network on page 69.
• The configurable RPI settings vary depending on which distributed I/O
modules are used in the system.
Figure 14 shows an example 1769-L33ERMS controller system that uses local

expansion modules and standard distributed I/O modules over an EtherNet/
IP network.
Figure 14 - Example 1769-L33ERMS Controller System With Modules Over an EtherNet/IP

Network
Standard Distributed I/O Modules
Standard Distributed I/O Module
Local Expansion Modules
Compact
GuardLogix
5370
Controller
Standard Distributed I/O Modules Over a DeviceNet Network
You can include standard distributed I/O modules over a DeviceNet network
in your Compact GuardLogix 5370 controller system.
IMPORTANT CIP Safety is not supported on DeviceNet with the 1769-SDN module.
DeviceNet safety I/O modules cannot be connected to a Compact GuardLogix
system via the 1769-SDN module.

Consider the following when you use distributed I/O modules over a
DeviceNet network:
• Studio 5000® environment - For more information, see
Configure Standard Distributed I/O Modules on an EtherNet/IP
Network on page 96.
• RSNetWorx™ for DeviceNet software - For more information, see
DeviceNet Network Communication on page 74.
• For information to add distributed I/O modules to your Compact
GuardLogix 5370 controller system, see Configure Standard
Distributed I/O Modules on a DeviceNet Network on page 98.
Figure 15 shows an example 1769-L33ERMS controller system that uses local

expansion modules and standard distributed I/O modules over a DeviceNet
network.
Figure 15 - Example 1769-L33ERMS Controller System With Modules Over a DeviceNet Network
Local Expansion
Modules
DeviceNet Network
Standard Distributed I/O Modules
Validate Standard I/O Layout After you have selected your I/O modules, you must validate the system that you
want to design. Consider these points when validating I/O layout placement:
• Estimate Requested Packet Interval
• Module Fault Related to RPI Estimates
• Calculate System Power Consumption
• Power Supply Distance Rating
• Physical Placement of I/O Modules

Estimate Requested Packet Interval
The requested packet interval (RPI) defines the frequency at which the
controller sends data to and receives data from I/O modules. You set an RPI
rate for each I/O module in your system.
The Compact GuardLogix 5370 controllers attempt to scan an I/O module at

the configured RPI rate. For individual I/O modules, a Module RPI Overlap
minor fault occurs if there is at least one I/O module which cannot be serviced
within its RPI time.
The configuration parameters for a system determine the impact on actual RPI
rates. These configuration factors can affect the effective scan frequency for
any individual module:
• Rates at which RPI rates are set for other Compact I/O modules
• Number of other Compact I/O modules in the system
• Types of other Compact I/O modules in the system
• Application user task priorities
Table 9 - Requested Packet Interval Guidelines
Type of Module Guidelines(1)

All digital The following guidelines apply:
• 1…2 modules can be scanned in 0.5 ms.
• 3…4 modules can be scanned in 1 ms.
Mix of digital The following guidelines apply:
and analog or all • 1…2 modules can be scanned in 0.5 ms.
analog • 3…4 modules can be scanned in 1 ms.
Specialty The following conditions apply:
• For every 1769-SDN module in the system, increase the RPI of every other module by 2 ms.
• For every 1769-HSC module in the system, increase the RPI of every other module by 1 ms.
• For every 1769-ASCII module in the system, increase the RPI of every other module by 1 ms.
• For every 1769-SM2 module in the system, increase the RPI of every other module by 2 ms.
(1) The guidelines in this table do not factor in the following items, which affect Compact GuardLogix 5370 controller CPU loading:
• I/O RPI timing does not affect the task priority. Event and periodic tasks have higher priority than I/O and user tasks.
• IOT (Immediate Output Instruction)
• Messaging
• CompactBus browsing such as DeviceNet network access through 1769-SDN with Compact GuardLogix 5370 Ethernet or
USB connection
Module RPI guidelines can require adjustment (increase of 1 ms or more) if Compact GuardLogix 5370 controller application
includes one or more of the listings in this table. Monitor controller minor faults to determine if Module RPI overlaps have
occurred.
You can set the RPI rates of individual Compact I/O modules higher than the
rates listed in Table 9. The RPI shows how quickly modules can be scanned,
not how quickly an application can use the data. The RPI is asynchronous to
the program scan. Other factors, such as program execution duration, affect
I/O throughput.

Module Fault Related to RPI Estimates
When following the guidelines described in Table 9, most Compact

GuardLogix 5370 controller systems operate as expected. Some systems that
follow the guidelines can experience a Module RPI Overlap minor fault as
described in Table 10.
Table 10 - Module RPI Overlap Fault

Fault
Name Information Condition In Which Fault Occurs
Module (Type 03) I/O fault This fault is logged when the current RPI update of an I/O module overlaps with
RPI (Code 94) Module its previous RPI update. The Minor Faults tab in the Controller Properties dialog
0verlap RPI overlap box indicates in which module the RPI overlap occurs.
detected If multiple I/O modules experience the fault, the application indicates that the
Module Slot = x, fault occurred on the first such I/O module. Typically, it is an I/O module with a
where x is the slot large I/O array sizes. Example modules that use large I/O array sizes include the
number of the I/O 1769-SDN and 1769-HSC modules. In these cases, we recommend that you adjust
module in the I/O the RPI of the module to remove the fault.
configuration Once the fault is cleared from the first I/O module, the application indicates the
section next module that experiences the fault. This pattern continues until the fault is
cleared from all affected I/O modules.
To avoid this fault, set the RPI rate of the I/O modules to higher numerical values.
We recommend you use an RPI value that is not a common multiple of other
module RPI values, such as 2.5 ms, 5.5 ms, or 7 ms.
• We recommend that you do not run Compact GuardLogix 5370 controller
systems with Module RPI Overlap faults.
• A system that experiences many Module RPI Overlap faults cannot operate
optimally because I/O data is not sampled at the expected rate that the RPI
settings determine.
• When the project is downloaded or the RPI value of an I/O module is adjusted,
it is expected to have a minor fault. Faults under these conditions are
transitionary. Clear the fault and wait for the fault to reappear before
adjusting the RPI value or the task priorities.

Calculate System Power Consumption
The 1769 Compact I/O power supplies provide power to Compact

GuardLogix local and more banks. The provided power is measured in current
capacity.
Consider these points when you design your Compact GuardLogix 5370
controller system banks:
• 1769 Compact I/O power supplies have two maximum current capacity
requirements that affect how you design and configure one bank.
The following are the maximum current capacity requirements:
– Maximum current capacity for one bank
– Maximum current capacity for each side of the power supply
Current Capacity for Single Bank
Current Capacity Current Capacity
for Side of Bank Power Supply for Side of Bank
• The maximum current capacity requirements vary by the power supply

that is used in the bank.
Power Supply Current Capacity, max for Single Current Capacity, max for Each Side of
Cat. No. Bank Bank(1)
1769-PA2
2 A at 5V DC and 0.8 A at 24V DC 1 A at 5V DC and 0.4 A at 24V DC
1769-PB2
1769-PA4
4 A at 5V DC and 2 A at 24V DC 2 A at 5V DC and 1 A at 24V DC
1769-PB4
(1) Specification for banks with devices on left and right sides of the power supply.

Calculate Power Consumption in Single Bank
IMPORTANT One bank requires the Compact GuardLogix 5370 controllers to reside in the
left-most slot. At a minimum, you must calculate the power consumption of
the controller on the left side of the power supply.
If more modules are installed on the left side of the power supply, you must
also calculate the power consumption for those modules.
If more modules are installed to the right of the power supply, you must
calculate the power consumption for that side separately.
Use this table to calculate power consumption in one bank.
Table 11 - Module Power Consumption Calculation for a Local Bank

Calculated Current =
(Number of Modules) x (Module
Module Current Requirements Current Requirements)
Side of Power Number of
Supply Device Cat. No. Modules(3) at 5V DC (in mA) at 24V DC (in mA) at 5V DC (in mA) at 24V DC (in mA)
Left - Required 1769-L30ERMS 1 500 225 500 225
1769-L33ERMS
1769-L36ERMS
Left - Optional I/O Module-specific Up to 3 Module-specific Module-specific
Total Current Required(2):
Right I/O Module-specific Up to 8 Module-specific Module-specific

IMPORTANT: Insert a separate row in this
calculation for each I/O module.
Total Current Required for Single Bank if Modules Are Installed on Both Sides of the Power Supply(1):
(1) This number must not exceed the power supply current capacity for the bank.
(2) This number must not exceed the power supply current capacity for this side of the bank.
(3) In the local bank, you can only install up to three modules to the left of the power supply because the Compact GuardLogix 5370 controllers have a power supply distance rating of four and must be
within four slots of the Compact I/O power supply. On the right side of the power supply in the local bank and both sides of the power supply in more banks, you can install up to eight modules if
power supply distance ratings for the modules validate the system design.
Calculate Power Consumption in an Additional Bank
IMPORTANT In extra banks, you can install I/O modules to the left side, right side, or both
sides of the power supply.
The system design determines how to use the following table.
Use Table 12 to calculate power consumption in an extra bank.

Table 12 - Module Power Consumption Calculation for an Additional Bank

Calculated Current =
(Number of Modules) x (Module
Module Current Requirements Current Requirements)
Side of Power Number of
Supply Device Cat. No. Modules(3) at 5V DC (in mA) at 24V DC (in mA) at 5V DC (in mA) at 24V DC (in mA)
Left - Optional in I/O Modules Up to 8 Module-specific Module-specific
an extra bank IMPORTANT: Insert a separate row in this
calculation for each I/O module.
Right - Optional in I/O Modules Up to 8 Module-specific Module-specific

one bank IMPORTANT: Insert a separate row for each
I/O module.
Total Current Required for Bank if Modules Are Installed on Both Sides of the Power Supply(1):
(1) This number must not exceed the power supply current capacity for the bank.
(2) This number must not exceed the power supply current capacity for this side of the bank.
(3) You can install up to eight modules in additional banks if the power supply distance ratings for the modules validate the system design.
Physical Placement of I/O Modules
Depending on the controller catalog number, Compact GuardLogix 5370

controllers support between 8 and 30 I/O modules. For more information on
catalog numbers, see Local Expansion Modules on page 81.
Consider these factors when determining the physical placement of I/O

modules:
• You can install I/O modules in local and extra banks.
• You can install I/O modules to the left and right of the power supply.
• When a system requires multiple banks, you can install the additional
banks horizontally or vertically, as shown in Figure 2 on page 26.
• Each I/O module also has a power supply distance rating and maximum
current draw. Considered jointly, distance ratings and current draw
determine where I/O modules can be placed in a bank and what
configuration of modules can be installed in the bank.
For more information on power supply distance ratings, see Power
Supply Distance Rating on page 91. For more information on system
power consumption, see Calculate System Power Consumption on
page 87.

Local Bank
To validate the local bank design, confirm that the design meets these
requirements:
• The controller is the left-most device in the local bank.
• No more than three modules are installed between the controller and
the left side of the power supply.
• No more than eight modules are installed to the right of the power
supply.
• The power consumption of the modules on each side of the power
supply does not exceed the capacity of the power supply for that side.
• The total power consumption by all modules in the bank does not
exceed the capacity of the power supply for the entire bank.
• Modules are installed such that all power supply distance rating and
system power consumption requirements are met.
For example, the 1769-SDN scanner has a power supply distance rating
of four. If the design includes the installation of a 1769-SDN scanner
with greater than three modules between it and the power supply, the
design is invalid.
IMPORTANT Regarding power supply distance ratings, if you install a module

that violates its power supply distance rating specification, the
system can appear to operate normally for a time, but could
experience operational issues over time, such as I/O faults.
The following example graphic shows a local bank.

1769-L36ERMS 1769 Compact I/O
Controller Compact I/O Modules Power Supply Compact I/O Modules End Cap

Additional Banks
If your application calls for twelve or more I/O modules, at minimum, you
must install the modules in extra banks. The conditions of each application
determine the number of extra banks.
Once the local bank design is validated, you must validate the design for any
additional banks. To validate extra bank designs, confirm that the design meets
these requirements:
• Compact I/O communication bus expansion cables are used properly.
TIP Compact I/O expansion cables have the same dimensions as the end caps
regardless of whether they are installed at the right or left side of the
communication bus
• No more than eight modules are installed on either side of the power
supply.
• The power consumption of the modules on each side of the power
supply does not exceed the capacity of the power supply for that side.
• Modules are installed such that all power supply distance rating
requirements are met.
• End caps are installed properly, as shown in the following graphic.
Local Bank
1769-CRRx Cable End

End Cap Caps
Extra Bank
Power Supply Distance Rating
Compact GuardLogix 5370 controller systems do not have embedded I/O

modules. You begin counting local expansion slots with the first Compact I/O
module installed next to the power supply when determining where to install a
Compact I/O module and meet its power supply distance rating.
In Compact GuardLogix 5370 controller systems, you can install Compact I/

O modules to the left or right side of the power supply. You can also use local
and extra banks in Compact GuardLogix 5370 controller systems, with each
allowing the inclusion of Compact I/O modules.

Local Bank
In the local bank, the controller must be the leftmost device in the system and
you can only install up to three modules between the controller and the power
supply. Therefore, any Compact I/O modules that are installed to the left of
the power supply in the local bank must be in a module slot that meets the
module’s power supply distance rating requirements.
Additional Banks
Compact GuardLogix 5370 controller systems also support the use of extra
banks for the local expansion modules of the system. Every additional bank
requires a 1769 Compact I/O power supply. The bank can be designed with
local expansion modules on either side of the power supply.
Most Compact I/O modules have power supply distance rating values that allow
you to install them in any slot on either side of the power supply in extra banks.
Some Compact I/O modules have power supply distance ratings that affect
where you can install them in the Compact GuardLogix 5370 controller system.
For example, the 1769-ASCII Compact ASCII and 1769-HSC Compact

high-speed counter modules each have a power supply distance rating of four.
These modules can be installed in local expansion module slots one through three.
In this case, you must install the 1769-ASCII module and 1769-HSC high-
speed counter module with no more three Compact I/O modules between the
module and the power, regardless of whether the modules are installed to the left
or right of the power supply.

This graphic shows 1769-HSC high-speed counter modules that are installed
in a 1769-L36ERMS control system that meet the power supply
distance rating of the module.
Local Bank
1769-HSC High-speed Counter Modules Installed in a 1769-L36ERMS

Control System Meeting the Power Supply Distance Rating Requirements
of the High-speed Counter Module
Extra Bank
For more information about the power supply distance rating for a Compact
I/O module, see CompactLogix™ Selection Guide, publication 1769-SG001.

Configure Standard I/O Complete these steps to add a Compact I/O module to your Compact
GuardLogix 5370 controller system and configure it.
1. In the Controller Organizer, select and right-click the 1769 Bus under
I/O Configuration, and choose New Module.
2. Select the desired I/O module and click Create.
The New Module dialog box appears.

3. Configure the new I/O module as necessary and click OK.

Common Configuration Parameters
While the configuration options vary from module to module, there are some
common options you typically configure when using Compact I/O modules in
a Compact GuardLogix 5370 controller system, as described in Table 13.
Table 13 - Common Configuration Parameters

Configuration Option Description
Requested packet interval (RPI) The RPI specifies the interval at which data is transmitted or received over a connection. For 1769 Compact Local I/O modules, data is
transmitted to the controller at the RPI.
When scanned on the local bus or over an EtherNet/IP network, input modules are scanned at the RPI specified in the module
configuration. Typically, you configure an RPI in milliseconds (ms). For I/O modules, the range is 0.5…750 ms.
When scanned over a DeviceNet network, distributed input modules are scanned at the rate that the DeviceNet adapter that connects
the input modules to the network supports. For example, the scan rate for distributed 1734 POINT I/O™ over DeviceNet can only occur as
quickly as the 1734-ADN DeviceNet adapter can transmit the data.
Module definition Set of configuration parameters that affect data transmission between the controller and the I/O module. The parameters include the
following:
• Series - Hardware series of the module.
• Revision - Major and minor firmware revision levels that are used on the module.
• Electronic Keying - See LOGIX-AT001 for Electronic Keying information.
• Connection - Type of connection between the controller writing the configuration and the I/O module, such as Output.
• Data format - Type of data that is transferred between the controller and I/O module and what tags are generated when the
configuration is complete.
Module Fault on Controller If This option determines how the controller is affected if the connection to an I/O module fails in Run mode. You can configure the project
Connection Fails While in Run Mode so that a connection failure causes a major fault on the controller or not.
The default setting is for the option to be enabled, that is, if the connection to an I/O module fails in Run mode, a major fault occurs on
the controller.
I/O Connections
A Logix5000™ system uses connections to transmit I/O data, as described in

Table 14.
Table 14 - I/O Module Connections

Connection Description
Direct A direct connection is a real-time, data-transfer link between the controller and an I/O module. The controller maintains and monitors
the connection. Any break in the connection, such as a module fault, causes the controller to set fault status bits in the data area that is
associated with the module.
Typically, analog I/O modules, diagnostic I/O modules, and specialty modules require direct connections.
Rack-optimized For digital I/O modules, you can select rack-optimized communication.
This option is used with distributed I/O modules and the Rack Optimization connection selection is made when configuring the remote
adapter. For example, if you want to use a rack-optimized connection with digital I/O modules in a remote 1734 POINT I/O system, you
configure the 1734-AENT(R) module to use a connection type of Rack Optimization.
A rack-optimized connection consolidates connection usage between the controller and the digital I/O modules in a remote chassis or on
one DIN rail. Rather than having individual, direct connections for each I/O module, there is one connection for the entire rack (or DIN
rail).

Configure Standard Your Compact GuardLogix 5370 controller system can use distributed I/O
modules on an EtherNet/IP network.
Distributed I/O Modules on
an EtherNet/IP Network IMPORTANT When you add distributed I/O modules, remember to count the remote
Ethernet adapter to remain within the maximum number of EtherNet/IP
network nodes limitation for your controller.
The remote I/O modules that are connected to the controller via the
Ethernet adapter are not counted toward the maximum Ethernet node limit
for the controller.
For more information on node limitations, see Nodes on EtherNet/IP
Network on page 69.
Complete these steps to configure distributed I/O modules on an EtherNet/IP

network.
1. In the Controller Organizer, select and right-click the 1734-AENT

under Ethernet, and choose New Module.
2. Select the desired Ethernet adapter and click Create.


3. Configure the new Ethernet adapter as necessary and click OK.
4. In the Controller Organizer, select and right-click the new adapter, and
choose New Module.
5. Select the desired I/O module and click Create.


6. Configure the new I/O module as necessary and click OK.
7. Repeat these steps to add the desired distributed I/O modules.
The following graphic is an example of a 1769-L36ERMS control system that

uses distributed I/O modules over an EtherNet/IP network.
1734-AENTR POINT I/O 1769-L36ERMS Controller
PanelView™ Plus
1794-AENTR FLEX I/O

1732E-IB16M12R
Configure Standard Your Compact GuardLogix 5370 controller system can use standard distributed
I/O modules on a DeviceNet network.
Distributed I/O Modules on a
DeviceNet Network Complete these steps to configure standard distributed I/O modules on a
DeviceNet network.
1. If you have not done so, install a 1769-SDN Compact I/O DeviceNet
scanner into the local bank of your Compact GuardLogix 5370
controller system.

2. In the Controller Organizer, select and right-click the 1769 Bus under
I/O Configuration, and choose New Module.
3. Select the 1769-SDN scanner and click Create.
4. Choose a Major Revision and click OK.


5. Configure the new 1769-SDN scanner as necessary and click OK.
6. Use RSNetWorx™ for DeviceNet software to define the scan list in the
1769-SDN scanner to communicate data between the devices and the
controller through the scanner.
The following graphic is an example of a 1769-L36ERMS control system that

uses standard distributed I/O modules on a DeviceNet network.
1734-AENT with • 1769-L36ERMS

POINT Guard I/O • 1769-SDN Scanner
EtherNet/IP Network
DeviceNet Network
1606-XLDNET
1794-ADN FLEX I/O
1734-ADN POINT I/O

Monitor Standard With Compact GuardLogix 5370 controllers, you can monitor I/O modules
in the following ways:
I/O Modules
• QuickView™ Pane below the Controller Organizer
• Connection tab in the Module Properties dialog box
• Programming logic to monitor fault data so you can act
When a fault occurs on an I/O module, a yellow triangle on the module listing
in the Controller Organizer alerts you to the fault.
The following graphic shows the Quick View Pane, which indicates the fault type.
To see the fault description on the Connection tab in Module Properties dialog
box, complete these steps.
1. In the Controller Organizer, select and right-click the faulted I/O

module under I/O Configuration, and choose Properties.

2. On the Module Properties dialog box, click the Connection tab.

In the Module Fault section, use the fault description to diagnose the issue.
3. Click OK to close the dialog box and remedy the issue.
End Cap Detection and Module Faults
End cap detection is performed through the last module on a 1769 Bus. If that
module experiences a fault such that it cannot communicate on the 1769 Bus,
the following events occur:
• End cap detection fails
• Controller faults

Chapter 7
Add, Configure, Monitor, and Replace CIP

Safety I/O Devices
Topic Page
Add Safety I/O Devices 103
Configure Safety I/O Devices 104
Set the IP Address by Using Network Address Translation (NAT) 105
Set the Safety Network Number (SNN) 106
Unicast Connections on EtherNet/IP Networks 106
Set the Connection Reaction Time Limit 107
Understanding the Configuration Signature 110
Reset Safety I/O Device Ownership 111
Address Safety I/O Data 111
Monitor Safety I/O Device Status 112
Reset Safety I/O Device to Out-of-box Condition 111
Replace a Safety I/O Device 114
Add Safety I/O Devices When you add a safety I/O device to the system, you must define a configuration
for the device, including the following:
• IP address for EtherNet/IP networks
To set the IP address you can adjust the rotary switches on the device;
use DHCP software (available from Rockwell Automation); use the
Logix Designer application; or retrieve the default address from
nonvolatile memory.
• Safety network number (SNN); see page 106 for information on setting
the SNN
• Configuration signature; see page 110 for information on when the
configuration signature is set automatically and when you need to set it
• Reaction time limit; see page 107 for information on setting the reaction
time limit
• Safety input, output, and test parameters complete the module configuration
You can configure safety I/O devices via the Compact GuardLogix® controller
by using the Logix Designer application.
TIP Safety I/O devices support standard and safety data. Device configuration
defines what data is available.

Chapter 7 Add, Configure, Monitor, and Replace CIP Safety I/O Devices
Configure Safety I/O Devices Add the safety I/O device to the communication module under the I/O
Configuration folder of the controller project.
TIP You cannot add or delete a safety I/O device while online.
1. Right-click the Ethernet network and choose New Module.
2. From the Catalog tab, select the safety I/O device.

TIP Use the filters to reduce the list of modules from which to choose.
3. Click Create.
4. Type a name for the new device.
5. To modify the Module Definition settings, click Change (if required).
6. Enter the IP address for EtherNet/IP networks.
If your network uses network address translation (NAT), see Set the IP
Address by Using Network Address Translation (NAT) on page 105.

Add, Configure, Monitor, and Replace CIP Safety I/O Devices Chapter 7
7. To modify the Safety Network Number, click the button (if required).
See page 106 for details.
8. To set the Connection Reaction Time Limit, access the Safety tab.
See page 107 for details.
9. To complete configuration of the safety I/O device, refer to its user
documentation and the Logix Designer application’s online help.
Set the IP Address by Using NAT translates one IP address to another IP address via a NAT-configured
router or switch. The router or switch translates the source and destination
Network Address Translation addresses within data packets as traffic passes between subnets.
(NAT)
This service is useful if you need to reuse IP addresses throughout a network. For
example, NAT makes it possible for devices to be segmented into multiple
identical private subnets while maintaining unique identities on the public subnet.
If you are using NAT, follow these steps to set the IP address.
1. In the IP Address field, type the IP address that the controller will use.
This is usually the IP address on the public network when using NAT.
2. Click Advanced to open the Advanced Ethernet Settings dialog box.

3. Check the checkbox to indicate that this module and the controller
communicate through NAT devices.
4. Type the Actual module address.

TIP If you configured the IP address with the rotary switches, this is the address
you set on the device. Alternately, the Actual module address is the same
address shown on the device’s Internet Protocol tab.
5. Click OK.
The controller uses the translated address but CIP safety protocol requires the
actual address of the device.
Set the Safety Network The assignment of a time-based SNN is automatic when adding new safety
I/O devices. Subsequent safety device additions to the same network are
Number (SNN) assigned the same SNN defined within the lowest address on that CIP safety
network.
For most applications, the automatic, time-based SNN is sufficient. However,

there are cases when the manipulation of an SNN is required.
See Assigning the Safety Network Number (SNN) on page 63.
Unicast Connections on Unicast connections are point-to-point connections between a source and a
destination node. You do not have to enter a minimum or maximum RPI range
EtherNet/IP Networks or default value for this type of connection.
To configure unicast connections, choose the Connection tab and check Use
Unicast Connection over EtherNet/IP.

Set the Connection Reaction The Connection Reaction Time Limit is the maximum age of safety packets
on the associated connection. If the age of the data used by the consuming
Time Limit device exceeds the Connection Reaction Time Limit, a connection fault
occurs. The Connection Reaction Time Limit is determined by the following
equations:
Input Connection Reaction Time Limit =
Input RPI x [Timeout Multiplier + Network Delay Multiplier]
Output Connection Reaction Time Limit =
Safety Task Period x [Timeout Multiplier + Network Delay Multiplier - 1]
The Connection Reaction Time Limit is shown on the Safety tab of the
Module Properties dialog box.
Figure 16 - Connection Reaction Time Limit
Specify the Requested Packet Interval (RPI)

The RPI specifies the period that data updates over a connection. For example, an input
module produces data at the RPI that you assign.
For safety input connections, you can set the RPI on the Safety tab of the
Module Properties dialog box. The RPI is entered in 1 ms increments, with a
range of 1…100 ms. The default is 10 ms.
The Connection Reaction Time Limit is adjusted immediately when the RPI
is changed via the Logix Designer application.
Figure 17 - Requested Packet Interval
For safety output connections, the RPI is fixed at the safety task period. If the
corresponding Connection Time Reaction Limit is not satisfactory, you can
adjust the safety task period via the Safety Task Properties dialog box.
See Safety Task Period Specification on page 138 for more information on the
safety task period.
For typical applications, the default RPI is usually sufficient. For more complex
requirements, use the Advanced button to modify the Connection Reaction
Time Limit parameters, as described on page 108.

View the Maximum Observed Network Delay
When the Compact Guardlogix controller receives a safety packet, the

software records the maximum observed network delay. For safety inputs, the
Maximum Observed Network Delay displays the round-trip delay from the
input module to the controller and the acknowledge back to the input module.
For safety outputs, it displays the round-trip delay from the controller to the
output module and the acknowledge back to the controller. The Maximum
Observed Network Delay is shown on the Safety tab of the Module Properties
dialog box. When online, click Reset to reset the Maximum Observed
Network Delay.
Figure 18 - Reset the Maximum Observed Network Delay
IMPORTANT The actual Maximum Network Delay time from the producer to the
consumer is less than the value displayed in the Maximum Network Delay
field on the Safety tab. In general, the actual maximum message delay is
approximately one-half the Maximum Network Delay value that is
displayed.
Set the Advanced Connection Reaction Time Limit Parameters
Configure connection parameters like the timeout multiplier and network

delay multiplier on the Advanced Connection Reaction Time Limit dialog
box.
Figure 19 - Advanced Configuration

Timeout Multiplier
The Timeout Multiplier determines the number of RPIs to wait for a packet
before declaring a connection timeout. This translates into the number of
messages that can be lost before a connection error is declared.
For example, a timeout multiplier of 1 indicates that messages must be received

during each RPI interval. A Timeout Multiplier of 2 indicates that 1 message
can be lost as long as at least 1 message is received in 2 times the RPI (2 x RPI).
Network Delay Multiplier
The Network Delay Multiplier defines the message transport time that is
enforced by the CIP Safety protocol. The Network Delay Multiplier specifies
the round-trip delay from the producer to the consumer and the acknowledge
back to the producer. You can use the Network Delay Multiplier to reduce or
increase the Connection Reaction Time Limit in cases where the enforced
message transport time is significantly less or more than the RPI. For example,
adjusting the Network Delay Multiplier can be helpful when the RPI of an
output connection is the same as a lengthy safety task period.
For cases where the input RPI or output RPI are relatively slow or fast as
compared to the enforced message delay time, the Network Delay Multiplier
can be approximated by using one of the two methods.
Method 1: Use the ratio between the input RPI and the safety task period. Use
this method only when all of the following conditions apply:
• If the path or delay is approximately equal to the output path or delay.
• The input RPI has been configured so that the actual input message
transport time is less than the input RPI.
• The safety task period is slow relative to the Input RPI.
Under these conditions, the Output Network Delay Multiplier can be
approximated as follows:
Input Network Delay Multiplier x [Input RPI ¸ Safety Task Period]
EXAMPLE Calculate the Approximate Output Network Delay

Multiplier
If:
Input RPI = 10 ms
Input Network Delay Multiplier = 200%
Safety Task Period = 20 ms
Then, the Output Network Delay Multiplier equals:
200% x [10 ÷ 20] = 100%

Method 2: Use the Maximum Observed Network Delay. If the system is run
for an extended period of time through its worst-case loading conditions, the
Network Delay Multiplier can be set from the Maximum Observed Network
Delay. This method can be used on an input or output connection. After the
system has been run for an extended period of time through its worst-case
loading conditions, record the Maximum Observed Network Delay.
The Network Delay Multiplier can be approximated by the following equation:

[Maximum Observed Network Delay + Margin_Factor] ¸ RPI
EXAMPLE Calculate the Network Delay Multiplier from Maximum

Observed Network Delay
If:
RPI = 50 ms
Maximum Observed Network Delay = 20 ms
Margin_Factor = 10
Then, the Network Delay Multiplier equals:
[20 + 10] ÷ 50 = 60%
Understanding the Each safety device has a unique configuration signature that defines the
module configuration. The configuration signature is composed of an ID
Configuration Signature number, date, and time, and is used to verify a module’s configuration.
Configuration via the Logix Designer Application
When the I/O device is configured by using the Logix Designer application, the
configuration signature is generated automatically. You can view and copy the
configuration signature via the Safety tab on the Module Properties dialog box.
Figure 20 - View and Copy the Configuration Signature
Different Configuration Owner (listen-only connection)
When the I/O device configuration is owned by another controller, you need
to copy the module configuration signature from its owner’s project and paste
it into the Safety tab of the Module Properties dialog box.
TIP If the device is only configured for inputs, you can copy and paste the configuration
signature. If the device has safety outputs, they are owned by the controller that
owns the configuration, and the configuration signature text box is unavailable.

Reset Safety I/O Device When the controller project is online, the Safety tab of the Module Properties
dialog box displays the current configuration ownership. When the opened
Ownership project owns the configuration, Local is displayed. When a second device owns
the configuration, Remote is displayed, along with the safety network number
(SNN), and node address or slot number of the configuration owner.
Communication error is displayed if the device read fails.
When online, click Reset Ownership to reset the

device to its out-of-box configuration.
TIP You cannot reset ownership when there are pending edits to the module properties,
when a safety task signature exists, or when safety-locked.
Address Safety I/O Data When you add a device to the I/O configuration folder, the Logix Designer
application automatically creates controller-scoped tags for the device.
I/O information is presented as a set of tags. Each tag uses a structure of data,
depending on the type and features of the I/O device. The name of a tag is
based on the device’s name in the system.
Safety I/O Modules Address Format
A Safety I/O module address follows this example.
EXAMPLE Modulename:Type.Member
Table 15 - Safety I/O Device Address Format

Where Is
Modulename The name of the safety I/O device
Type Type of data Input: I
Output: O
Member Specific data from the I/O device
Input-only module Modulename:I.RunMode
Modulename:I.ConnectionFaulted
Modulename:I.Input Members
Output-only module Modulename:I.RunMode
Modulename:O.Output Members
Combination I/O Modulename:I.RunMode
Modulename:I.Input Members
Modulename:O.Output Members

Kinetix 5500, Kinetix 5700, and PowerFlex 527 Drive Address Format
A Kinetix® 5500, Kinetix 5700, and PowerFlex® 527 drive address follows this
example.
EXAMPLE Drivename:Type.Member
Table 16 - Drive Safety I/O Device Address Format

Where Is
Drivename The name of the Kinetix or PowerFlex drive
Type Type of data Input: SI
Output: SO
Member Specific data from the I/O device
Input-only module Drivename:SI.ConnectionStatus
Drivename:SI.RunMode
Drivename:SI.ConnectionFaulted
Drivename:SI.Status
Drivename:SI.TorqueDisabled
Drivename:SI.SafetyFault
Drivename:SI.ResetRequired
Output-only module Drivename:SO.Command
Drivename:SO.SafeTorqueOff
Drivename:SO.Reset
Table 17 - More Resources

Chapter 9, Develop Safety Applications Contains information on monitoring safety tag data
Logix5000 Controllers I/O and Tag Data Programming Provides information to address standard I/O devices
Manual, publication 1756-PM004
Monitor Safety I/O Device You can monitor safety I/O device status via explicit messaging or via the status
indicators on the I/O devices.
Status
These publications provide information on I/O module troubleshooting:
• Guard I/O™ EtherNet/IP Modules User Manual, publication
1791ES-UM001
• POINT Guard I/O™ Safety Modules Installation and User Manual,
publication 1734-UM013
• Kinetix 5500 Servo Drives User Manual, publication 2198-UM001
• Kinetix 5700 Servo Drives User Manual, publication 2198-UM002
• PowerFlex 527 Adjustable Frequency AC Drive User Manual,
publication 520-UM002

Reset Safety I/O Device to If a safety I/O device was used previously, clear the existing configuration before
installing it on a safety network by resetting the module to its out-of-box
Out-of-box Condition condition.
When the controller project is online, the Safety tab of the Module Properties
dialog box displays the current configuration ownership. When the opened
project owns the configuration, Local is displayed. When a second device owns
the configuration, Remote is displayed, along with the safety network number
(SNN), and node address or slot number of the configuration owner.
Communication error is displayed if the module read fails.
If the connection is Local, you must inhibit the device connection before
resetting ownership. Follow these steps to inhibit the device.
1. In the Controller Organizer, right-click the device and choose

Properties.
2. Click the Connection tab.
3. Check Inhibit Connection.
4. Click Apply and then OK.
Follow these steps to reset the device to its out-of-box configuration when online.
1. In the Controller Organizer, right-click the

device and choose Properties.
3. Click Reset Ownership.

Replace a Safety I/O Device You can use the Logix Designer application to replace a safety I/O device on an
Ethernet network. If you are relying on a portion of the CIP Safety system to
maintain SIL 3 behavior during device replacement and functional testing, the
Configure Always feature cannot be used. Go to Replacement with ‘Configure
Only When No Safety Signature Exists’ Enabled on page 114.
If the entire routable CIP Safety control system is not being relied on to
maintain SIL 3/PLe during the replacement and functional testing of a device,
the Configure Always feature can be used. Go to Replacement with ‘Configure
Always’ Enabled on page 118.
Safety I/O device replacement is configured on the Safety tab of the Compact
Figure 21 - Safety I/O Device Replacement
Replacement with ‘Configure Only When No Safety Signature

Exists’ Enabled
When a safety I/O device is replaced, the configuration is downloaded from
the safety controller if the DeviceID of the new device matches the original.
The DeviceID is a combination of the node/IP address and the Safety
Network Number (SNN) and is updated whenever the SNN is set.
If the project is configured as ‘Configure Only When No Safety Signature

Exists’, follow the appropriate steps in Table 18 to replace a safety I/O device
based on your scenario. Once you have completed the steps correctly, the
DeviceID matches the original, enabling the safety controller to download the
proper device configuration, and re-establish the safety connection.

Table 18 - Replacing a Module

Compact Replacement
GuardLogix Safety Module
Signature Exists Condition Action Required
No No SNN None. The device is ready for use.
(Out-of-box)
Yes or No Same SNN as None. The device is ready for use.
original safety task
configuration
Yes No SNN See Scenario 1 - Replacement Device is Out-of-box and Safety
(Out-of-box) Signature Exists on page 115.
Yes See Scenario 2 - Replacement Device SNN is Different from Original
Different SNN from and Safety Signature Exists on page 116.
original safety task
No configuration See Scenario 3 - Replacement Device SNN is Different from Original
and No Safety Signature Exists on page 118.
Scenario 1 - Replacement Device is Out-of-box and Safety Signature Exists
1. Remove the old I/O device and install the new device.
2. Right-click the replacement safety I/O device and choose Properties.
4. Click Set.

5. Verify that the Network Status (NS) status indicator is alternating red/
green on the correct device before clicking Yes on the confirmation
dialog box to set the SNN and accept the replacement device.
6. Follow your company-prescribed procedures to functionally test the

replaced I/O device and system and to authorize the system for use.
Scenario 2 - Replacement Device SNN is Different from Original and Safety Signature Exists
2. Right-click your safety I/O device and choose Properties.

5. Click OK.
6. Right-click the device and choose Properties.

8. Click Set.
9. Verify that the Network Status (NS) status indicator is alternating red/
green on the correct device before clicking Yes on the confirmation
dialog box to set the SNN and accept the replacement device.


Scenario 3 - Replacement Device SNN is Different from Original and No Safety Signature
Exists

5. Click OK.
Replacement with ‘Configure Always’ Enabled

ATTENTION: Enable the ‘Configure Always’ feature only if the entire CIP
Safety Control System is not being relied on to maintain SIL 3 behavior
during the replacement and functional testing of a device.
Do not place devices that are in the out-of-box condition on a CIP Safety
network when the Configure Always feature is enabled, except while following
this replacement procedure.
When the ‘Configure Always’ feature is enabled in the controller project, the
controller automatically checks for and connects to a replacement device that
meets all of the following requirements:
• The controller has configuration data for a compatible device at that
network address.
• The device is in out-of-box condition or has an SNN that matches the
configuration.

If the project is configured for ‘Configure Always’, follow the appropriate steps
to replace a safety I/O device.
a. If the device is in out-of-box condition, go to step 6.
No action is needed for the Compact GuardLogix controller to take
ownership of the device.
b. If an SNN mismatch error occurs, go to the next step to reset the
device to out-of-box condition.

5. Click OK.

Notes:

Chapter 8
Elements of a Control Application
Topic Page
Tasks 122
Programs 126
Routines 128
Tags 129
Programming Languages 132
Add-on Instructions 133
Access the Module Object 134
System Overhead Time Slice 136
A control application is comprised of several elements that require planning for

efficient application execution. Application elements include the following:
• Tasks
• Programs
• Routines
• Parameters and Local Tags

Chapter 8 Elements of a Control Application
Figure 22 - Control Application
Controller Fault Handler
Task 32
Task 1
Configuration
Status
Program 100 Watchdog
Program 1
Program
Main Routine (Local Tags and
Parameters)
Fault Routine
Other Routines
Controller (global) Tags I/O Data System-shared Data
Tasks A Logix5000™ controller lets you use multiple tasks to schedule and prioritize
the execution of your programs that are based on criteria. This multitasking
allocates the processing time of the controller among the different operations
in your application:
• The controller executes only one task at a time.
• One task can interrupt the execution of another task and take control.
• In any given task, multiple programs can be used. However, only one
program executes at a time.
• You can display tasks in the Controller or Logical Organizer views, as
necessary.

Elements of a Control Application Chapter 8
Figure 23 - Task in a Control Application

Control Application
Task 32
Task 1
Configuration
Status
Program 1
Program
Parameters)
Fault Routine
Other Routines
Figure 24 - Tasks in Application

Controller Organizer Logical Organizer
Main Task
(continuous)
Safety Task
Main Task
(continuous)
Safety Task
Task 2
(periodic)
Task 2
(periodic) Task 3
(event)
Task 3
(event)

A task provides scheduling and priority information for a set of one or more
programs. Configure tasks as continuous, periodic, or event by using the Task
Figure 25 - Configuring the Task Type
This table explains the types of tasks you can configure.
Table 19 - Task Types and Execution Frequency

Task Type Task Execution Description
Continuous At all times The continuous task runs in the background. Any CPU time that is not allocated to other operations (such as motion,
communication, and other tasks) is used to execute the programs in the continuous task:
• The continuous task runs constantly. When the continuous task completes a full scan, it restarts immediately.
• A project does not require a continuous task. If used, there can be only one continuous task.
Periodic • At a set interval, such as A periodic task performs a function at an interval:
every 100 ms • Whenever the time for the periodic task expires, the task interrupts any lower priority tasks, executes once, and returns
• Multiple times in the scan of control to where the previous task left off.
your other logic • You can configure the time period from 0.1…2,000,000.00 ms. The default is 10 ms. It is also controller and configuration
dependent.
• The performance of a periodic task depends on the type of Logix5000 controller and on the logic in the task.
• The periodic task processes I/O data for CompactLogix™, FlexLogix™, DriveLogix™, and SoftLogix™ controllers with the
following considerations:
– For CompactLogix, FlexLogix, and DriveLogix controllers, operates at priority 6
– For SoftLogix controllers, operates at Windows priority 16 (Idle)
– Higher-priority tasks take precedence over the I/O task and can affect processing
– Executes at the fastest RPI you have scheduled for the system
– Executes for as long as it takes to scan the configured I/O modules
Event Immediately when an event An Event task performs a function only when an event (trigger) occurs. The trigger for the Event task can be the following:
occurs • A consumed tag trigger
• An EVENT instruction
• An axis trigger
• A motion event trigger
• Module input data state change

The Compact GuardLogix 5370 controller supports up to 32 tasks, only one of

which can be continuous.
A task can have up to 100 separate Programs per task, each with its own
executable routines and program-scoped tags. Once a task is triggered
(activated), all programs that are assigned to the task execute in the order in
which they are grouped. Multiple tasks cannot share Programs and Programs
appear only once in the Controller Organizer.
Task Priority
Each task in the controller has a priority level. The operating system uses the
priority level to determine which task to execute when multiple tasks are
triggered. A higher priority task interrupts any lower priority task. A periodic
or event task interrupts the continuous task, which has the lowest priority.
You can configure periodic tasks to execute from the lowest priority of 15 up to
the highest priority of 1. Configure the task priority by using the Task
Figure 26 - Configure the Task Priority

Programs The controller operating system is a preemptive multitasking system that is in

compliance with IEC 1131-3. This system provides the following:
• Programs to group data and logic
• Routines to encapsulate executable code that is written in one
programming language
Each program contains the following:

• Local Tags
• Parameters
• A main executable routine
• Other routines
• An optional fault routine
Figure 27 - Program in a Control Application

Control Application
Task 32
Task 1
Configuration
Status
Program 1
Program
Parameters)
Fault Routine
Other Routines
Figure 28 - Programs in Application

Controller Organizer Logical Organizer

Scheduled and Unscheduled Programs
The scheduled programs in a task execute to completion from first to last.

Programs that are not attached to any task show up as unscheduled programs.
Unscheduled programs in a task are downloaded to the controller with the

entire project. The controller verifies unscheduled programs but does not
execute them.
You must schedule a program in a task before the controller can scan the program.
To schedule an unscheduled program, use the Program/Phase Schedule tab of the
Task Properties dialog box.
Figure 29 - Scheduling an Unscheduled Program

Routines A routine is a set of logic instructions in one programming language, such as

Ladder Diagram (ladder logic). Routines provide the executable code for the
project in a controller.
Each program has a main routine. This is the first routine to execute when the
controller triggers the associated task and calls the associated program. Use
logic, such as the Jump to Subroutine ( JSR) instruction, to call other routines.
You can also specify an optional program fault routine. The controller executes
this routine if it encounters an instruction-execution fault in any of the routines
in the associated program.
Figure 30 - Routines in a Control Application

Control Application
Task 32
Task 1
Configuration
Status
Program 1
Program
Parameters)
Fault Routine
Other Routines
Figure 31 - Routines in Application

Controller Designer Logical Designer

Tags With a Logix5000 controller, you use a tag (alphanumeric name) to address
data (variables). In Logix5000 controllers, there is no fixed, numeric format.
For example, as shown in the following figure, you can use the tag name
north_tank_mix instead of a numeric format, such as N7:0.0.
The tag name itself identifies the data. The tag lets you do the following:
• Organize your data to mirror your machinery.
• Document your application as you develop it.
Figure 32 shows data tags that are created in the scope of the Main Program of
the controller.
Figure 32 - Tags Example

Controller Organizer - Main Program Parameters and Local Tags
Program Tags Window - Main Program Tags
Analog I/O Device
Integer Value
Storage Bit
Counter
Timer
Digital I/O Device
There are several guidelines for creating and configuring parameters and local
tags for optimal task and program execution. For more information, see the
Logix5000 Controllers and I/O Tag Data Programming Manual, publication
1756-PM004.

Extended Properties
The Extended Properties feature lets you define more information, such as
limits, engineering units, or state identifiers, for various components within
your controller project.
Component Extended Properties

Tag In the Tag Editor, add extended properties to a tag.
User-defined data type In the Data Type Editor, add extended properties to data types.
Add-on Instructions In the properties that are associated with the add-on instruction definition, add
extended properties to Add-on Instructions.
Pass-through behavior is the ability to assign extended properties at a higher level

of a structure or add-on instruction and have that extended property
automatically available for all members. Pass-through behavior is available for
descriptions, state identifiers, and engineering units and you can configure it.
Configure pass-through behavior on the Project tab of the Controller Properties
dialog box. If you choose not to show pass-through properties, only extended
properties that have been configured for a given component are displayed.
Pass-through behavior is not available for limits. When an instance of a tag is

created, if limits are associated with the data type, the instance is copied.
You must know which tags have limits that are associated with them as there is
no indication in the tag browser that extended properties are defined for a tag.
If, however, you try to use extended properties that have not been defined for a
tag, the editors show a visual indication and the routine does not verify.
Access Extended Properties in Logic
You can access limits that are defined on tags by using the .@Min and .@Max
syntax:
• You cannot write to extended properties values in logic.
• To use extended tag properties in an Add-On Instruction, you must pass
them in as input operands to the Add-On Instruction.
• Alias tags that have extended properties cannot access the extended
properties in logic.
• Limits can be configured for input and output parameters in Add-on
Instructions. However, limits cannot be defined on an InOut parameter
of an Add-On Instruction.
• Limits cannot be accessed inside Add-On Instruction logic. Limits are
for use only by HMI applications.

If an array tag uses indirect addressing to access limits in logic, the following
conditions apply:
• If the array tag has limits that are configured, the extended properties are
applied to any array element that does not explicitly have that particular
extended property configured. For example, if the array tag MyArray has
max configured to 100, any element of the array that does not have Max
configured inherits the value of 100 when being used in logic. However,
it is not visible to you that the value inherited from MyArray is
configured in the tag properties.
• At least one array element must have a limit that is configured for
indirectly referenced array logic to verify. For example, if
MyArray[x].@Max is being used in logic, at least one array element of
MyArray[] must have Max extended property that is configured if
MyArray has not configured Max.
• Under the following circumstances a data type default value is used:
– Array is accessed programmatically with indirect reference.
– Array tag does not have the extended property configured.
– A member of an array does not have the extended property
configured.
For example, for an array of SINT type, when max limit is called in logic
for a member, use the value of 127.
If an array element is directly accessed, the element has to have the extended
property defined. If not, verification fails.

Programming Languages The Compact GuardLogix 5370 controller supports these programming
languages, online and offline.
Table 20 - Compact GuardLogix Controller Programming Languages

Language Is best-used in programs with
Relay ladder Continuous or parallel execution of multiple operations (not sequenced)
Boolean or bit-based operations
Complex logical operations
Message and communication processing
Machine interlocking
Operations that service or maintenance personnel can have to interpret to
troubleshoot the machine or process
Function block diagram(1) Continuous process and drive control
Loop control
Calculations in circuit flow
Sequential function chart (SFC)(1) High-level management of multiple operations
Repetitive sequence of operations
Batch process
Motion control using structured text
State machine operations
Structured text(1) Complex mathematical operations
Specialized array or table loop processing
ASCII string handling or protocol processing
(1) Only with standard programs.
For information about programming in these languages, see the Logix5000

Controllers Common Procedures Programming Manual, publication
1756-PM001.

Add-on Instructions You can design and configure sets of commonly used instructions to increase
project consistency. Similar to the built-in instructions contained in
Logix5000 controllers, these instructions you create are called Add-on
Instructions. Add-on Instructions reuse common control algorithms. With
them, you can do the following:
• Ease maintenance by animating logic for one instance.
• Help protect intellectual property with Source Protection.
• Reduce documentation development time.
You can use Add-on Instructions across multiple projects. You can define your
instructions, obtain them from somebody else, or copy them from another
project.
Table 21 explains some of the capabilities and advantages of use Add-on

Instructions.
Table 21 - Add-On Instruction Capabilities

Capability Description
Save Time With Add-on Instructions, you can combine your most commonly used logic into sets of reusable instructions. You save time when you
create instructions for your projects and share them with others. Add-on Instructions increase project consistency because commonly
used algorithms all work in the same manner, regardless of who implements the project.
Use Standard Editors You create Add-on Instructions by using one of three editors:
• Relay Ladder
• Function Block Diagram(1)
• Structured Text(1)
Once you have created instructions, you can use them in any editor.
Export Add-on Instructions You can export Add-on Instructions to other projects and copy and paste them from one project to another. Give each instruction a
unique name so that you don’t accidentally overwrite another instruction of the same name.
Use Context Views Context views let you visualize the logic of an instruction for an instant, which simplifies online troubleshooting of your Add-on
Instructions. Each instruction contains a revision, a change history, and an auto-generated help page.
Create Custom Help When you create an instruction, you enter information for the description fields in dialogs, information that becomes what is known as
Custom Help. Custom Help makes it easier for you to get the help you need when implementing the instructions.
Apply Source Protection As the creator of Add-on Instructions, you can limit users of your instructions to read-only access, or you can bar access to the internal
logic or local parameters that are used by the instructions. This source protection lets you stop unwanted changes to your instructions
and protects your intellectual property.
(1) Only with standard programs.

Once defined in a project, Add-on Instructions behave similarly to the built-in

instructions in Logix5000 controllers. They appear on the instruction tool bar
for easy access, as do internal instructions.
Figure 33 - Add-on Instructions

Controller Organizer Instruction Toolbar
Access the Module Object The MODULE object provides status information about a module. To select a
particular module object, set the Object Name operand of the GSV/SSV
instruction to the module name. The specified module must be present in the
I/O Configuration section of the controller organizer and must have a device
name.
Create the Add-On Instruction
With Logix Designer application, you can access a MODULE object directly
from an Add-On Instruction. Previously, you could access the MODULE
object data but not from within an Add-On Instruction.
You must create a Module Reference parameter when you define the Add-On
Instruction to access the MODULE object data. A Module Reference
parameter is an InOut parameter of the MODULE data type that points to the
MODULE Object of a hardware module. You can use module reference
parameters in both Add-On Instruction logic and program logic.
For more information on the Module Reference parameter, see the Logix5000
Controllers Add-on Instructions Programming Manual, publication
1756-PM010 and the Logix Designer application online help.

The MODULE object uses the following attributes to provide status

information:
• EntryStatus
• FaultCode
• FaultInfo
• FWSupervisorStatus
• ForceStatus
• Instance
• LEDStatus
• Mode
• Path
The Path attribute is available with Logix Designer application, which provides
a communication path to the module.
For more information on the attributes available in the MODULE object, see
the Logix Controllers Instructions Reference Manual, publication
1756-RM009.
When you add a GSV/SSV instruction to the program, the object classes, object
names, and attribute names for each instruction are displayed. For the GSV
instruction, you can get values for the available attributes. For the SSV
instruction, only those attributes you are allowed to set are displayed.
Some object types appear repeatedly, so you have to specify the object name.
For example, there can be several tasks in your application. Each task has its
own Task object that you access by the task name.
There are several objects and attributes that you can use the GSV and SSV
instructions to monitor and set the system. For more information about GSV
instructions, SSV instructions, objects, and attributes, see the Logix
Controllers Instructions Reference Manual, publication 1756-RM009, and
Use GSV/SSV Instructions on page 180.

System Overhead Time Slice The Compact GuardLogix 5370 controller communicates with other devices
at a specified rate (scheduled) or when there is processing time available to
service the communication.
The system overhead time slice specifies the percentage of time a controller
devotes to service communication. If you have a continuous task, the System
Overhead Time Slice entered in the Advanced tab of the Controller Properties
dialog box specifies continuous task/service communication ratio. However, if
there is no continuous task, the overhead time slice has no effect.
The table shows the ratio between the continuous task and service
communication at various system overhead time slices.
Table 22 - Ratio between Continuous Task and Service Communication

At this time slice The continuous task runs Service communication occurs for up to
10% 9 ms 1 ms
20% 4 ms 1 ms
25% 3 ms 1 ms
33% 2 ms 1 ms
50% 1 ms 1 ms
66% 1 ms 2 ms
75% 1 ms 3 ms
80% 1 ms 4 ms
90% 1 ms 9 ms
As shown in Table 22, if the system overhead time slice is less than or equal to
50%, the duration stays fixed at 1 ms. The same applies for 66% and higher,
except there are multiple 1 ms intervals. For example, at 66% there are two 1 ms
intervals of consecutive time and at 90% there are nine 1 ms intervals of
consecutive time.

Configure the System Overhead Time Slice
To configure the system overhead time slice, perform this procedure.
1. In the Controller Organizer, right-click the controller and

choose Properties.
The Controller Properties dialog box appears.
2. Click the Advanced tab.
3. Enter a numeric value in the System Overhead Time Slice box.
4. Use Run Continuous Task (default) or Reserve for System Tasks.
• Click Run Continue Task when there is no communication or
background tasks to process; controller immediately returns to the
continuous task.
• Click Reserve for System Task to allocates the entire 1 ms of the
system overhead time slice whether the controller has
communication or background tasks to perform before returning
back to the continuous task. This lets you simulate a communication
load on the controller during design and programming before HMIs,
controller to controller messaging, and so forth, are configured.
5. Click OK.

Notes:

Chapter 9
Develop Safety Applications
Topic Page
The Safety Task 140
Safety Programs 141
Safety Routines 142
Safety Tags 142
Produced/Consumed Safety Tags 146
Safety Tag Mapping 154
Safety Application Protection 156
Programming Restrictions 160
This chapter explains the components that make up a safety project and
provides information on using features that help protect safety application
integrity, such as the safety task signature and safety-locking.
For guidelines and requirements for developing and commissioning SIL 3 and
PLe safety applications, refer to the GuardLogix® 5570 and Compact
GuardLogix® 5370 Controller Systems Safety Reference Manual, publication
1756-RM099.
The Safety Reference Manual addresses the following topics:

• Create a detailed project specification
• Write, document, and test the application
• Generate the safety task signature to identify and help protect the project
• Confirm the project by printing or displaying the uploaded project and
manually compare the configurations, safety data, and safety program logic
• Verify the project through test cases, simulations, functional verification
tests, and an independent safety review, if required
• Lock the safety application
• Calculate the system reaction time

Chapter 9 Develop Safety Applications
The Safety Task When you create a safety controller project, the Logix Designer application
automatically creates a safety task with a safety program and a main (safety)
routine.
Figure 34 - Safety Task in the Controller Organizer
Within the safety task, you can use multiple safety programs, composed of
multiple safety routines. The GuardLogix controller supports one safety task.
The safety task cannot be deleted.
You cannot schedule standard programs or execute standard routines within

the safety task.
Safety Task Period Specification
The safety task is a periodic timed task. You set the task priority and watchdog
time via the Task Properties - Safety Task dialog box. To open the dialog box,
right-click the Safety Task and choose Properties.
Figure 35 - Configure the Safety Task Period
The safety task is a high priority. You specify the safety task period (in ms) and
the safety task watchdog (in ms). The safety task period is the period that the
safety task executes. The safety task watchdog is the maximum time allowed
from the start of safety task execution to its completion.

Develop Safety Applications Chapter 9
The safety task period is limited to a maximum of 500 ms and cannot be

modified online. Be sure that the safety task has enough time to finish logic
execution before it is triggered again. If a safety task watchdog timeout occurs,
a nonrecoverable safety fault is generated in the safety controller.
The safety task period directly affects system reaction time.
The GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems

Safety Reference Manual, publication 1756-RM099, provides detailed
information on calculating system reaction time.
Safety Task Execution

The safety task executes in the same manner as a standard periodic task, with
the following exceptions:
• The safety task does not begin executing until the primary controller
and safety partner establish their control partnership. (Standard tasks
begin executing as soon as the controller transitions to Run mode.)
• All safety input tags (inputs, consumed, and mapped) are updated and
frozen at the beginning of safety task execution.
See page 154 for information on safety tag mapping.
• Safety output tag (output and produced) values are updated at the
conclusion of safety task execution.
Safety Programs Safety programs have all the attributes of standard programs, except that they
can only be scheduled in the safety task and can only contain safety
components. Safety programs can only contain safety routines. One safety
routine must be designated as the main routine, and another safety routine can
be designated as the fault routine.
Safety programs cannot contain standard routines or standard tags.

Safety Routines Safety routines have all the attributes of standard routines, except that they
exist only in a safety program. At this time, only ladder diagram is supported
for safety routines.
TIP A watermark feature visually distinguishes a safety routine from a standard
routine.
Watermark
Safety Tags A tag is an area of a controller’s memory where data is stored. Tags are the basic
mechanism for allocating memory, referencing data from logic, and monitoring
data. Safety tags have all the attributes of standard tags with the addition of
mechanisms certified to provide SIL 3 data integrity.
When you create a tag, you assign the following properties:

• Name
• Description (optional)
• Tag type
• Data type
• Scope
• Class
• Style
• External Access
You can also specify if the tag value is a constant.
To create a safety tag, open the New Tag dialog box by right-clicking
Controller Tags or Program Tags and choose New Tag.

Figure 36 - Creating a New Tag
Tag Type
Table 23 defines the four types of tags.

Table 23 - Four Tag Types
Tag Type Description
Base tag These tags store values for use by logic within the project.
Alias tag A tag that references another tag. An alias tag can refer to another alias tag or a base tag. An
alias tag can also refer to a component of another tag by referencing a member of a structure,
an array element, or a bit within a tag or member.
IMPORTANT: Do not use alias tags between standard and safety tags in safety applications.
Instead, standard tags can be mapped to safety tags using safety tag mapping. See
Safety Tag Mapping on page 154.
Produced tag A tag that a controller makes available for use by other controllers. A maximum of 15
controllers can simultaneously consume (receive) the data. A produced tag sends its data to
one or more consuming tags without using logic. Produced tag data is sent at the RPI of the
consuming tag.
Consumed tag A tag that receives the data of a produced tag. The data type of the consumed tag must match
the data type of the produced tag. The requested packet interval (RPI) of the consumed tag
determines the period when the data updates.

Data Type
The data type defines the type of data that the tag stores, such as bit or integer.
Data types can be combined to form structures. A structure provides a unique

data type that matches a specific need. Within a structure, each individual data
type is called a member. Like tags, members have a name and data type. You can
create your own structures, as user-defined data types.
Logix controllers contain predefined data types for use with specific
instructions.
These data types are permitted for safety tags.

Table 24 - Valid Data Types for Safety Tags
AUX_VALVE_CONTROL DCI_STOP_TEST_MUTE MANUAL_VALVE_CONTROL
BOOL DINT MUTING_FOUR_SENSOR_BIDIR
CAM_PROFILE DIVERSE_INPUT MUTING_TWO_SENSOR_ASYM
CAMSHAFT_MONITOR EIGHT_POS_MODE_SELECTOR MUTING_TWO_SENSOR_SYM
CB_CONTINUOUS_MODE EMERGENCY_STOP MOTION_INSTRUCTION
CB_CRANKSHAFT_POS_MONITOR ENABLE_PENDANT PHASE
CB_INCH_MODE EXT_ROUTINE_CONTROL PHASE_INSTRUCTION
CB_SINGLE_STROKE_MODE EXT_ROUTINE_PARAMETERS REDUNDANT_INPUT
CONFIGURABLE_ROUT FBD_BIT_FIELD_DISTRIBUTE REDUNDANT_OUTPUT
CONNECTION_STATUS FBD_CONVERT SAFETY_MAT
CONTROL FBD_COUNTER SERIAL_PORT_CONTROL
COUNTER FBD_LOGICAL SFC_ACTION
DCA_INPUT FBD_MASK_EQUAL SFC_STEP
DCAF_INPUT FBD_MASKED_MOVE SFC_STOP
DCI_MONITOR FBD_TIMER SINT
DCI_START FIVE_POS_MODE_SELECTOR STRING
DCI_STOP INT THRS_ENHANCED
DCI_STOP_TEST LIGHT_CURTAIN TIMER
DCI_STOP_TEST_LOCK MAIN_VALVE_CONTROL TWO_HAND_RUN_STATION
Scope
A tag’s scope determines where you can access the tag data. When you create a
tag, you define it as a controller tag (global data) or a program tag for a specific
safety or standard program (local data). Safety tags can be controller-scoped or
safety program-scoped.

Controller-scoped Tags
When safety tags are controller-scoped, all programs have access to the safety
data. Tags must be controller-scoped if they are used in the following ways:
• More than one program in the project
• To produce or consume data
• To communicate with a PanelView™ terminal
• In safety tag mapping
See Safety Tag Mapping on page 154 for more information.
Controller-scoped safety tags can be read, but not written to, by standard routines.
IMPORTANT Controller-scoped safety tags are readable by any standard routine. The
safety tag’s update rate is based on the safety task period.
Tags associated with safety I/O and produced or consumed safety data must be
controller-scoped safety tags. For produced/consumed safety tags, you must
create a user-defined data type with the first member of the tag structure
reserved for the status of the connection. This member is a predefined data
type called CONNECTION_STATUS.
Table 25 - Additional Resource

Logix5000™ Controllers I/O and Tag Data Programming Manual, Provides instructions for creating user-defined
publication 1756-PM004 data types
Program-scoped Tags
When tags are program-scoped, the data is isolated from the other programs.
Reuse of program-scoped tag names is permitted between programs.
Safety-program-scoped safety tags can only be read by or written to via a safety

routine scoped in the same safety program.
Class
Tags can be classified as standard or safety. Tags classified as safety tags must
have a data type that is permitted for safety tags.
When you create program-scoped tags, the class is automatically specified,

depending upon whether the tag was created in a standard or safety program.
When you create controller-scoped tags, you must manually select the tag class.

Constant Value
When you designate a tag as a constant value, it cannot be modified by logic in

the controller, or by an external application such as an HMI. Constant value
tags cannot be forced.
The Logix Designer application can modify constant standard tags, and safety
tags provided a safety task signature is not present. Safety tags cannot be
modified if a safety task signature is present.
External Access
External Access defines the level of access that is allowed for external devices,
such as an HMI, to see or modify tag values. Access via the Logix Designer
application is not affected by this setting. The default value is read/write.
Table 26 - External Access Levels
External Access Setting Description

None Tags are not accessible from outside the controller.
Read Only Tags can be browsed or read, but not written to from outside the controller.
Read/Write Standard tags can be browsed, read, and written to from outside the controller.
For alias tags, the External Access type is equal to the type configured for the
base target tag.
Produced/Consumed Safety To transfer safety data between Compact GuardLogix controllers, you use produced
and consumed safety tags. Produced and consumed tags require connections. The
Tags default connection type for produced and consumed tags is unicast.
Table 27 - Produced and Consumed Connections
Tag Connection Description
Produced A GuardLogix or Compact GuardLogix controller can produce (send) safety tags to other
GuardLogix or Compact GuardLogix controllers.
The producing controller uses a single connection for each consumer.
Consumed GuardLogix or Compact GuardLogix controllers can consume (receive) safety tags from other
GuardLogix or Compact GuardLogix controllers.
Each consumed tag consumes one connection.
Produced and consumed safety tags are subject to the following restrictions:
• Only controller-scoped safety tags can be shared.
• Produced and consumed safety tags are limited to 128 bytes.
• Produced/consumed tag pairs must be of the same user-defined data
type.
• The first member of that user-defined data type must be the predefined
CONNECTION_STATUS data type.
• The requested packet interval (RPI) of the consumed safety tag must
match the safety task period of the producing GuardLogix controller.

To properly configure produced and consumed safety tags to share data

between peer safety controllers, you must properly configure the peer safety
controllers, produce a safety tag, and consume a safety tag, as described below.
Configure the Peer Safety Controllers’ Safety Network Numbers
The peer safety controller is subject to the same configuration requirements as

the local safety controller. The peer safety controller must also have a safety
network number (SNN).
Follow these steps to copy and paste the SNN.
1. Add the producer controller to the consumer controller’s I/O tree.

TIP The same producing controller must not appear more than once in your
controller’s I/O tree or a verification error occurs.
Consumer Controller
Producer Controller
2. In the producer controller’s project, right-click the producer controller

and choose Controller Properties.
3. Click to open the Safety Network Number dialog box.

4. Click Copy to copy the producer controller’s SNN.
5. In the consumer controller’s project, right-click the producer controller

and choose Module Properties.
6. Click to open the Safety Network Number dialog box.

7. Paste the producer controller’s SNN into the consumer controller’s

SNN field and click OK.
The safety network numbers match.

Producer Controller Properties Dialog Box in Producer Project Module Properties Dialog Box in Consumer Project

Change the Electronic Keying
To change the electronic keying, follow these steps.
1. In the consumer controller’s project, right-click the producer controller

and choose Module Properties.
2. In the Module Definition field, click Change.
A Module Definition dialog box appears.

3. From the Electronic Keying pull-down menu, choose what is
appropriate for your application.
IMPORTANT If you are consuming safety tags, then you must choose either Exact
Match or Compatible Module from the pull-down menu.
Choose Disable Keying only when standard tags are consumed.
4. Click OK to save your changes and to close the Module Definition

dialog box.
5. Click OK to close the Modules Properties dialog box.

Produce a Safety Tag
Follow this procedure to produce a safety tag.
1. In the producing controllers project, create a user-defined data type

defining the structure of the data to be produced.
Make sure that the first data member is of the
CONNECTION_STATUS data type.
2. Right-click Controller Tags and choose New Tag.
3. Set the type as Produced, the class as Safety, and the Data Type to the
user-defined type you created in step 1.
4. Click Connection and enter the number of consumers.
5. Click Advanced if you want to change the type of connection by

unchecking ‘Allow Unicast Consumer Connections’.
6. Click OK.

Consume Safety Tag Data
Follow these steps to consume data produced by another controller.
1. In the consumer controller’s project, create a user-defined data type

identical to the one created in the producer project.
TIP The user-defined type can be copied from the producer project and pasted
into the consumer project.
2. Right-click Controller Tags and choose New Tag.

3. Set the Type as Consumed, the Class as Safety, and the Data Type to the
user-defined data type you created in step 1.
4. Click Connection to open the Consumed Tag Connection dialog box.
5. From the Producer pull-down menus, select the controller that produces
the data.
6. In the Remote Data field, enter the name of the produced tag.

8. In the Requested Packet Interval (RPI) field, enter the RPI for the
connection in 1 ms increments. The default is 20 ms.
The RPI specifies the period when data updates over a connection. The
RPI of the consumed safety tag must match the safety task period of the
producing safety project.
Consumer’s Project Producer’s Project
The Connection Reaction Time Limit is the maximum age of safety packets
on the associated connection. For simple timing constraints, you can achieve
an acceptable Connection Reaction Time Limit by adjusting the RPI.
The Max Network Delay is the maximum observed transport delay from
the time the data was produced until the time the data was received.
When online, click Reset Max to reset the Max Network Delay.
9. If the Connection Reaction time limit is acceptable, click OK; or for
more complex requirements, click Advanced to set the Advanced
Connection Reaction Time Limit parameters.
The Timeout Multiplier determines the number of RPIs to wait for a

packet before declaring a connection timeout.
The Network Delay Multiplier defines the message transport time that
is enforced by the CIP Safety protocol. The Network Delay Multiplier
specifies the round-trip delay from the producer to the consumer and
back to the producer. You can use the Network Delay Multiplier to
increase or decrease the Connection Reaction Time Limit.
Table 28 - Additional Resources
Estimate Requested Packet Interval on page 83 Provides more information on setting the RPI and
and understanding how the Max. Network Delay, Timeout
Module Fault Related to RPI Estimates on page 84 Multiplier, and Network Delay Multipliers affect the Connection
Reaction Time
Logix5000™ Controllers Produced and Consumed Provides detailed information on using produced and
Tags Programming Manual, consumed tags
publication 1756-PM011

Safety Tag Mapping Controller-scoped standard tags cannot be directly accessed by a safety routine.
To allow standard tag data to be used within safety task routines, the
GuardLogix controllers provide a safety tag mapping feature that lets standard
tag values be copied into safety task memory.
Restrictions
Safety tag mapping is subject to these restrictions:
• The safety tag and standard tag pair must be controller-scoped.
• The data types of the safety and standard tag pair must match.
• Alias tags are not allowed.
• Mapping must take place at the whole tag level. For example,
myTimer.pre is not allowed if myTimer is a TIMER tag.
• A mapping pair is one standard tag mapped to one safety tag.
• You cannot map a standard tag to a safety tag that has been designated as
a constant.
• Tag mapping cannot be modified when the following is true:
– The project is safety-locked.
– A safety task signature exists.
– The key switch is in RUN position.
– A nonrecoverable safety fault exists.
– An invalid partnership exists between the primary controller and
safety partner.
ATTENTION: When using standard data in a safety routine, you must

verify that the data is used in an appropriate manner. Using standard
data in a safety tag does not make it safety data. You must not
directly control a SIL 3/PLe safety output with standard tag data.
Refer to the GuardLogix 5570 and Compact GuardLogix 5370 Controller
Systems Safety Reference Manual, publication1756-RM099, for more
information.

Create Tag Mapping Pairs
1. Choose Map Safety Tags from the Logic menu to open the Safety Tag
Mapping dialog box.
2. Add an existing tag to the Standard Tag Name or Safety Tag Name
column by typing the tag name into the cell or choosing a tag from the
pull-down menu.
Click the arrow to display a filtered tag browser dialog box. If you are in
the Standard Tag Name column, the browser shows only controller-
scoped standard tags. If you are in the Safety Tag Name column, the
browser shows controller-scoped safety tags.
3. Add a new tag to the Standard Tag Name or Safety Tag Name column by
right-clicking in the empty cell and selecting New Tag and typing the tag
name into the cell.
4. Right-click in the cell and choose New tagname, where tagname is the
text you entered in the cell.

Monitor Tag Mapping Status
The leftmost column of the Safety Tag Mapping dialog box indicates the status
of the mapped pair.
Table 29 - Tag Mapping Status Icons
Cell Contents Description
Empty Tag mapping is valid.
When offline, the X icon indicates that tag mapping is invalid. You can move to another row or
close the Safety Tag Mapping dialog box.(1)
When online, an invalid tag map results in an error message explaining why the mapping is
invalid. You cannot move to another row or close the Safety Tag Mapping dialog box if a tag
mapping error exists.
Indicates the row that currently has the focus.
Represents the Create New Mapped Tag row.
Represents a pending edit.
(1) Tag mapping is also checked during project verification. Invalid tag mapping results in a project verification error.
For more information, see the tag mapping restrictions on page 154.
Safety Application You can help protect your application program from unauthorized changes by
safety-locking the controller and by generating and recording the safety task
Protection signature.
Safety-lock the Controller
The Compact GuardLogix controller can be safety-locked to help protect safety-

related control components from modification. The safety-lock feature applies
only to safety components, such as the safety task, safety programs, safety
routines, safety Add-on Instructions, safety tags, safety I/O, and the safety task
signature.
The following actions are not permitted in the safety portion of the application
when the controller is safety-locked:
• Online/offline programming or editing (including safety Add-on
Instructions)
• Forcing safety I/O
• Changing the inhibit state of safety I/O or produced connections
• Safety data manipulation (except by safety routine logic)
• Generating or deleting the safety task signature

TIP The text of the online bar’s safety status button indicates the safety-lock status.
Safety Status Button
The application tray also displays the following icons to indicate the safety controller’s
safety-lock status.
• = controller safety-locked
• = controller safety-unlocked
You can safety-lock the controller project regardless of whether you are online
or offline and regardless of whether you have the original source of the
program. However, no safety forces or pending online safety edits can be
present.
Safety-locked or -unlocked status cannot be changed when the key switch is in

the RUN position.
TIP Safety-lock or -unlock actions are logged in the controller log.

For more information on accessing the controller log, refer to Logix5000™
Controllers Controller Information and Status Programming Manual, publication
1756-PM015.
You can safety-lock and -unlock the controller from the Safety tab of the Controller
Properties dialog box, or by choosing Tools>Safety>Safety Lock/Unlock.
Figure 37 - Safety-locking the Controller
If you set a password for the safety-lock feature, you must type it in the Enter
Password field. Otherwise, click Lock.
You can also set or change the password from the Safety Lock dialog box.
See Set Passwords for Safety -lock and -unlock on page 56.
The safety-lock feature, described in this section, and standard security measures
in the Logix Designer application are applicable to GuardLogix controller
projects.
Refer to the Logix5000 Controllers Security Programming Manual,

publication 1756-PM016, for information on Logix Designer security features.

Generate a Safety Task Signature
Before verification testing, you must generate the safety task signature. You can
generate the safety task signature only when online with the safety-unlocked
GuardLogix controller in Program mode, and with no safety forces, pending
online safety edits, or safety faults. The safety status must be Safety Task OK.
In addition, you cannot generate a safety task signature if the controller is in

Run mode with run mode protection enabled.
TIP You can view the safety status via the safety status button on the online bar (see
page 157) or on the Safety tab of the Controller Properties dialog box, as shown in
Figure 38.
Click Generate to generate the safety task signature from the Safety tab of the
Controller Properties dialog box. You can also choose Tools>Safety>Generate
Signature.
Figure 38 - Safety Tab
If a previous signature exists, you are prompted to overwrite it.
TIP Safety task signature creation and deletion is logged in the controller log.
For more information on accessing the controller log, refer to Logix5000 Controllers
Controller Information and Status Programming Manual, publication 1756-PM015.

When a safety task signature exists, the following actions are not permitted in
the safety portion of the application:
• Online/offline programming or editing (including safety Add-on
Instructions)
• Forcing safety I/O
• Changing the inhibit state of safety I/O or producer controllers
• Safety data manipulation (except by safety routine logic)
Copy the Safety Task Signature
You can use the Copy button to create a record of the safety task signature for
use in safety project documentation, comparison, and validation. Click Copy,
to copy the ID, Date, and Time components to the Windows clipboard.
Delete the Safety Task Signature
Click Delete to delete the safety task signature. The safety task signature
cannot be deleted when the following is true:
• The controller is safety-locked.
• The controller is in Run mode with the key switch in RUN.
• The controller is in Run or Remote Run mode with run mode
protection enabled.
ATTENTION: If you delete the safety task signature, you must retest
and revalidate your system to meet SIL 3/PLe.
Refer to the GuardLogix 5570 and Compact GuardLogix 5370 Controller
Systems Safety Reference Manual, publication 1756-RM099, for more
information on SIL 3/PLe requirements.

Programming Restrictions Restrictions limiting the availability of some menu items and features (that is,
cut, paste, delete, search and replace) are imposed by the Logix Designer
application to help protect safety components from being modified whenever
the following is true:
• The controller is safety-locked.
• A safety task signature exists.
• Safety faults are present.
• Safety status is as follows:
– Partner missing
– Partner unavailable
– Hardware incompatible
– Firmware incompatible
If even one of these conditions apply, you cannot do the following:

• Create or modify safety objects, including safety programs, safety
routines, safety tags, safety Add-on Instructions, and safety I/O devices.
IMPORTANT The scan times of the safety task and safety programs can be reset
when online.
• Apply forces to safety tags.

• Create new safety tag mappings.
• Modify or delete tag mappings.
• Modify or delete user-defined data types that are used by safety tags.
• Modify the controller name, description, chassis type, slot, and safety
network number.
• Modify or delete the safety task signature, when safety-locked.

Chapter 10
Develop Integrated Motion over an EtherNet/IP

Network Application
Topic Page
Motion Axes Support 162
Maximum Number of Position Loop-configured Drives 163
Time Synchronization 164
Configure Integrated Motion on the EtherNet/IP Network 165
Compact GuardLogix® 5370 controllers support Integrated Motion over an

Integrated Motion on EtherNet/IP applications use the following:

• Standard EtherNet/IP network
• High performance drives, which includes the following:
– Kinetix® 350 drives
– Kinetix 5500 and Kinetix 5700 drives
– Kinetix 6500 drives
– PowerFlex® 527 drives
– PowerFlex 755 drives
• Standard infrastructure components
• Programming software
In addition, Kinetix 5500(1), Kinetix 5700, and PowerFlex 527 drives support
integrated safe torque-off (STO) via a single safety and motion connection to a
Compact GuardLogix 5370 safety controller. The Compact GuardLogix
controller issues the STO command over the EtherNet/IP network via CIP
Safety and the safety drive executes the command.
For more information on configuring drives that use Integrated Motion over
an EtherNet/IP network, see the drive user manuals listed in the Additional
Resources on page 10 and the Integrated Motion on the EtherNet/IP Network
Configuration and Startup User Manual, publication MOTION-UM003.
(1) Applies only to Kinetix 5500 drives with -ERS2 catalog numbers.

Chapter 10 Develop Integrated Motion over an EtherNet/IP Network Application
Motion Axes Support The 1769-L30ERMS, 1769-L33ERMS, 1769-L33ERMOS, 1769-L36ERMS,

1769-L36ERMOS, and1769-L37ERMOS controllers support these axes:
• AXIS_VIRTUAL
• AXIS_CIP_DRIVE
AXIS_VIRTUAL Axis
The AXIS_VIRTUAL axis is an internal axis representation that is not
associated with any physical drives. That is, you can configure the axis but it
does not cause any physical motion in your system.
AXIS_CIP_DRIVE Axis
The AXIS_CIP_DRIVE axis is a motion axis that is used with physical drives
to cause physical motion in your system as determined by your application.
Configuration Types
When adding an axis to your project, you must associate the axis to a drive.
Among other configuration parameters, you must select a configuration type.
The axis configuration type is also considered the drive configuration type.
For example, an AXIS_CIP_DRIVE axis can use a Position Loop

configuration and be associated with a Kinetix 350 drive. The axis is
considered a Position Loop-configured axis and the associated drive is
considered a Position Loop-configured drive.
The following drives support these configuration types:

• Kinetix 350, Kinetix 5500, Kinetix 5700, and Kinetix 6500 drives
– Position loop
– Velocity loop
– Torque loop
• PowerFlex 527 and PowerFlex 755 drives
– Position loop
– Velocity loop
– Torque loop
– Frequency control

Develop Integrated Motion over an EtherNet/IP Network Application Chapter 10
Maximum Number of Position Any device added to the local Ethernet node in the I/O configuration is
counted toward the node limitation of the controller. For more information,
Loop-configured Drives see Nodes on EtherNet/IP Network on page 69.
Drives are counted among the number of nodes in the I/O Configuration section
of the Logix Designer application. If you use the maximum number of drives that
a Compact GuardLogix 5370 controller supports in one system, you cannot add
other EtherNet/IP devices to that project.
Position Loop-configured Drive Limits
Among the maximum number drives supported by the controllers, there is a

maximum number of Position Loop-configured drives that are supported in
the project for the controller.
For example, the 1769-L30ERMS controller supports a maximum of four

Position Loop-configured drives.
Table 30 lists motion-related specification information for the controllers that

support Integrated Motion over an EtherNet/IP network.
Table 30 - Compact GuardLogix 5370 Controllers Supporting Integrated Motion on the

EtherNet/IP Network
Controller Type Number of Drives Number of Position
Supported, max Loop-configured Drives
Supported, max
1769-L30ERMS 16 4
1769-L33ERMS 32 8
1769-L33ERMOS
1769-L36ERMS 48 16
1769-L36ERMOS
1769-L37ERMOS(1)
If your solution requires more than 16 Position Loop-configured drives,

consider using the ControlLogix® platform. The ControlLogix platform
enables up to 100 Position Loop-configured drives.

Time Synchronization Integrated motion over an EtherNet/IP network requires time synchronization,
also known as CIP Sync. CIP Sync provides accurate real-time (real-world time)
or Coordinated Universal Time (UTC) synchronization of Compact
GuardLogix 5370 controllers and devices that are connected over an EtherNet/
IP network.
CIP Sync is a time synchronization protocol that can be applied to various

applications. This chapter focuses on using the protocol in applications with
Integrated Motion over an EtherNet/IP network.
All controllers and communication modules must have time synchronization

enabled to participate in CIP Sync.
CIP Sync requires that devices in the system function in the following roles:
• Grandmaster, also known as the coordinated system time (CST) master
- Sets time for entire system and passes the time to a Master
• Master - Sets time for its backplane
• Slave - Uses time set by Master
You can enable time synchronization on the Date/Time tab of the Controller

Develop Integrated Motion over an EtherNet/IP Network Application Chapter 10
Configure Integrated Motion To add a drive to your project for integrated motion on the EtherNet/IP
network, complete these steps.
on the EtherNet/IP Network
IMPORTANT These steps show a 1769-L36ERMS controller and a Kinetix 350 drive. The
same steps apply to other Compact GuardLogix 5370 controllers and other
drives that support integrated motion on an EtherNet/IP network.
IMPORTANT This section assumes that you have previously created a project for your
1769-L36ERMS controller and enabled time synchronization on the
controller. If you have not, do so before continuing.
1. In the I/O configuration tree, right-click the Ethernet network and

choose New Module.
The Select Module Type dialog box appears.

2. Select the desired drive and click Create.


3. Type a name for the module.
4. Type a description, if desired.
5. Assign an EtherNet/IP address.
For information on setting the IP addresses, see the publications for each
drive type that is listed in Additional Resources on page 10.
6. If you must change the configuration for any of the following

parameters, click Change in the Module Definition area:
• Revision
• Electronic Keying
• Connection
For drives that support safety and motion on a single connection, you
can choose Motion Only, Motion and Safety, or Safety Only.
• Power Structure
• Verify Power Rating on Connection
The Module dialog box appears.
7. Make the desired changes and click OK.

8. Click OK to create the drive in your project.
9. Add other components that your project requires.

Chapter 11
Go Online with the Controller
Topic Page
Considerations 167
Download 170
Upload 172
Go Online 173
Considerations The programming software determines whether you can go online with a
target controller based on whether the offline project is new or whether
changes occurred in the offline project. If the project is new, you must first
download the project to the controller. If changes occurred to the project, you
are prompted to upload or download. If no changes occurred, you can go
online to monitor the execution of the project.
A number of factors affect these processes, including Project to Controller

Match feature, the safety status and faults, the existence of a safety task
signature, and the safety-lock/-unlock status of the project and the controller.
Project to Controller Matching
The Project to Controller Match feature affects the download, upload, and go
online processes of standard and safety projects.
If the Project to Controller Match feature is enabled in the offline project, the
programming software compares the serial number of the controller in the
offline project to that of the connected controller. If they do not match, you
must cancel the download/upload, connect to the correct controller, or
confirm that you are connected to the correct controller, which updates the
serial number in the project to match the target controller.

Chapter 11 Go Online with the Controller
Firmware Revision Matching
Firmware revision matching affects the download process. If the revision of the
controller does not match the revision of the project, you are prompted to
update the firmware of the controller. The Logix Designer application lets you
update the firmware as part of the download sequence if the controller is
safety-unlocked.
IMPORTANT To update the firmware of the controller, first install a firmware upgrade
kit. An upgrade kit ships on a supplemental CD along with the Logix
Designer application.
TIP You can also upgrade the firmware by choosing ControlFLASH™ from the Tools
menu in the Logix Designer application.
Safety Status/Faults
Uploading program logic and going online is allowed regardless of safety status.
Safety status and faults affect the download process only.
You can view the safety status via the Safety tab on the Controller Properties
dialog box.
Safety Task Signature and Safety-locked and -unlocked Status
The existence of a safety task signature and the safety-locked or -unlocked

status of the controller affect both the upload and download processes.
On Upload
If the controller has a safety task signature, the safety task signature and the
safety task lock status are uploaded with the project. For example, if the project
in the controller was safety-unlocked, the offline project remains safety-
unlocked following the upload, even if it was locked prior to the upload.
Following an upload, the safety task signature in the offline project matches the
controller’s safety task signature.

Go Online with the Controller Chapter 11
On Download
The existence of a safety task signature, and the controller’s safety-lock status,
determines whether or not a download can proceed.
Table 31 - Effect of Safety-lock and Safety Task Signature on Download Operation
Safety-lock Status Safety Task Signature Status Download Functionality
Safety task signature in the offline project All standard project components are downloaded. Safety tags are reinitialized to the values they
matches the safety task signature in the had when the safety task signature was created. The safety task is not downloaded. Safety lock
Controller safety-unlocked controller. status matches the status in the offline project.
Safety task signatures do not match. If the controller had a safety task signature, it is automatically deleted, and the entire project is
downloaded. Safety lock status matches the status in the offline project.
Safety task signatures match. If the offline project and the controller are safety-locked, all standard project components are
downloaded and the safety task is re initialized to the values they had when the safety task
signature was created.
If the offline project is not safety-locked, but the controller is, the download is blocked and you
Controller safety-locked must first unlock the controller to allow the download to proceed.
Safety task signatures do not match. You must first safety-unlock the controller to allow the download to proceed. If the controller had a
safety task signature, it is automatically deleted, and the entire project is downloaded. Safety lock
status matches the status in the offline project.
IMPORTANT During a download to a controller that is safety-unlocked, if firmware in

the controller is different than in the offline project, do one of the
following:
• Update the controller so that it matches the offline project. Once the
update is completed, the entire project is downloaded.
• Update the project to the controller version.
If you update the project, the safety task signature is deleted, and the
system requires revalidation.

Download Follow these steps to transfer your project from your computer to your
controller.
Controller
Download Project
1. Turn the key switch of the controller to REM.

2. Open the controller project that you want to download.
3. Define the path to the controller.
a. Click Who Active .
b. Select the controller.
To open a level, click the + sign. If a controller is already selected,
make sure that it is the correct controller.
4. Click Download.
The software compares the following information in the offline project
and the controller:
• Controller serial number (if project to controller match is selected)
• Firmware major and minor revisions
• Safety status
• Safety task signature (if one exists)
• Safety-lock status

5. Follow the directions in this table to complete the download based on

the software’s response.
If the software indicates Then
Download to the controller. Choose Download. The project downloads to the controller and the Logix Designer application goes
online.
Unable to download to the controller. Mismatch between the offline project Connect to the correct controller or verify that this is the correct controller. If it is the correct
and the controller serial number. Selected controller may be the wrong controller, select the Update project serial number checkbox to allow the download to proceed. The
controller. project serial number is modified to match the controller serial number.
Unable to download to the controller. The major revision of the offline Choose Update Firmware(1). Choose the required revision and click Update. Confirm your selection
project and the controller’s firmware are not compatible. by clicking Yes.
Unable to download to controller. The internal safety partner hardware has Replace the controller.
failed.
Unable to download to the controller. The firmware update of the controller Choose Update Firmware(1). Choose the required revision and click Update. Confirm your selection
is incomplete. by clicking Yes.
Unable to download to controller. Safety partnership has not been Cancel this download process and attempt a new download.
established.
Unable to download to controller. Incompatible safety task signature Cancel the download. To download the project, you must safety-unlock the offline project, delete
cannot be deleted while the project is safety-locked. the safety task signature, and download the project.
IMPORTANT: The safety system requires revalidation.
Cannot download in a manner that preserves the safety task signature. • If the firmware minor revision is incompatible, to preserve the safety task signature, update the
Controller’s firmware minor revision is not compatible with safety task firmware revision in the controller to exactly match the offline project. Then download the offline
signature in offline project. project.
• To proceed with the download despite the safety task signature incompatibility, click Download.
The safety task signature is deleted.
Unable to download to controller. Controller is locked. Controller and offline Choose Unlock. The Safety Unlock for Download dialog box appears. If the Delete Signature
project safety task signatures do not match. checkbox is selected and you choose Unlock, you must confirm the deletion by selecting Yes.
A nonrecoverable safety fault will occur in the safety controller. No Check Enable Time Synchronization and click Download to proceed.
designated coordinated system time (CST) master exists.
(1) The controller must be safety-unlocked.
Following a successful download, the safety-locked status and safety task

signature of the controller match the project that was downloaded. Safety data is
initialized to the values that existed when the safety task signature was created.

Upload Follow these steps to transfer a project from the controller to your computer.
Controller
Upload Project

To expand a level, click the + sign. If a controller is already selected,
2. Click Upload.
3. If the project file does not exist, choose File>Select>Yes.
4. If the project file exists, select it.
If the project to controller match is enabled, the programming software

checks whether the serial number of the open project and the serial
number of the controller match.
If the controller serial numbers do not match, you can do one of the
following:
• Cancel the upload and connect to a matching controller. Then, start
the upload procedure again.
• Select a new project to upload into or select another project by
choosing Select File.
• Update the project serial number to match the controller by checking
the Update Project Serial Number checkbox and choosing Upload.
5. The software checks whether the open project matches the controller
project.
a. If the projects do not match, you must select a matching file or cancel
the upload process.
b. If the projects match, the software checks for changes in the offline
(open) project.
6. The software checks for changes in the offline project.
a. If there are no changes in the offline project, you can go online
without uploading. Click Go Online.
b. If there are changes in the open project that are not present in the
controller, you can choose to upload the project, cancel the upload, or
select another file.

If you choose Upload, the standard and safety applications are uploaded.
If a safety task signature exists, it is also uploaded. The safety-lock status
of the project reflects the original status of the online (controller)
project.
TIP Prior to the upload, if an offline safety task signature exists, or the offline
project is safety-locked but the controller is safety-unlocked or has no safety
task signature, the offline safety task signature and safety-locked state are
replaced by the online values (safety-unlocked with no safety task
signature). If you do not want to make these changes permanent, do not
save the offline project following the upload.
Go Online Follow these steps to go online to monitor a project that the controller is
executing.
Controller
Online Project

To expand a level, click the + sign. If a controller is already selected,
2. Click Go Online.
The software checks for the following:
• Do the offline project and controller serial numbers match (if Project
to Controller Match is selected)?
• Does the offline project contain changes that are not in the controller
project?
• Do the revisions of the offline project and controller firmware
match?
• Are either the offline project or the controller safety-locked?
• Do the offline project and the controller have compatible safety task
signatures?

3. Follow the directions in the table below to connect to the controller.

Table 32 - Connect to the Controller
If the software indicates Then
Unable to connect to controller. Mismatch between the offline project and Connect to the correct controller, select another project file, or choose the Update project serial
the controller serial number. Selected controller may be the wrong number checkbox and choose Go Online… to connect to the controller and update the offline
controller. project serial number to match the controller.
Unable to connect to controller. The revision of the offline project and the Choose one of the following options:
controller’s firmware are not compatible. • Choose Update Firmware. Choose the required revision and click Update. Confirm your selection
by clicking Yes.
IMPORTANT: The online project is deleted.
• To preserve the online project, cancel the online process and install a version of the Logix
Designer application that is compatible with the firmware revision of your controller.
You need to upload or download to go online by using the open project. Choose one of the following options:
• Upload to update the offline project.
• Download to update the controller project.
• Choose File to select another offline project.
Unable to connect in a manner that preserves safety task signature. • To preserve the safety task signature when the firmware minor revision is incompatible, update
Controller’s firmware minor revision is not compatible with safety task the firmware revision in the controller to exactly match the offline project. Then go online to the
signature in offline project. controller.
• To proceed with the download despite the safety task signature incompatibility, click Download.
The safety task signature is deleted.
Unable to connect to controller. Incompatible safety task signature cannot Cancel the online process. You must safety-unlock the offline project before attempting to go online.
be deleted while project is safety-locked.
When the controller and the programming software are online, the safety-locked
status and safety task signature of the controller match the controller’s project.
The safety-lock status and safety task signature of the offline project are
overwritten by the controller. If you do not want the changes to the offline project
to be permanent, do not save the project file following the go online process.

Chapter 12
Monitor Status and Handle Faults
Topic Page
View Status via the Online Bar 175
Monitor Connections 176
Monitor Safety Status 179
Controller Faults 179
Develop a Fault Routine 181
See Appendix A, Status Indicators for information on interpreting the

controller’s status indicators.
View Status via the Online The online bar displays project and controller information, including the
controller’s status, force status, online edit status, and safety status.
Bar
Figure 39 - Status Buttons
Controller Status Button
Force Status Button
Online Edit Button
Safety Status Button
When the Controller Status button is selected as shown above, the online bar
shows the controller’s mode (RUN) and status (OK). The I/O indicator
combines the status of standard and safety I/O and behaves just like the status
indicator on the controller. The I/O with the most significant error status is
displayed next to the status indicator.
When the Safety Status button is selected as shown below, the online bar
displays the safety task signature.
Figure 40 - Safety Signature Online Display

Chapter 12 Monitor Status and Handle Faults
The Safety Status button itself indicates whether the controller is safety-locked
or -unlocked, or faulted. It also displays an icon that shows the safety status.
Table 33 - Safety Status Icon

If the safety status is This icon is displayed
Safety Task OK
Safety Task Inoperable

Safety Unavailable
Offline
Icons are green when the controller is safety-locked, yellow when the controller
is safety-unlocked, and red when the controller has a safety fault. When a safety
task signature exists, the icon includes a small check mark.
Monitor Connections You can monitor the status of standard and safety connections.
All Connections
If communication with a device in the I/O configuration of the controller does

not occur for 100 ms, communication times out and the controller produces
the following warnings:
• An I/O fault status code is indicated on the status display of the
Compact GuardLogix® 5370 controller.
• The I/O indicator on the front of the controller flashes green.
• An alert symbol shows over the I/O configuration folder and over
the device that has timed out.
• A module fault is produced, which you can access through the
Connections tab of the Module Properties dialog box for the module or
via the GSV instruction.
ATTENTION: Safety I/O and produce/consume connections cannot

be configured to automatically fault the controller when a
connection is lost. Therefore, you need to monitor for connection
faults to be sure that the safety system maintains SIL 3/PLe integrity.
See Safety Connections on page 177.

Monitor Status and Handle Faults Chapter 12
Safety Connections
For tags associated with produced or consumed safety data, you can monitor
the status of safety connections by using the CONNECTION_STATUS
member. For monitoring input and output connections, Safety I/O tags have a
connection status member called SafetyStatus. Both data types contain two
bits: RunMode and ConnectionFaulted.
The RunMode value indicates if consumed data is actively being updated by a

device that is in the Run Mode (1) or Idle State (0). Idle state is indicated if the
connection is closed, the safety task is faulted, or the remote controller or
device is in Program mode or Test mode.
The ConnectionFaulted value indicates whether the safety connection

between the safety producer and the safety consumer is Valid (0) or Faulted
(1). If ConnectionFaulted is set to Faulted (1) as a result of a loss of the physical
connection, the safety data is reset to zero.
The following table describes the combinations of the RunMode and

ConnectionFaulted states.
Table 34 - Safety Connection Status
RunMode ConnectionFaulted Safety Connection Operation
Status Status
1 = Run 0 = Valid Data is actively being controlled by the producing device. The producing
device is in Run mode.
0 = Idle 0 = Valid The connection is active and the producing device is in the Idle state. The
safety data is reset to zero.
0 = Idle 1 = Faulted The safety connection is faulted. The state of the producing device is
unknown. The safety data is reset to zero.
1 = Run 1 = Faulted Invalid state.
If a module is inhibited, the ConnectionFaulted bit is set to Faulted (1) and the
RunMode bit is set to Idle (0) for each connection associated with the module.
As a result, safety consumed data is reset to zero.

Determine if I/O Communication has Timed Out
This example can be used with the Compact GuardLogix 5370 controllers:
• The GSV instruction gets the status of the I/O status indicator (via the
LEDStatus attribute of the Module object) and stores it in the
IO_LED tag.
• IO_LED is a DINT tag that stores the status of the I/O status indicator
or status display on the front of the controller.
• If IO_LED equals 2, then at least one I/O connection has been lost and
the Fault_Alert is set.
Figure 41 - GSV Used to Identify I/O Timeout
For more information about attributes available with the Module object, see
1756-RM009.
Determine if I/O Communication to a Specific I/O Module has

Timed Out
If communication times out with a device (module) in the I/O configuration
of the controller, the controller produces a fault code and fault information for
the module. You can use GSV instructions to get fault code and information
via the FaultCode and FaultInfo attributes of the Module object.
For more information about attributes available with the Module object, see
1756-RM009.
Monitor Status Flags Logix controllers, including Compact GuardLogix controllers, support status
keywords that you can use in your logic to monitor certain events.
For more information on how to use these keywords, refer to the Logix5000™
Controllers Controller Information and Status Programming Manual,
publication 1756-PM015.

Monitor Safety Status View controller safety status information on the safety status button on the
online bar and on the Safety tab of the Controller Properties dialog box.
Figure 42 - Safety Task Status
These are the possible values for safety status:

• Safety partner is unavailable
• Safety firmware is incompatible
• Safety task inoperable
• Safety task OK
With the exception of safety task OK, the descriptions indicate that
nonrecoverable safety faults exist.
See Major Safety Faults (Type 14) on page 181 for fault codes and corrective
actions.
Controller Faults Faults in the Compact GuardLogix system can be nonrecoverable controller
faults, nonrecoverable safety faults in the safety application, or recoverable
safety faults in the safety application.
Nonrecoverable Controller Faults
These occur when the controller’s internal diagnostics fail. If a nonrecoverable

controller fault occurs, safety task execution stops and CIP Safety I/O modules
are placed in the safe state. Recovery requires that you download the
application program again.
Nonrecoverable Safety Faults in the Safety Application
If a nonrecoverable safety fault occurs in the safety application, safety logic and the
safety protocol are terminated. Safety task watchdog faults fall into this category.

When the safety task encounters a nonrecoverable safety fault that is cleared
programmatically in the Controller Fault Handler, the standard application
continues to execute.
ATTENTION: Overriding the safety fault does not clear it! If you override the
safety fault, it is your responsibility to prove that doing so maintains safe
operation.
You must provide proof to your certifying agency that allowing a portion of the
system to continue to operate maintains safe operation.
If a safety task signature exists, you only need to clear the fault to enable the
safety task to run. If no safety task signature exists, the safety task cannot run
again until the entire application is downloaded again.
Recoverable Faults in the Safety Application
If a recoverable fault occurs in the safety application, the system may or may
not halt the execution of the safety task, depending upon whether or not the
fault is handled by the Program Fault Handler in the safety application.
When a recoverable fault is cleared programmatically, the safety task is allowed

to continue without interruption.
When a recoverable fault in the safety application is not cleared programmatically,

a Type 14, Code 2 recoverable safety fault occurs. The safety program execution
is stopped, and safety protocol connections are closed and reopened to
re-initialize them. Safety outputs are placed in the safe state and the producer of
safety-consumed tags commands the consumers to also place them in a safe state.
Recoverable faults let you edit the standard and safety application as required
to correct the cause of the fault. However, if a safety task signature exists or the
controller is safety-locked, you must first unlock the controller and delete the
safety task signature before you can edit the safety application.
View Faults
The Recent Faults dialog box on the Major Faults tab of the Controller
Properties dialog box contains two sub-tabs, one for standard faults and one for
safety faults.

Fault Codes
Table 35 shows the fault codes specific to Compact GuardLogix controllers.

The type and code correspond to the type and code displayed on the Major
Faults tab of the Controller Properties dialog box and in the PROGRAM
object, MAJORFAULTRECORD (or MINORFAULTRECORD) attribute.
Table 35 - Major Safety Faults (Type 14)

Code Cause Status Corrective Action
Task watchdog expired. User task has not completed in a Nonrecoverable Clear the fault.
specified period of time. A program error caused an infinite If a safety task signature exists, safety memory is re-initialized and the safety task
01 loop, the program is too complex to execute as quickly as begins executing.
specified, a higher priority task is keeping this task from If a safety task signature does not exist, you must re-download the program to
finishing. allow the safety task to run.
02 An error exists in a routine of the safety task. Recoverable Correct the error in the user-program logic.
07 Safety task is inoperable. Nonrecoverable Clear the fault.
This fault occurs when the safety logic is invalid, for example, If a safety task signature exists, safety memory is re-initialized via the safety task
a watchdog timeout occurred or memory is corrupt. signature and the safety task begins executing.
If a safety task signature does not exist, you must download the program again to
allow the safety task to run.
08 Coordinated system time (CST) not found. Nonrecoverable Clear the fault. Configure a device to be the CST master.
The Logix5000 Controllers Major and Minor Faults Programming Manual,

publication 1756-PM014, contains descriptions of the fault codes common to
Logix controllers.
Develop a Fault Routine If a fault condition occurs that is severe enough for the controller to shut down,
the controller generates a major fault and stops the execution of logic.
Depending on your application, you may not want all safety faults to shut
down your entire system. In those situations, you can use a fault routine to clear
a specific fault and let the standard control portion of your system continue to
operate or configure some outputs to remain ON.
ATTENTION: You must provide proof to your certifying agency that allowing
a portion of the system to continue to operate maintains safe operation.
The controller supports two levels for handling major faults:

• Program Fault Routine
• Controller Fault Handler
Both routines can use the GSV and SSV instructions as described on page 182.

Program Fault Routine
Each program can have its own fault routine. The controller executes the
program’s fault routine when an instruction fault occurs. If the program’s fault
routine does not clear the fault, or if a program fault routine does not exist, the
controller proceeds to execute the controller fault handler, if one exists.

The controller fault handler is an optional component that executes when the
program fault routine could not clear the fault or does not exist.
You can create only one program for the controller fault handler. After you
create that program, you must configure a routine as the main routine.
The Logix5000 Controllers Major and Minor Faults Programming Manual,

publication 1756-PM014, provides details on creating and testing a fault routine.
Use GSV/SSV Instructions
Logix controllers store system data in objects rather than in status files. You can
use the Get System Value (GSV) and Set System Value (SSV) instructions to
retrieve and set controller data.
The GSV instruction retrieves the specified information and places it in the
specified destination. The SSV instruction changes the specified attribute with
data from the source of the instruction. When you enter a GSV or SSV
instruction, the programming software displays the object classes, object
names, and attribute names for each instruction.
For standard tasks, you can use the GSV instruction to get values for the
available attributes. When using the SSV instruction, the software displays only
those attributes you are allowed to set.
For the safety task, the GSV and SSV instructions are more restricted. Note
that SSV instructions in safety and standard tasks cannot set bit 0 (major fault
on error) in the mode attribute of a safety I/O module.
For safety objects, Table 36 shows which attributes you can get values for by
using the GSV instruction, and which attributes you are allowed to set by using
the SSV instruction, in the safety and standard tasks.
ATTENTION: Use the GSV/SSV instructions carefully. Making changes to

objects can cause unexpected controller operation or injury to personnel.

Table 36 - GSV/SSV Accessibility

Accessible from Accessible from
Safety the Safety Task Standard Tasks
Attribute Name Data Type Attribute Description
Object
GSV SSV GSV(4) SSV
Instance DINT Provides instance number of this task object. Valid values are X X
0…31.
MaximumInterval DINT[2] The max time interval between successive executions of this task. X X
MaximumScanTime DINT Max recorded execution time (ms) for this task. X X
MinimumInterval DINT[2] The min time interval between successive executions of this task. X X
Safety Task
Priority INT Relative priority of this task as compared to other tasks. Valid X X
values are 0…15.
Rate DINT Period for the task (in ms), or timeout value for the task (in ms). X X
Watchdog DINT Time limit (in ms) for execution of all programs associated with this X X
task.
Instance DINT Provides the instance number of the program object. X X
Safety MajorFaultRecord(1) DINT[11] Records major faults for this program. X X X
Program
MaximumScanTime DINT Max recorded execution time (ms) for this program. X X
Safety Instance DINT Provides the instance number for this routine object. Valid values X
Routine are 0…65,535.
SafetyLocked SINT Indicates whether the controller is safety-locked or -unlocked. X X
SafetyStatus(2) INT Specifies the safety status as the following: X
• Safety task OK. (1000000000000000)
• Safety task inoperable. (1000000000000001)
Safety • Firmware incompatible. (00000000000000011)
Controller SafetySignatureExists SINT Indicates whether the safety task signature is present. X X
SafetySignatureID DINT 32-bit identification number. X
SafetySignature String(3) 32-bit identification number. X
SafetyTaskFaultRecord(1)(2) DINT[11] Records safety task faults. X
LastEditDate LINT Date and time stamp of the last edit to an Add On Instruction X
definition.
AOI (Safety) SignatureID DINT ID number. X
SafetySignatureID DINT 32-bit identification number. X
(1) See Access FaultRecord Attributes on page 184 for information on how to access this attribute.
(2) See Capture Fault Information on page 184 for information on how to access this attribute.
(3) Length = 37.
(4) From the standard task, GSV accessibility of safety object attributes is the same as for standard object attributes.

Access FaultRecord Attributes
Create a user-defined structure to simplify access to the MajorFaultRecord and

SafetyTaskFaultRecord attributes.
Table 37 - Parameters for Accessing FaultRecord Attributes
Name Data Type Style Description
TimeLow DINT Decimal Lower 32 bits of the fault time stamp value
TimeHigh DINT Decimal Upper 32 bits of the fault time stamp value
Type INT Decimal Fault type (program, I/O, or other)
Code INT Decimal Unique code for this fault (dependent on fault type)
Info DINT[8] Hexadecimal Fault-specific information (dependent on fault type and code)
For more information on using the GSV and SSV instructions, refer to the I/O
Instructions chapter of the Logix Controllers Instructions Reference Manual,
publication 1756-RM009.
Capture Fault Information
The SafetyStatus and SafetyTaskFaultRecord attributes can capture information

about non-recoverable faults. Use a GSV instruction in the controller fault
handler to capture and store fault information. The GSV instruction can be used
in a standard task in conjunction with a controller fault handler routine that
clears the fault and lets the standard tasks continue executing.

Chapter 13
Store and Load Programs with a Secure Digital

Card
Topic Page
Use SD Cards for Nonvolatile Memory 185
Store a Safety Project 187
Load a Safety Project 190
Manage Firmware with Firmware Supervisor 193
IMPORTANT The life expectancy of nonvolatile media is dependent on the number of

write cycles that are performed. Nonvolatile media use a wear leveling
technique, or technology for prolonging the service life, but avoid frequent
writes.
Avoid frequent writes when logging data. We recommend that you log data
to a buffer in the memory of your controller and limit the number of times
data is written to removable media.
Use SD Cards for Nonvolatile Compact GuardLogix® 5370 controllers support a Secure Digital (SD) card for
nonvolatile memory:
Memory
• 1784-SD1 card - Ships with Compact GuardLogix 5370 controller and
offers 1 GB of memory. You can order more 1784-SD1 cards if desired.
• 1784-SD2 card - Available for separate purchase and offers 2 GB of

memory.
Nonvolatile memory lets you keep a copy of your project on the controller. The
controller does not need power or a battery to keep this copy.

Chapter 13 Store and Load Programs with a Secure Digital Card
You can load the stored project from nonvolatile memory to the user memory
of the controller:
• On every power-up
• Whenever there is no project in the controller and it powers up
• Anytime through the programming software
IMPORTANT Nonvolatile memory stores the contents of the user memory at the time
that you store the project:
• Changes that you make after you store the project are not reflected in
nonvolatile memory.
• If you make changes to the project but do not store those changes, you
overwrite them when you load the project from nonvolatile memory. If
this occurs, you have to upload or download the project to go online.
• If you want to store changes, such as online edits or tag values, store
the project again after you make the changes.
ATTENTION: Do not remove the SD card while the controller is reading from
or writing to the card, as indicated by a flashing green SD status indicator.
This could corrupt the data on the card or in the controller, as well as corrupt
the latest firmware in the controller. Leave the card in the controller until the
SD status indicator turns solid green.
WARNING: When you insert or remove the SD card while power is on, an
electrical arc can occur. This could cause an explosion in hazardous location
installations.
If a SD card is installed, you can view the contents of the card on the
Nonvolatile Memory tab of the Controller Properties dialog box. If a safety
application is stored on the card, the safety-lock status and the safety task
signature are shown.

Store and Load Programs with a Secure Digital Card Chapter 13
Figure 43 - Nonvolatile Memory Tab
For detailed information on using nonvolatile memory, refer to the Logix5000

Controllers Nonvolatile Memory Programming Manual, publication
1756-PM017.
Store a Safety Project You cannot store a safety project if the safety task status is Safety Task
Inoperable. When you store a safety project, controller firmware is saved to the
SD card.
If no application exists in the controller, you can save just the firmware of the
safety controller only if valid partnership exists. A firmware-only load will not
clear a Safety Task Inoperable condition.
If a safety task signature exists when you store a project, the following occurs:
• Safety tags are stored with the value they had when the signature was
first created.
• Standard tags are updated.
• The current safety task signature is saved.
When you store a safety application project on a SD card, we recommend that

you select Program (Remote Only) as the Load mode, that is, the mode that
the controller should enter after the load. For more information, see Load a
Safety Project on page 190.

Follow these steps to store a project.
1. Go online with the controller.

2. Put the controller in Program mode, that is, Remote Program or
Program.
3. On the Online tool bar, click the controller properties icon.
4. Click the Nonvolatile Memory tab.

5. Click Load/Store.
TIP If Load/Store is dimmed (unavailable), verify the following:

• You have specified the correct communication path and are online with
the controller.
• The SD card is installed.
If the SD card is not installed, a
message in the lower-left corner of
the Nonvolatile Memory tab
indicates the card is missing.

6. Choose under what conditions to load the project into the user memory
of the controller.
Project that is currently on the SD card of Project that is currently in the
the controller (if any project is there). user memory of the controller.
If you choose On Power Up or On Uninitialized Memory, you must also

choose the mode that you want the controller to go to after the load:
• Program (Remote Only)
• Run (Remote Only)
TIP When you store a safety application project on a SD card, we recommend
that you select Program (Remote Only) as the Load mode, that is, the mode
that the controller should enter after the load.
7. In the Automatic Firmware Update box, use the default (disable) or

choose the Firmware Supervisor option.
IMPORTANT The Firmware Supervisor option is not used to upgrade the

controller firmware.
8. Click <--Store.
IMPORTANT Store is not active if a SD card is locked.
A dialog box asks for confirmation of the store.

9. To store the project, click Yes.

After you click Store, the project is saved to the SD card as indicated by the
controller status indicators. These conditions can exist:
• While the store is in progress, the following occurs:
– The OK indicator is flashing green.
– The SD indicator is flashing green.
– A dialog box indicates that the store is in progress.
• When the store is complete, the following occurs:
– The controller resets itself.
When the controller is resetting itself, the status indicators execute a
sequence of state changes, for example, a brief time with the OK
status indicator in the solid red state. Wait for the controller to
complete the sequence.
– After the controller fully resets itself, the OK indicator is solid green.
– The SD indicator is off.
IMPORTANT Allow the store to complete without interruption. If you interrupt

the store, data corruption or loss can occur.
Load a Safety Project You can only initiate a load from nonvolatile memory if the following is true:
• The controller type specified by the project stored in nonvolatile
memory matches the controller type.
• The major and minor revisions of the project in nonvolatile memory
matches the major and minor revisions of the controller.
• Your controller is not in Run mode.
Project that is currently on the SD card of Project that is currently in the
the controller (if any project is there). user memory of the controller.

You have several options for when (under what conditions) to load a project
into the user memory of the controller.
Table 38 - Options for Loading a Project
Then select this
Load Image
If you want to load the project option Notes
Whenever you turn on or cycle On Power Up • During a power cycle, you lose any online changes, tag values, and network schedule that you have not stored in
power the nonvolatile memory.
• The controller loads the stored project and firmware at every power-up regardless of the firmware or application
on the controller. The load occurs whether or not the controller is safety-locked or has a safety task signature.
• You can always use the programming software to load the project.
Whenever there is no project in the On Uninitialized • The controller updates the firmware on the controller, if required. The application stored in nonvolatile memory is
controller and you turn on or cycle Memory also loaded and the controller enters the selected mode, either Program or Run.
power • You can always use the programming software to load the project.
Only through RSLogix 5000® User Initiated • If the controller type as well as the major and minor revisions of the project in nonvolatile memory match the
software controller type and major and minor revisions of the controller, you can initiate a load, regardless of the Safety Task
status.
• Loading a project to a safety-locked controller is allowed only when the safety task signature of the project stored
in nonvolatile memory matches the project on the controller.
• If the signatures do not match or the controller is safety-locked without a safety task signature, you are prompted
to first unlock the controller.
IMPORTANT: When you unlock the controller and initiate a load from nonvolatile memory, the safety-lock status,
passwords, and safety task signature are set to the values contained in nonvolatile memory once the load is
complete.
• If the firmware on the controller matches the revision in nonvolatile memory, the internal safety partner firmware
is updated, if required, the application stored in nonvolatile memory is loaded so that the Safety Task status
becomes Safety Task Operable and the controller enters the selected mode, either Program or Run.
Follow these steps to use the application to load the project from an SD card.
1. Go online with the controller.

2. Put the controller in Program mode, that is, Remote Program or
Program.
3. On the Online tool bar, click the controller properties icon.
4. Click the Nonvolatile Memory tab.

6. On the nonvolatile memory load/store dialog box, click Load.
A dialog box prompts you to confirm the load.

7. To load the project, click Yes.
After you click Load, the project is loaded into the controller as indicated by
the controller status indicators. These conditions can exist:
• While the load is in progress, the following occurs:
– The controller resets itself.
When the controller is resetting itself, the status indicators execute a
sequence of state changes, for example, a brief time with the OK
status indicator in the solid red state. Wait for the controller to
complete the sequence.
– After the controller fully resets itself, the OK indicator is solid green.
– The SD indicator is off.

Manage Firmware with You can use the Firmware Supervisor feature in the Logix Designer Application
to manage firmware on Compact GuardLogix 5370 controllers. Firmware
Firmware Supervisor Supervisor lets controllers automatically update devices:
• Local and remote modules can be updated while in Program or Run
modes.
• Electronic keying must be configured for Exact Match.
• The firmware kit for the target device must reside on the controller’s SD
card.
• The device must support firmware updates via the ControlFLASH™
software.
Firmware Supervisor supports non-modular distributed I/O products that sit

directly on the network without an adapter, including CIP Safety I/O modules
on EtherNet/IP networks.
Follow these steps to enable Firmware Supervisor.
1. On the Controller Properties dialog box, click the Nonvolatile Memory

tab.
3. From the Automatic Firmware Updates pull-down menu, choose Enable
and Store Files to Image.
The Logix Designer application moves the firmware kits from your computer
to the controller SD card for Firmware Supervisor to use.
TIP If you disable Firmware Supervisor, you disable only firmware supervisor updates.
This does not include the controller firmware updates that occur when the
controller image is reloaded from the SD card.

Notes:

Appendix A
Status Indicators
This section explains how to interpret the status indicators on your

Compact GuardLogix® 5370 controllers.
Figure 44 - Status Indicators
Compact GuardLogix SAFETY CPU

RUN NS SFTY RUN
FORCE LINK 1 SFTY TASK
I/O LINK 2 SFTY LOCK
OK SD SFTY OK
Table 39 - Controller Mode (RUN) Status Indicator

Status Description
Off The controller is in Program or Test mode.
Green The controller is in Run mode.
Table 40 - Force State (FORCE) Status Indicator

Status Description
Off No tags contain I/O force values. I/O forces are inactive (disabled).
Yellow I/O forces are active (enabled). I/O force values can exist.
Flashing yellow One or more input or output addresses have been forced to an On or Off condition, but
the forces have not been enabled.
Table 41 - I/O State (I/O) Status Indicator

Status Description
Off One of the following conditions exists:
• There are no devices in the I/O configuration of the controller.
• The controller does not contain a project.
Green The controller is communicating with all devices in its I/O configuration.
Flashing green One or more devices in the I/O configuration of the controller are not responding.
Flashing red One of the following conditions exists:
• The controller is not communicating with any devices.
• A fault has occurred on the controller.

Appendix A Status Indicators
Table 42 - Controller Status (OK) Status Indicator

Status Description
Off No power is applied.
Green The controller is OK.
Flashing green The controller is storing a project to or loading a project from the SD card.
Red The controller detected a nonrecoverable major fault and cleared the project
from memory.
Flashing red One of the following:
• The controller requires a firmware update.
• A major recoverable fault occurred on the controller.
• A nonrecoverable major fault occurred on the controller and cleared the program
from memory.
Table 43 - Ethernet Network Status (NS) Status Indicator

Status Description
Off The port is not initialized; it does not have an IP address and is operating in BOOTP or
DHCP mode.
Green The port has an IP address and CIP connections are established.
Flashing green The port has an IP address, but no CIP connections are established.
Red The port has detected that the assigned IP address is already in use.
Flashing red/green The port is performing its power up self-test.
Table 44 - Ethernet Link Status (LINK 1/LINK 2) Status Indicator

Status Description
Off One of the following conditions exists:
• No link.
• Port administratively disabled.
• Port disabled because rapid ring fault condition was detected (LINK2).
Green One of the following conditions exists:
• A 100 Mbps link (half- or full-duplex) exists, no activity.
• A 10 Mbps link (half- or full-duplex) exists, no activity.
• Ring network is operating normally and the controller is the active supervisor.
• Ring network has encountered a rare partial network fault and the controller is the
active supervisor.
Flashing green A 100 Mbps link exists and there is activity.
Table 45 - SD Card Activity (SD) Status Indicator

Status Description
Off There is no activity to the SD card.
Flashing green The controller is reading from or writing to the SD card.
Flashing red The SD card does not have a file system.

Status Indicators Appendix A
Table 46 - SFTY RUN Status Indicator

Status Description
Off The user safety task or safety outputs are disabled. The controller is in the PROG mode,
test mode, or the safety task is faulted.
Green The user safety task and safety outputs are enabled. The safety task is executing.
Safety task signature is present.
Flashing Green The user safety task and safety outputs are enabled. The safety task is executing.
Safety task signature is not present.
Table 47 - SFTY TASK Status Indicator

Status Description
Off No partnership established.
Green Safety controller status is OK. The coordinated system time (CST) is synchronized and
safety I/O connections are established.
Flashing Green Safety controller status is OK. The coordinated system time (CST) is not synchronized.
Red Safety partnership was lost.
Flashing Red Safety task is inoperable.
Table 48 - SFTY LOCK Status Indicator

Status Description
Off Safety task is not locked.
Green Safety task is locked.
Table 49 - SFTY OK Status Indicator

Status Description
Off No power is applied.
Green The safety partner is OK.
Flashing Green The safety partner is storing or loading a project to or from nonvolatile memory.
Red The safety partner detected a nonrecoverable major fault, so it cleared the project
from its memory.
Flashing Red The internal safety partner requires a firmware update or a firmware update is in
progress.

Appendix A Status Indicators
Notes:

Appendix B
Change Controller Type
Topic Page
Change from a Standard to a Safety Controller 199
Change from a Safety to a Standard Controller 200
Change Safety Controller Types 200
Because safety controllers have special requirements and do not support certain
standard features, you must understand the behavior of the system when you
change the controller type from standard to safety or from safety to standard in
your project. Changing controller type affects the following:
• Supported features
• Physical configuration of the project, that is the safety partner and
Safety
I/O
• Controller properties
• Project components such as tasks, programs, routines, and tags
• Safety Add-on Instructions
Change from a Standard to a Upon confirmation of a change from a standard controller to a safety controller
project, safety components are created to meet the minimum requirements for
Safety Controller a safety controller:
• Safety components are created (that is safety task, safety program, and so
forth).
The safety task is created only if the maximum number of downloadable
tasks has not been reached. The safety task is initialized with its default
values.
• A time-based safety network number (SNN) is generated for the local
chassis.
• Standard controller features that are not supported by the safety
controller, such as redundancy, are removed from the Controller
Properties dialog box (if they existed).

Appendix B Change Controller Type
Change from a Safety to a Upon confirmation of a change from a safety controller project to a standard
controller, some components are changed and others are deleted, as described
Standard Controller below:
• Safety I/O modules and their tags are deleted.
• The safety task, programs, and routines are changed to a standard task,
programs, and routines.
• All safety tags, except safety consume tags, are changed to standard tags.
Safety consume tags are deleted.
• Safety tag mappings are deleted.
• The safety network number (SNN) is deleted.
• Safety-lock and -unlock passwords are deleted.
• If the standard controller supports features that were not available to the
safety controller, those new features are visible in the Controller
TIP Peer safety controllers are not deleted, even if they have no connections
remaining.
• Instructions may still reference modules that have been deleted and will
produce verification errors.
• Consumed tags are deleted when the producing module is deleted.
• As a result of the above changes to the system, safety-specific
instructions and safety I/O tags will not verify.
If the safety controller project contains safety Add-on Instructions, you must
remove them from the project or change their class to standard before changing
the controller type.
Change Safety Controller When you change from one safety controller type to another, the class of tags,
routines, and programs remains unaltered. Any I/O modules that are no longer
Types compatible with the target controller are deleted.
EXAMPLE 1768 Compact I/O™ modules are not compatible in a (1769) Compact
GuardLogix® 5370 controller system.
The representation of the safety partner is updated to appear appropriately for

the target controller in these cases:
• The safety partner is created in slot x (primary slot + 1) when changing
from a Compact GuardLogix 5370 to a GuardLogix 5570 controller.
• When changing to a Compact GuardLogix 5370 controller from a
GuardLogix 5570 controller, the safety partner is removed because it is
internal to the Compact GuardLogix controller.

Index
Numerics CompactLogix 5370 controllers

available local I/O banks 25
1769 Compact I/O modules 102
calculate system power consumption
calculate system power consumption 87 … 89
87 … 89 connecting power 27
CompactLogix 5370 controllers 25 connections to I/O modules 95
configure 94 … 100 DIN rail use 30
connections 95 direct connections 95
end cap detection 102 I/O modules 102
local banks available with CompactLogix installation 32
5370 controllers 25 minimum spacing 29
monitor faults 101 mounting 30
requested packet interval 95 SD card 24
validate layout 91 system dimensions 29
1769 Compact I/O power supplies integrated motion over an EtherNet/IP
calculate system power consumption network 161
87 … 89 local 1769 Compact I/O modules 25
1784-SD1 and 1784-SD2 cards minimum spacing 29
installation mounting 30
CompactLogix 5370 controllers 24 networks
EtherNet/IP network connection 32
USB connection 31
A parts 23
power supply
additional resources 12 distance rating 25
Add-On Instructions 20, 200 rack-optimized connections 95
in project 133 status indicators 196
address system components 25
Kinetix safety I/O device 112 system dimensions 29
advanced connection reaction time 108 configuration owner 110
alert symbol 176 identifying 111
alias tags 143 resetting 111, 113
configuration signature
application
components 110
elements 121
copy 110
attributes
definition 110
safety object 182 configure
AutoFlash 45
I/O modules
load firmware 49 … 52 for use with CompactLogix 5370
automatic firmware updates 193 controllers 94 … 100
system overhead time slice 137
configure always 118
B checkbox 61
base tags 143 connection
monitor 176
status 177
C connection reaction time limit 107, 153
changing controllers 199 … 200 CONNECTION_STATUS 146, 177
CIP Safety 11, 63, 119 ConnectionFaulted bit 177
CIP Safety I/O
configuration signature 110
monitor status 112
node address 103
reset ownership 111
class 145
clear
faults 180

Index
connections E
direct 95
editing 159
rack-optimized 95
to I/O modules 95 electronic keying 193
constant value tag 146 elements
consume tag data 152 control application 121
consumed tag 143, 146 EtherNet/IP network
continuous task 124 available network topologies 32
change IP address 45, 52
control and information protocol
via Logix Designer application 44
definition 11 connection for CompactLogix 5370
ControlFLASH software 168, 193 controllers 32
ControlFLASH utility 45 Integrated Motion over an EtherNet/IP
load firmware 46 … 49 network 161
controller set IP address 41, 45, 52
change type 199 via Logix Designer application 40
configuration 55 via RSLinx Classic software 37
fault handler 182 event task 124
logging external access 142, 146
safety lock, unlock 157
safety task signature 158
match 167 F
program 126
fault
properties 57
routine 128 clear 180
serial number 167 nonrecoverable controller 179
serial number mismatch 171, 174 nonrecoverable safety 179
tags 129 recoverable 180
tasks 122 routines 181 … 183
controller-scoped tags 145 fault code
coordinated system time 171 use GSV to get 178
fault codes
copy
major safety faults 181
safety network number 69
faults
create a project 55 monitor I/O module faults 101
firmware
load 52
D via AutoFlash 49 … 52
via ControlFLASH utility 46 … 49
data types via SD card 52
CONNECTION_STATUS 146 firmware revision
delete management 193
safety task signature 159 match 168
develop mismatch 169, 171, 174
applications 121 Firmware Supervisor 193
device-level ring topology 32 firmware upgrade kit 168, 193
diagnostic coverage 11 forcing 159
DIN rail 30
direct connections 95
distance rating G
power supply 25 get system value (GSV)
download accessibility 183
effect of controller match 167 definition 11
effect of firmware revision match 168 using 182
effect of safety status 168 go online 173
effect of safety task signature 169 factors 167
effect of safety-lock 169 GSV
process 170 … 171 fault code 178
monitor
connection 178

Index
I M
I/O major faults tab 180, 181
indicator 176 major safety faults 181
module replacement 61 MajorFaultRecord 184
I/O modules maximum observed network delay 108
calculate system power consumption reset 153
87 … 89 memory card 185, 186, 193
local 1769 Compact I/O modules 25
configure 94 … 100 minimum spacing 29
connections 95 minor faults tab 181
end cap detections 102 module
monitor faults 101 properties
requested packet interval 95 connection tab 111
validate layout 91 monitor
1769 Compact I/O modules 91 connections 176
installation 32 status 112
DIN rail 30 morphing
minimum spacing 29 See changing controllers.
mounting 30 mounting 30
panel mounting 30
SD card 24 multicast 11
system dimensions 29
Integrated Motion over an EtherNet/IP
network 161 N
configure 165 … 166 network address translation (NAT)
drive limits 163 definition 11
supported axes 162 supported features 20
time synchronization 164 network delay multiplier 109, 153
IP address 33, 103 network status
change 45, 52 indicator 116, 117
via Logix Designer application 44 networks
set 41, 45, 52 EtherNet/IP
via Logix Designer application 40 change IP address via Logix Designer
via RSLinx Classic software 37 application 44
network connection 32
set IP address via Logix Designer
L application 40
linear network topology 32 set IP address via RSLinx Classic
listen only connection 110 software 37
load a project 190 USB connection 31
new controller dialog box 56
on corrupt memory 191
on power up 191 node address 103
user initiated 191 nonrecoverable controller fault 179
local 1769 Compact I/O modules 25 nonrecoverable safety fault 179
local I/O banks 25 re-starting the safety task 180
lock nonvolatile memory 185 … 193
See safety-lock. tab 186
Logix Designer application
AutoFlash 45
change IP address 44 O
configure I/O moduless 94 … 100 online bar 175
Integrated Motion over an EtherNet/IP out-of-box 115
network 161 ownership
load a project to an SD card 192
set IP address 40 configuration 111
store a project to an SD card 190 resetting 111

Index
P requested packet interval 95, 146

consumed tag 153
panel mounting 30
consumed tags 143
password definition 11
valid characters 58 produced tag data 143
paste safety I/O 107
safety network number 69 reset
peer safety controller ownership 111, 113
configuration 62 reset module 113
location 147 restrictions
sharing data 147 programming 160
SNN 147 safety tag mapping 154
Performance Level 11 software 160
periodic task 124 when safety signature exists 159
power supply when safety-locked 156
connections 27 routine
priority in project 128
task 125 RPI
probability of failure on demand (PFD) See requested packet interval
definition 11 RSLinx Classic software
probability of failure per hour (PFH) set IP address 37
definition 11 version 20
produce a tag 151 RSLogix 5000 software
produce and consume tags 146 restrictions 160
run mode protection 158, 159
produced tag 143, 146
program RunMode bit 177
in project 126
scheduled 127 S
system overhead time slice 136
unscheduled 127 safety network number 64
program fault routine 182 assignment 63
programming 159 automatic assignment 65
programming languages 132 changing controller SNN 66
changing I/O SNN 67
programming restrictions 160 copy 69
program-scoped tags 145 copy and paste 69
project definition 11
elements 121 formats 64
project to controller match 167 managing 64
protect signature in run mode 59 manual 65
manual assignment 65
protecting the safety application 156 … 159 modification 66
safety task signature 158 paste 69
safety-lock 156 set 106
security 157 time-based 64
view 57
safety object
R attributes 182
rack-optimized connections 95 safety programs 141
reaction time 141 safety projects
reaction time limit features 20
CIP Safey I/O 107 safety routine 142
recoverable fault 180 using standard data 154
clear 180 safety status
replace button 158, 176
configure always enabled 118 effect on download 168
configure only… enabled 114 programming restrictions 160
view 168, 175, 179

Index
safety tab 157, 158, 179 software

configuration signature 110 Logix Designer application
connection data 107 AutoFlash 45
generate safety task signature 158 restrictions 160
module replacement 114 RSLinx Classic
safety-lock 157 set IP address 37
safety-lock controller 157 standard data in a safety routine 154
unlock 157 star network topology 32
view safety status 168, 179 status flags 178
safety tags
status indicators 196
controller-scoped 145
create 142 store a project 187
description 142 system assembly
mapping 154 … 156 calculate system power consumption
safety-program-scoped 145 87 … 89
valid data types 144 validate I/O modules layout 91
safety task 140 system components 25
execution 141 system dimensions 29
priority 140 system overhead time slice 136
watchdog time 140 configure 137
safety task period 107, 140, 146 system power consumption
safety task signature 146 calculate 87 … 89
copy 159
delete 159
effect on download 169 T
effect on upload 168
generate 158 tag
restricted operations 159 in project 129
restrictions 160 tags
storing a project 187 alias 143
view 175 base 143
safety-lock 156 class 145
controller 157 constant value 146
effect on download 169 consumed 143, 146
effect on upload 168 controller-scoped 145
icon 157 data type 144
password 157 external access 142, 146
SafetyTaskFaultRecord 184 naming 111
safety-unlock overview 142
produced 143, 146
controller 157 produced/consumed safety data 144, 145
icon 157 program-scoped 145
scan times safety I/O 144, 145
reset 160 scope 144
scheduled See also, safety tags.
program 127 type 143
SD card 45, 192 task
installation 24 continuous 124
load a project 192 event 124
load firmware 52 in project 122
store a project 190 periodic 124
serial number 167 priority 125
set system value (SSV) terminology 11
accessibility 183 time slice 136
using 182 time synchronization 62, 171
SNN timeout multiplier 109, 153
See safety network number

Index
U V
unicast 11 validate I/O modules layout
connections 146, 151 1769 Compact I/O modules 91
unlock controller 157 view
unscheduled safety status 168
program 127
upload
effect of controller match 167 W
effect of safety task signature 168 watchdog time 140
effect of safety-lock 168
process 172
USB cable 31

.
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Change the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4 Rockwell Automation Publication 1769-UM022B-EN-P - December 2016

Validate Standard I/O Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

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This manual contains new and updated information as indicated in the

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Compact GuardLogix 5370 controllers are designed to provide solution for

Abbreviation Full Term Definition

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You can view or download publications at

To order paper copies of technical documentation, contact your local Allen-

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The Compact GuardLogix® 5370 controllers offer state-of-the-art control,

The Armor™ Compact GuardLogix controller (1769-L33ERMOS,

For a complete description of the CompactLogix 5370 control system

(1) Available at firmware revision 30.

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Compact GuardLogix-based SIL 3/PLe safety applications require the use of at

Safety Network Number

Safety Task Signature

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Compact GuardLogix Controller

Program Safety Data

Controller Standard Tags Controller Safety Tags

4 Controller-scoped safety tags can be read directly by standard logic.

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Install the Controller

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North American Hazardous Location Approval

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European Hazardous Location Approval

WARNING: Special Conditions for Safe Use:

IMPORTANT The life expectancy of nonvolatile media is dependent on the

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1. Verify that the SD card is locked or unlocked according to your

2. Open the door for the SD card (A).

3. Insert the SD card into the SD card slot.

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• The controllers support this many local expansion modules across

Cat. No. Local Expansion Modules Supported, max

• Each I/O bank requires its own power supply.

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For examples of Compact GuardLogix 5370 controller systems that use

ATTENTION: Compact GuardLogix 5370 controller systems do not

ATTENTION: Do not remove or replace this module while power is applied.

WARNING: Remove power before removing or inserting this module. If you

1. Verify that line power is disconnected.

3. Move the bus lever to the right of the

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4. Use the upper and lower tongue-and-groove slots to secure the

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