Allen Bradley by Rockwell Automation

Programming Manual

Logix5550 Controller

(Cat. No. 1756-L1)

Allen-Bradley

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Preface

Using This Manual

Introduction This document provides a programmer with details about each available instruction for a Logix5550 controller. You should already be familiar with how the Logix5550 controller stores and processes data.

This manual provides this information for each instruction:

The more complex instructions have multiple examples or more configuration information, as needed.

For More Information

Category: Description:

Description This section explains:

• the function of the instruction

• when to use the instruction

• any important interactions with other instructions

Operands This section list and describes any operands you must specify when you enter the instruction.

Operation This section provides timing and memory information.

This section also uses these symbols to indicate when the controller executes the instruction:

Control status This section lists and describes the control structure of the instruction, if any. Not all instructions use control structures.

Example This section provides at least one programming example to demonstrate how to use the instruction.

rung is true

rung is false

rung goes from false to true

Publication: Publication Number:

Logix5550 Controller User Manual 1756-6.5.12

Logix5550 Controller Instruction Set Quick Reference 1756-6.5.11

Logix5550 Controller Quick Start 1756-10.1

Motion Control User Manual 1756-x.xx

Publication 1756-6.4.1 review January 1998 - preliminary

ii Using This Manual


Table of Contents

Bit Instructions Chapter 1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1I/O Tags in Data Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1Rung Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1Examine On (XIC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2Examine Off (XIO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4Energize (OTE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6Latch (OTL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8Unlatch (OTU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10One Shot (ONS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12One Shot Rising (OSR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14One Shot Falling (OSF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

Timer and Counter Instructions Chapter 2Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1Using Timers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Timer Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2Timer On Delay (TON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Pausing a TON instruction . . . . . . . . . . . . . . . . . . . . . . . . . 2-4How controller mode can affect the TON instruction . . . . . 2-4

Timer Off Delay (TOF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6How controller mode can affect the TOF instruction. . . . . . 2-7

Retentive Timer On (RTO) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9How controller mode can affect the RTO instruction . . . . 2-10

Using Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12Count Up (CTU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13Count Down (CTD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16Reset (RES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19


toc–ii Table of Contents

Input/Output Instructions Chapter 3

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1Message (MSG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2Selecting the Message Type . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Specifying CIP messages. . . . . . . . . . . . . . . . . . . . . . . . . 3-10Specifying PLC-5 messages . . . . . . . . . . . . . . . . . . . . . . 3-10Specifying SLC messages . . . . . . . . . . . . . . . . . . . . . . . . 3-11Specifying block-transfer messages . . . . . . . . . . . . . . . . 3-11Specifying PLC-3 messages . . . . . . . . . . . . . . . . . . . . . . 3-12Specifying PLC-2 messages . . . . . . . . . . . . . . . . . . . . . . 3-12

Specifying the Communication Details. . . . . . . . . . . . . . . . . 3-13Mapping addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

MSG Programming Examples . . . . . . . . . . . . . . . . . . . . . . . 3-13CIP communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13Ethernet communications . . . . . . . . . . . . . . . . . . . . . . . . 3-13ControlNet communications. . . . . . . . . . . . . . . . . . . . . . . 3-13Replacing PLC-5 block-transfer instructions . . . . . . . . . . 3-14

Get Status Value (GSV) and Set Status Value (SSV) . . . . . . . 3-15Accessing the AXIS object . . . . . . . . . . . . . . . . . . . . . . . . 3-16Accessing the CONTROLLER object . . . . . . . . . . . . . . . . . 3-16Accessing the CONTROLLERDEVICE object . . . . . . . . . . . 3-17Accessing the CST object . . . . . . . . . . . . . . . . . . . . . . . . 3-18Accessing the DF1 object . . . . . . . . . . . . . . . . . . . . . . . . 3-18Accessing the FAULTLOG object. . . . . . . . . . . . . . . . . . . . 3-20Accessing the MESSAGE object . . . . . . . . . . . . . . . . . . . . 3-21Accessing the MODULE object . . . . . . . . . . . . . . . . . . . . . 3-22Accessing the MOTIONGROUP object . . . . . . . . . . . . . . . . 3-22Accessing the PROGRAM object. . . . . . . . . . . . . . . . . . . . 3-22Accessing the ROUTINE object. . . . . . . . . . . . . . . . . . . . . 3-23Accessing the SERIALPORT object . . . . . . . . . . . . . . . . . . 3-24Accessing the TASK object . . . . . . . . . . . . . . . . . . . . . . . 3-25Accessing the WALLCLOCKTIME object . . . . . . . . . . . . . . 3-25

GSV/SSV Programming Example . . . . . . . . . . . . . . . . . . . . . 3-26Getting fault information . . . . . . . . . . . . . . . . . . . . . . . . . 3-26Setting enable and disable flags . . . . . . . . . . . . . . . . . . . 3-27


Table of Contents toc–iii

Compare Instructions Chapter 4

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1Using arithmetic status flags . . . . . . . . . . . . . . . . . . . . . . . 4-2

Compare (CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3Valid operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

Equal to (EQU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5Greater than or Equal to (GEQ). . . . . . . . . . . . . . . . . . . . . . . . 4-6Greater Than (GRT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7Less Than or Equal to (LEQ). . . . . . . . . . . . . . . . . . . . . . . . . . 4-8Less Than (LES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9Limit (LIM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10Mask Equal to (MEQ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

Entering an immediate mask value . . . . . . . . . . . . . . . . . 4-13Not Equal to (NEQ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

Compute/Math Instructions Chapter 5

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1Using arithmetic status flags . . . . . . . . . . . . . . . . . . . . . . . 5-1

Compute (CPT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2Valid operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2Determining the order of operation . . . . . . . . . . . . . . . . . . 5-2

Add (ADD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4Subtract (SUB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5Multiply (MUL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6Divide (DIV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7Square Root (SQR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8Negate (NEG). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

Arithmetic/Logic Instructions Chapter 6

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1Move (MOV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2Masked Move (MVM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3Bit Field Distribute (BTD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5Clear (CLR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7Bitwise AND (AND) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8Bitwise OR (OR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10Bitwise Exclusive OR (XOR) . . . . . . . . . . . . . . . . . . . . . . . . . 6-12Bitwise NOT (NOT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14


toc–iv Table of Contents

File Concepts Chapter 7

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1Manipulating Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2Using the Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4Selecting Mode of Operation . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

All mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5Numerical mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6Incremental mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

File/Misc. Instructions Chapter 8

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1Using the File/Misc. Instructions . . . . . . . . . . . . . . . . . . . . . . 8-2

Using arithmetic status flags . . . . . . . . . . . . . . . . . . . . . . . 8-2Specifying dimensions within an array. . . . . . . . . . . . . . . . 8-3

File Arithmetic and Logic (FAL) . . . . . . . . . . . . . . . . . . . . . . . 8-4Valid operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

File Search and Compare (FSC) . . . . . . . . . . . . . . . . . . . . . . . 8-7File Copy (COP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10File Fill (FLL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12File Average (AVE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13File Sort (SRT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15File Standard Deviation (STD) . . . . . . . . . . . . . . . . . . . . . . . 8-17

File/Shift Instructions Chapter 9

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1Using the File/Shift Instructions . . . . . . . . . . . . . . . . . . . . . . . 9-2Bit Shift Left (BSL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3Bit Shift Right (BSR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5FIFO Load (FFL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7FIFO Unload (FFU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9LIFO Load (LFL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11LIFO Unload (LFU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13

Sequencer Instructions Chapter 10

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1Using the Sequencer Instructions . . . . . . . . . . . . . . . . . . . . 10-2Sequencer Input (SQI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3Sequencer Output (SQO) . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5Sequencer Load (SQL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7


Table of Contents toc–v

Program Control Instructions Chapter 11

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1Jump to Label (JMP), Label (LBL) . . . . . . . . . . . . . . . . . . . . 11-2Jump to Subroutine (JSR), Subroutine (SBR), Return (RET) . 11-4Temporary End (TND) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6Master Reset Control (MCR) . . . . . . . . . . . . . . . . . . . . . . . . 11-7User Interrupt Disable (UID) . . . . . . . . . . . . . . . . . . . . . . . . . 11-9User Interrupt Enable (UIE). . . . . . . . . . . . . . . . . . . . . . . . . 11-10Always False Instruction (AFI) . . . . . . . . . . . . . . . . . . . . . . 11-11No Operation (NOP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-12

For/Next Instructions Chapter 12

For/Break Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1For (FOR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2Break (BRK). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4

Special Instructions Chapter 13

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1Using the Diagnostic Instructions. . . . . . . . . . . . . . . . . . . . . 13-2File Bit Comparison (FBC) . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3Diagnostic Detect (DDT) . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6Data Transitional (DTR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9Using PID Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-11

Integral term implementation. . . . . . . . . . . . . . . . . . . . . 13-13Derivative term . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-14Setting the deadband . . . . . . . . . . . . . . . . . . . . . . . . . . 13-14Using zero-crossing. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-15Setting output alarms . . . . . . . . . . . . . . . . . . . . . . . . . . 13-15Using output limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-15Using manual mode (with bumpless transfer) . . . . . . . . 13-16Feedforward or output biasing . . . . . . . . . . . . . . . . . . . . 13-16

Proportional Derivative Integral (PID) . . . . . . . . . . . . . . . . . 13-17Configuring a PID Instruction . . . . . . . . . . . . . . . . . . . . . . . 13-20PID Programming Examples . . . . . . . . . . . . . . . . . . . . . . . 13-22

Programming Considerations. . . . . . . . . . . . . . . . . . . . . 13-22Placing the PID instruction in the main routine. . . . . . . . 13-23Placing the PID instruction in an RTS routine . . . . . . . . . 13-24Simulating a manual control station. . . . . . . . . . . . . . . . 13-24Cascading loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-25Controlling a ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-26Tracking the process variable . . . . . . . . . . . . . . . . . . . . 13-27


toc–vi Table of Contents

Trigonometric Instructions Chapter 14

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1Using arithmetic status flags . . . . . . . . . . . . . . . . . . . . . . 14-1

Sine (SIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2Cosine (COS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3Tangent (TAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4Arc Sine (ASN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5Arc Cosine (ACS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6Arc Tangent (ATN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7

Advanced Math Instructions Chapter 15


Natural Log (LN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-2Log Base 10 (LOG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-3X to the Power of Y (XPY). . . . . . . . . . . . . . . . . . . . . . . . . . . 15-4

Math Conversion Instructions Chapter 16


Degrees (DEG). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2Radians (RAD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-3Convert to BCD (TOD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4Convert to Integer (FRD) . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-5

Motion Concepts Chapter 17

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-1Identifying the Components of the ControlLogix Motion System17-2

The Logix5550 Controller (1756-L1) . . . . . . . . . . . . . . . . 17-2The Analog/Encoder Servo Module (1756-MO2AE) . . . . . 17-2RSLogix5000 Programming Software . . . . . . . . . . . . . . . 17-2

Developing a Motion Control Application Program . . . . . . . . 17-3Adding a motion module . . . . . . . . . . . . . . . . . . . . . . . . . 17-3Identifying and configuring each axis. . . . . . . . . . . . . . . . 17-3Writing a motion application program . . . . . . . . . . . . . . . 17-4

Understanding Instruction Timing . . . . . . . . . . . . . . . . . . . . 17-5Immediate type instructions . . . . . . . . . . . . . . . . . . . . . . 17-5Delayed (message) type instructions . . . . . . . . . . . . . . . . 17-6Process type instructions. . . . . . . . . . . . . . . . . . . . . . . . . 17-7

Using the Control Structure . . . . . . . . . . . . . . . . . . . . . . . . 17-10Using Motion Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-12


Table of Contents toc–vii

Motion Conversion Instructions Chapter 18

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-1Motion Servo On (MSO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-3Motion Servo Off (MSF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-5Motion Axis Shutdown (MASD) . . . . . . . . . . . . . . . . . . . . . . 18-7Motion Axis Shutdown Reset (MASR). . . . . . . . . . . . . . . . . 18-10Motion Direct Drive On (MDO) . . . . . . . . . . . . . . . . . . . . . . 18-12Motion Direct Drive Off (MDF) . . . . . . . . . . . . . . . . . . . . . . 18-14Motion Axis Fault Reset (MAFR) . . . . . . . . . . . . . . . . . . . . . 18-16

Motion Move Instructions Chapter 19

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-1Motion Axis Stop (MAS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-2Motion Axis Home (MAH) . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-5Motion Axis Jog (MAJ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-8Motion Axis Move (MAM). . . . . . . . . . . . . . . . . . . . . . . . . . 19-11Motion Axis Gearing (MAG) . . . . . . . . . . . . . . . . . . . . . . . . 19-15Motion Change Dynamics (MCD) . . . . . . . . . . . . . . . . . . . . 19-18Motion Redefine Position (MRP). . . . . . . . . . . . . . . . . . . . . 19-21

Motion Group Instructions Chapter 20

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-1Motion Group Stop (MGS) . . . . . . . . . . . . . . . . . . . . . . . . . . 20-2Motion Group Program Stop (MGPS) . . . . . . . . . . . . . . . . . . 20-4Motion Group Shutdown (MGSD) . . . . . . . . . . . . . . . . . . . . . 20-6Motion Group Shutdown Reset (MGSR) . . . . . . . . . . . . . . . . 20-8Motion Group Strobe Position (MGSP) . . . . . . . . . . . . . . . . 20-10

Motion Event Instructions Chapter 21Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-1Motion Arm Watch (MAW) . . . . . . . . . . . . . . . . . . . . . . . . . . 21-2Motion Disarm Watch (MDW). . . . . . . . . . . . . . . . . . . . . . . . 21-4Motion Arm Registration (MAR) . . . . . . . . . . . . . . . . . . . . . . 21-6Motion Disarm Registration (MDR). . . . . . . . . . . . . . . . . . . . 21-9

Motion Configuration Instructions

Chapter 22

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-1Motion Apply Axis Tuning (MAAT) . . . . . . . . . . . . . . . . . . . . 22-2Motion Run Axis Tuning (MRAT). . . . . . . . . . . . . . . . . . . . . . 22-4Motion Apply Hookup Diagnostics (MAHD) . . . . . . . . . . . . . . 22-7Motion Run Hookup Diagnostics (MRHD) . . . . . . . . . . . . . . . 22-9


toc–viii Table of Contents

Notes:


Chapter 1

Bit Instructions(XIC, XIO, OTE, OTL, OTU, ONS, OSR, OSF)

Introduction Use the bit (relay-type) instructions to monitor and control the status of bits, such as input bits or timer control-word bits.

I/O Tags in Data Storage The input tags in the controller store the status of input sensors connected to input module terminals.

The output tags control the status of actuators wired to output module terminals.

Rung Logic As each conditioning instruction is executed, the specified bit is examined to see if it matches a certain condition (on or off). If a complete path of true conditions examined for are found, the rung is set to true. The rung must contain a continuous path of true instructions from the start of the rung (far left) to the output instruction for the output to be enabled.

If you want to: Use this instruction: See page:

examine a bit for an ON condition XIC 1-2

examine a bit for an OFF condition XIO 1-4

hold a bit ON or OFF (non-retentive) OTE 1-6

latch a bit to ON (retentive) OTL 1-8

unlatch a bit to OFF (retentive) OTU 1-10

make a rung true for one program scan upon a false-to-true transition of the conditions preceding the ONS instruction on the rung

ONS 1-12

trigger an event based on the change of state of the rung from true to false

OSR 1-14

trigger an event based on the change of state of the rung from false to true

OSF 1-16

If the input sensor is: then its corresponding input image bit is:

closed (on) on (1)

open (off) off (0)

If the output image bits is: then its corresponding output is:

on (1) energized (on)

off (0) de-energized (off)


1-2 Bit Instructions

Examine On (XIC)

Description: When a device closes its circuit, the module whose input terminal is wired to the device detects the closed circuit. This is the ON state. When the controller executes an XIC instruction with a tag that represents an input terminal, the controller determines whether the device is ON (closed). If the controller finds an ON state, the controller sets the XIC instruction to true. If the controller finds an OFF state, the controller sets the XIC instruction to false.

If the XIC instruction is the only conditioning instruction on the rung, the controller enables the output instruction when the XIC instruction is true (input closed). The controller disables the output instruction when the XIC instruction is false.

The XIC instruction is true or false depending on whether the controller finds an ON condition at the referenced bit.

You can also use the XIC instruction to access the state of controller keywords. Enter the keyword in place of the tag.

If the rung is: and the bit is: the rung status changes to:

true on false

off true

false on false

off false

Keyword: Description:

S:PRE The controller is pre-scanning rungs.

S:POST The controller is post-scanning rungs.

S:FS This is the first normal scan of the routines in this program.

S:N The result of an operation is negative.

S:Z The result of an operation is zero.

S:V The result of an operation is an overflow.

S:C The result of an operation is a carry.

S:MINOR At least one minor fault has been generated.


Bit Instructions 1-3

Operands:

Operation:

XIC Example:

Operand: Valid Types:

Source bit tag BOOL

Characteristic: Description:

Timing (in µs) true falseDINT 0.13 0.12REAL na na

Memory (words) DINTREAL

Execution executes

does not execute

executes

If the controller finds an ON condition at the bit that corresponds to limit_switch_1, the instruction is true.



Examine Off (XIO)

Description: When a device opens its circuit, the module whose input terminal is wired to the device detects an open circuit. This is the OFF state. When the controller finds an XIO instruction with a tag that represents an input terminal, the controller determines whether the device is OFF (open). If the controller finds an OFF state, the controller sets the XIO instruction to true. If the controller finds an ON state, the controller sets the XIO instruction to false.

If the XIO instruction is the only conditioning instruction on the rung, the controller enables the output instruction when the XIO instruction is true (input open). The controller disables the output instructions when the XIO instruction is false.

The XIO instruction is true or false depending on whether the controller finds an OFF or ON condition at the referenced bit.

You can also use the XIO instruction to access the state of controller keywords. Enter the keyword in place of the tag.

If the rung is: and the bit is: the rung status changes to:

true on true

off false

false on false

off false


S:PRE The controller is pre-scanning rungs.

S:POST The controller is post-scanning rungs.









Operands:

Operation:

XIO Example:


Source bit tag BOOL



Memory (words) DINTREAL na

Execution executes

does not execute

executes

If the controller finds an OFF condition at the bit that corresponds to limit_switch_2, the instruction is true.



Energize (OTE)

Description: Use the OTE instruction to control a bit. If the bit corresponds to an output module terminal, the device wired to this terminal is energized when the instruction is enabled. The device is de-energized when the instruction is disabled. If the output conditions that precede the OTE instruction are true, the controller enables the OTE instruction. If the output conditions that preceded the OTE instruction are false, the controller disables the OTE instructions. When rung conditions become false, the corresponding device de-energizes.

An OTE instruction is similar to a relay coil. The OTE instruction is controlled by preceding input instructions; the relay coil is controlled by contacts in its hard-wired rung.

The OTE instruction tells the controller how to control the referenced bit based on the rung condition.

Operands:

Operation:

If the rung is: the controller turns the bit:

true on (1)

false off (0)


Destination bit tag BOOL




Execution executes

does not execute

executes



OTE Example:

If the rung is true (all preceding input instructions are true), the controllers turns ON the bit that corresponds to light_1. If the rung is not true (one or more of the preceding instructions is false), the controller turns OFF the bit.



Latch (OTL)

Description: The OTL instruction is a retentive output instruction that can only turn on a bit (in cannot turn off a bit). This instruction is usually used with an OTU (unlatch) instruction, with both instructions referencing the same bit.

When you assign a tag to an OTL instruction that corresponds to a terminal of an output module, the input device wired to this terminal is energized when the controller sets (enables) the bit. If the input conditions that precede the OTL instruction are true, the controller enables the OTL instruction. When rung conditions become false (after being true), the bit remains set and the corresponding output device remains energized. Use the OTU instruction to turn off the bit you latched on with the OTL instruction.

When enabled, the OTL instruction tells the controller to turn on the referenced bit. Thereafter, the bit remains on, regardless of the rung condition, until the bit is turned off, typically by an unlatch (OTU) instruction in another rung.

Operands:

Operation:


true on (1)

false no change






Execution executes

does not execute

executes



OTL Example:

If the rung is true (all preceding input instructions are true), the controllers turns ON the bit that corresponds to light_2. This bit remains ON until it is reset by an OTU instruction.



Unlatch (OTU)

Description: The OTU instruction is a retentive output instruction that can only turn off a bit (it cannot turn on a bit). This instruction is usually used with an OTL (latch) instruction, with both instructions referencing the same bit. The OTU instruction turns off the bit, which was turned on (latched) by the OTL instruction.

When the controller changes from Run to Program mode or when the controller loses power (and there is battery backup), the bit remains in the state set by the last rung of the latch/unlatch pair that was true.

The OTU instruction tells the controller to turn off the referenced bit based on the rung condition. Thereafter, the bit remains off, regardless of the rung condition, until it is turned on, typically by an OTL instruction in another rung.

Operands:

Operation:


true off (0)

false no change






Execution executes

does not execute

executes



OTU Example:

If the rung is true (all preceding input instructions are true), the controllers turns OFF the bit that corresponds to light_2.



One Shot (ONS)

Description: The ONS instruction is an input instruction that makes the rung true for one program scan upon a false-to-true transition of the conditions preceding the ONS instruction on the rung.

Use the ONS instruction to start events that are triggered by a pushbutton, such as pulling values from thumbwheel switches or freezing rapidly displayed LED values. You must enter a tag for the bit. Dedicate a unique bit to each ONS instruction.

During prescan, the bit tag is set to prevent false triggering when the program scan begins.

Operands:

Operation:

!ATTENTION: You can program an output tag for the ONS instruction, but be aware that on-line programming with this instruction can be dangerous because the output might turn on immediately when the rung is scanned. Set the bit tag to 1 before entering the instruction. Then the rung must go from false to true before energizing the output.


Source bit tag BOOL


Timing (in µs) true falseDINTREAL na na


Execution does not execute

does not execute

executes



ONS Example:

The ONS instruction makes the rung true for one scan upon a false-to-true transition of any preceding instructions.



One Shot Rising (OSR)

Description: The OSR instruction is an output instruction that triggers an event to occur one time.

Use the OSR instruction whenever an event must start based on the change of state of the rung from false to true, not continuously when the rung is true. You must enter a bit tag for the output bit and the storage bit.

Operands:

This bit: Changes state as follows:

output bit (.OB) Is set for one program scan when the rung goes from false to true.

During prescan, this bit is cleared to prevent false triggering when the program scan begins.

storage bit (.SB) Follows the rung status.

During prescan, this bit is cleared to prevent false triggering when the programs can begins.

one program scan

input rung

storage bit

output bit

40048


Storage bit

the tag where you want to store the storage bit status

tag BOOL

Output bit

the tag where you want to store the output bit status

tag BOOL



Operation:

OSR Example:





does not execute

executes

When the rung goes from false to true, the controller turns ON the bit that corresponds to output_bit_1 for one scan. The status of the bit that corresponds to storage_bit_1 reflects the current rung status.



One Shot Falling (OSF)

Description: The OSF instruction is an output instruction that triggers an event to occur one time when the rung goes from true to false.

Use the OSF instruction whenever an event must start based on the change of state of the rung from true to false, not on the resulting rung status. You must enter a bit tag for the output bit and the storage bit.

Operands:

This bit: Changes state as follows:

output bit (.OB) Is set for one program scan when the rung goes from false to true.

During prescan, this bit is cleared to prevent false triggering when the program scan begins.

storage bit (.SB) Follows the rung status.

During prescan, this bit is cleared to prevent false triggering when the programs can begins.

one program scan

input rung

storage bit

output bit

40048


Storage bit

the tag where you want to store the storage bit status

tag BOOL

Output bit

the tag where you want to store the output bit status

tag BOOL



Operation: \

OSF Example:





does not execute

executes

When the rung goes from true to false, the controller turns ON the bit that corresponds to output_bit_2 for one scan. The status of the bit that corresponds to storage_bit_2 reflects the current rung status.



Notes:


Chapter 2

Timer and Counter Instructions(TON, TOF, RTO, CTU, CTD, RES)

Introduction Timers and counters control operations based on time or the number of events.

Using Timers The controller stores timer status bits and the preset and accumulated values in a TIMER structure. Not all timer instruction use the entire TIMER structure. See each instruction for the portion it uses.


delay turning on an output TON 2-3

delay turning off an output TOF 2-6

time an event retentively RTO 2-9

count up CTU 2-13

count down CTD 2-16

reset a timer or counter RES 2-19

31 30 29 28 27 26 25 16 15 0

TIMER structure

preset value (.PRE)

accumulated value (.ACC)

EN TT DN FS LS OV ER

bit number

Control bit or word: Description:

.EN bit The enable bit indicates the timer is enabled.

.TT bit The timing bit indicates that a timing operation is in process

.DN bit The done bit indicates that a timing operation is complete.

.FS bit not used

.LS bit not used

.OV bit not used

.ER bit not used

.PRE word The preset value specifies the value which the timer must reach before the controller sets the .DN bit.

.ACC word The accumulated value specifies the number of increments the instruction has counted. When enabled, the timer updates this value continually. Typically, enter zero. If you enter a value, the instruction starts counting time base intervals from that value. If the timer is reset, the .ACC value is zero.


2-2 Timer and Counter Instructions

To access timer control bits, the preset value, or the accumulated value, use the tag mnemonic. For example, timer1.pre accesses the preset value for the tag timer1.

Timer Accuracy

The time base is 1 msec for all timers. Timer accuracy depends on the controller clock tolerance, which is + 0.02%. A timer could time out early or late by 1 msec.

The displayed accumulated value of a timer shows the actual time, but it is dependent on the CRT update time. The accumulated value might appear to be less than the preset when the .DN bit is set.


Timer and Counter Instructions 2-3

E)

Timer On Delay (TON)

Description: Use the TON instruction to turn an output on or off after the timer has been on for a preset time interval. The TON instruction starts accumulating time when the rung goes true, and continues until one of the following happens:

• the rung goes false• the accumulated value is equal to the preset value (.ACC=.PR• a RES instruction resets the timer• the controller resets the accumulated value when the rung

conditions go false, regardless of whether the timer completedor not

Operands:

rung condition

timer enable bit (.EN)

timer done bit (.DN)

timer accumulated value (.ACC)

timer timing bit (.TT)

output device (controlled by .DN bit)

preset

0

ON delay

16649


Timer tag TIMER

Preset immediate (0-2147483647)

Accum immediate (0-2147483647)



Control status:

Pausing a TON instruction

If you set the .DN bit using an OTE instruction you can pause the timer. The .EN and .TT bits remain set, but the .ACC value does not increment. Timing resumes when you clear the .DN bit. If the rung goes false while the timer is paused, the timer resets as normal.

How controller mode can affect the TON instruction

If you change to Program mode, or the controller loses power, before the timer reaches the .PRE value, the following occurs:

• .EN bit remains set• .TT bit remains set• .ACC value remains the same


.EN bit The enable bit is set when the rung goes true. It is reset when:

• the rung goes false

• a RES instruction resets the timer

.TT bit The timing bit is set when the rung goes true. It is reset when:


• the .DN bit is set (.ACC=.PRE)


.DN bit The done bit is set when the accumulated value is equal to the preset value (.ACC=.PRE). It is reset when:







Then when you switch back to Run or Test mode, or power is restored, the following occurs:

Operation:

TON Example:

Condition: Result:

If the rung is true .EN bit remains set

.TT bit remains set

.DN bit remains reset

.ACC value is reset and starts incrementing

If the rung is false .EN bit is reset

.TT bit is reset

.DN bit is reset

.ACC value is reset


Timing (in µs) true falseDINTREAL



does not execute

executes

When limit_switch_1 is set, the controller starts timer_1. The accumulated value increments as long as the rung remains true. The bit that corresponds to timer_1.tt is set and light_2 is energized while the timer is timing. When the timer is finished (.ACC=.PRE), timer_1.tt is reset, light_2 is de-energized, and timer_1.dn is set. When .ACC=.PRE or when the rung conditions go false, the timer is reset.



Timer Off Delay (TOF)

Description: Use the TOF instruction to turn an output on or off after its rung has been false for a preset time interval. The TOF instruction starts accumulating time when the rung goes false and continues timing until one of the following occurs:

• the rung goes true• the accumulated value is equal to the preset value• a RES instruction resets the timer

Operands:

rung condition






preset

0

OFF delay

16650


Timer tag TIMER





Control status:

How controller mode can affect the TOF instruction

If you change to Program mode, the controller loses power, or a fault interrupts the timer, before the timer reaches the .PRE value, the following occurs:

• .EN bit remains set• .TT bit remains set• .DN bit remains set• .ACC value remains the same






.TT bit The timing bit is set when the rung goes false and .ACC<.PRE. It is reset when:

• the rung goes true

• the .DN bit is set (.ACC=.PRE)


.DN bit The done bit is set when the rung goes true. It is reset when:

• .ACC=.PRE





Condition: Result:

If the rung is true .EN bit is set

.TT bit is reset

.DN bit remains reset

.ACC value is reset


.TT bit is reset

.DN bit is reset

.ACC=.PRE



During prescan:

• .TT bit is reset• .ACC value is set equal to the .PRE value

Operation:

TOF Example:

!ATTENTION: Because the RES instruction resets the .ACC value, .DN bit, and .TT bit, do not use the RES instruction to reset a TOF timer.

!ATTENTION: Because the RES instruction resets the .ACC value, .DN bit, and .TT bit, do not use the RES instruction to reset a TOF timer.





does not execute

executes

When limit_switch_2 is reset, the controller starts timer_2. The accumulated value increments as long as the rung remains false. The bit that corresponds to timer_2.tt is set and light_2 is energized while the timer is timing. When the timer is finished (.ACC=.PRE), timer_2.tt is reset, light_2 is de-energized, and timer_2.dn is set. When .ACC=.PRE or when the rung conditions go true, the timer is reset.



ng

h

TO

Retentive Timer On (RTO)

Description: Use the RTO instruction to turn an output on or off after its timer has been on for a preset time interval. The RTO instruction lets the timer stop and start without resetting the accumulated value.

The RTO instruction begins timing when its rung goes true. As long as the rung remains true, the timer updates the .ACC value each program scan, until it reaches the .PRE Value. The RTO instruction retains its .ACC value even if one of the following occurs:

• the rung goes false• you change to Program mode• the controller faults or loses power

When the controller resumes operation or the rung goes true, timicontinues from the retained .ACC value. By retaining the .ACC value, retentive timers measure the cumulative period during whicthe rung is true.

To reset the retentive timer’s .ACC value and status bits after the Rrung goes false, use the RES instruction.

Operands:

rung condition






preset

0 16651

reset pulse


Timer tag TIMER





Control status:

How controller mode can affect the RTO instruction

If you change to Program mode, the controller loses power, or a fault interrupts the timer, before the timer reaches the .PRE value, the following occurs:

• .EN bit remains set• .ACC value remains the same






.DN bit The done bit is set when .ACC=.PRE. It is reset when:





Condition: Result:

If the rung is true .EN bit remains set

.TT bit remains reset

.ACC value continues incrementing


.TT bit is reset

.DN bit is reset

.ACC value remains the same



Operation:

RTO Example:





does not execute

executes

When limit_switch_1 is set, the controller starts incrementing the accumulated value of timer_3. The timer values remain when limit_switch_1 goes false.



Using Counters The controller stores controller status bits and the preset and accumulated values in a COUNTER structure. Not all counter instruction use the entire COUNTER structure. See each instruction for the portion it uses.

To access counter control bits, the preset value, or the accumulated value, use the tag mnemonic. For example, counter1.pre accesses the preset value for the tag counter1.

preset value (.PRE)

accumulated value (.ACC)

CU CD DN OV UN

31 30 29 28 27 16 15 0bit number

COUNTER structure


.CU bit The count up enable bit indicates that the instruction has increased its count. This status bit is only used by the CTU instruction.

.CD bit The count down enable bit indicates that the instruction has decreased its count. This status bit is only used by the CTD instruction.

.DN bit The done bit indicates that a counting operation is complete.

.OV bit The overflow bit indicates that the counter exceeded the upper limit of 2147483648 and began counting up again from -2147483648. This status bit is only used by the CTU instruction.

.UN bit The underflow bit indicates that the counter exceeded the lower limit of -2147483648 and began counting down again from 2147483648. This status bit is only used by the CTD instruction.


.ACC word The accumulated value specifies the number of increments the instruction has counted. When enabled, the timer updates this value continually. Typically, enter zero. If you enter a value, the instruction increments or decrements from that value. If the timer is reset, the .ACC value is zero.



Count Up (CTU)

Description: The CTU instruction counts upward over a range of -214748368 to +214748367. Each time the rung goes from false to true, the CTU instruction increments the .ACC value by one count. When the .ACC value equals or exceeds the preset value, the CTU instruction sets the done .(DN) bit, which your program can use to initiate some action, such as controlling a storage bit or an output device.

The .ACC value is retentive. The count is retained until it is reset by a RES instruction.

Operands:

rung condition that controls CTU

count-up enable bit (.EN)

count-up done bit (.DN)

counter accumulated value (.ACC)

rung condition that controls RES


preset

accumulated 16636


Counter tag COUNTER

Preset immediate (-214748368 to +214748367)

Accum immediate (-214748368 to +214748367)



Control status:

Operation:


.CU bit The count up bit is set when the rung goes true. It is reset when


• a RES instruction resets the counter

During prescan, this bit is set to prevent a false count when the program scan begins.

.DN bit The done bit is set when .ACC≥.PRE. It is reset when:

• .ACC<.PRE


• combining CTU and CTD instructions and counting back up past the .PRE value

.OV bit The overflow bit is set when the counter exceeds the upper limit of 2147483647. It is reset when:


• counting back down to 2147483647 with a CTD instruction that uses the same tag as the CTU instruction

.PRE word The preset value specifies the value which the counter must reach before the controller sets the .DN bit.

.ACC word The accumulated value specifies the number of increments the instruction has counted. When enabled, the counter updates this value continually. Typically, enter zero. If you enter a value, the instruction increments from that value. If the counter is reset, the .ACC value is zero.





does not execute

executes



CTU Example:

Each time limit_switch_1 goes from false to true, the controller increments the counter_1 by 1. When the accumulated value ≥ the preset value, the controller sets counter_1.dn. The controller sets counter_1.ov if the accumulated value exceeds 2147483647.



Count Down (CTD)

Description: The CTD instruction counts downward over a range of 2147483647 to -2147483648. Each time the rung goes from false to true, the CTD instruction decrements the .ACC value by one count. The .DN bit is set as long as the .ACC value is greater than or equal to the .PRE value. When the .ACC value is less than the .PRE value, the .DN bit is reset, which your program can use to initiate some action, such as controlling a storage bit or an output device.

The .ACC value is retentive. The count is retained until it is reset by a RES instruction.

Operands:

rung condition that controls CTU

count-down enable bit (.EN)

count-down done bit (.DN)

counter accumulated value (.ACC)

rung condition that controls RES


preset

16637


Counter tag COUNTER

Preset immediate (-214748368 to +214748367)

Accum immediate (-214748368 to +214748367)



Control status:

Operation:


.CD bit The count down bit is set when the rung goes true. It is reset when



During prescan, this bit is set to prevent a false count when the program scan begins.

.DN bit The done bit is set when .ACC≥.PRE. It is reset when:

• .ACC<.PRE


• combining CTU and CTD instructions and counting back up past the .PRE value

.UN bit The underflow bit is set when the counter exceeds the lower limit of -2147483648. It is reset when:


• counting back up to -2147483648 with a CTU instruction that uses the same tag as the CTU instruction

.PRE word The preset value specifies the value which the counter must reach before the controller sets the .DN bit.

.ACC word The accumulated value specifies the number of increments the instruction has counted. When enabled, the counter updates this value continually. Typically, enter zero. If you enter a value, the instruction decrements from that value. If the counter is reset, the .ACC value is zero.





does not execute

executes



CTD Example:

Each time limit_switch_1 goes from false to true, the controller decrements the counter_2 by 1. When the accumulated value ≥ the preset value, the controller sets counter_2.dn. The controller sets counter_1.ov if the accumulated value underflows 2147483647.



Reset (RES)

Description: The RES instruction is an output instruction that resets a TIMER, COUNTER, or CONTROL structure. The RES instruction executes when its rung is true.

You can use a negative .PRE value in a CTU or CTD instruction. When you use the RES instruction, is resets the .ACC value to zero, which might set the .DN bit and prevent the CTU or CTD instruction from operating.

You can also use the RES instruction to reset the state of these controller keywords. Enter the keyword in place of the tag.

Operands:

When using a RES instruction for a: The controller resets:

timer .ACC value

control status bits

counter .ACC value

control status bits

file instruction .LEN value

.POS value

control status bits









Structure tag TIMER, COUNTER, or CONTROL



Operation:

RES Example:




Execution executes

does not execute

executes

Example: Description:

When the input conditions are true, reset timer_3.

When the input conditions are true, reset counter_1.

When the input conditions are true, reset control_1.pos.


Chapter 3

Input/Output Instructions(MSG, GSV, SSV)

Introduction The input/output instructions read or write data to or from the controller or a block of data to or from another station on the network.


send data to or from another device MSG 3-2

get controller status information GSV 3-15

set controller status information SSV 3-15


3-2 Input/Output Instructions

Message (MSG)

Description: The MSG instruction reads or writes a block of data to another station on a network and to create unscheduled messages.

The MSG instruction transfers as many as 1000 elements of data. The size of each element depends on the data types you specify and the type of message command you use.

The MSG instruction transfers data in packets. If your message contains more data than what fits into one packet, the transfer requires more than one packet. The more packets of data to transfer, the longer the transfer takes.

Operands:

Operation:

On this network: MSG packets are:

ControlLogix

ControlNet ?

Ethernet 709 words

DH+ 120 words

remote I/O ?


Control block tag MESSAGE





does not execute

executes


Input/Output Instructions 3-3

Control status: Each MSG instruction has a MESSAGE structure that contains status information about the instruction.

MESSAGE structure

flags (.FLAGS)

error codes (.ERR)

EW ER DN ST EN TO EN.CC

extended error codes (.EXERR)

requested length (.REQ_LEN)

done length (.DN_LEN)

31 30 29 28 27 26 25 16 15 0bit number


.EW bit The enable waiting bit is set when the controller detects that a message request entered the queue.

The controller resets the .EW bit when the .ST bit is set.

.ER bit The error bit is set when the controller detects that a transfer failed.

The .ER bit is reset the next time the associated rung goes from false to true.

.DN bit The done bit is set when the last packet of the instruction transferred.

The .DN bit is reset the next time the associated rung goes from false to true. The .DN bit is only active in non-continuous mode.

.ST bit The start bit is set when the controller begins executing the MSG instruction.

The .ST bit is reset when the .DN bit or the .ER bit is set.

.EN bit The enable bit is set when the rung goes true.

This bit shows that the instruction is enabled and is being executed. In non-continuous mode, the .EN bit remains set until the message is completed and the rung goes false. In continuous mode, once the .EN bit is set, it remains set regardless of rung condition.

.EN_CC The enable cache bit determines how to manage the messge connection when the message is complete. If you want the controller to maintain the connection (such as when you repeat the same MSG instruction many times), set the .EN_CC bit. If you rarely execute the MSG instruction and have other needs for controller conenction, clear the .EN_CC bit.

.TO bit The time out bit is set if a message automatically times out. If you manually set the .TO bit, the controller stops processing the messages and sets the .ER bit.



Message flags

The message flags word stores operating status in word.

.FLAGS word The flags word stores the above status bits and other status information in one, 15-bit word.

.ERR word The error code word stores error codes for the MSG instruction.

.EXERR word

.REQ_LEN word The requested length word specifies how many words the message instruction is supposed to transfer.

.DN_LEN word The done length word identifies how many words actually transferred.

!ATTENTION: The controller processes the .ST and .EW bits asynchronously to the program scan. If you examine these bits in ladder logic, copy the bit status to a storage bit whose status is synchronized with the program scan. Otherwise, timing problems might invalidate your application with possible damage to equipment to injury to personnel.

This bit: Stores: Description:

02 .EW the message has been triggered but processing of the request hasn’t begun

04 .ER message processing resulted in an error; check the error code to determine the cause

05 .DN message processing was performed to completion successfully

06 .ST message processing has begun

07 .EN program logic triggered a message instruction

08 .TO message processing is terminated because the message timed out

10 .EN_CC controller maintains connection for MSG instruction

12 MSG_OPENING message processing is trying to open a connection for the requested connected message

13 MSG_ACTIVE message processing is performing the requested operation

14 MSG_CLOSED message processing closed the connection that was used for a connected message




MSG error codes (.ERR)

The error codes depend on the type of MSG instruction.

ControlLogix error codes

Error Code: Description:

0x1 connection failure

0x2 insufficient resource

0x3 invalid value

0x4 IOI syntax error

0x5 destination unknown; class unsupported, instance undefined, or structure element undefined

0x6 insufficient packet space

0x7 connection lost

0x8 service unsupported

0x9 error in data segment or invalid attribute value

0xA attribute list error

0xB state already exists

0xC object mode conflict

0xD object already exists

0xE attribute not settable

0xF permission denied

0x10 device state conflict

0x11 reply won’t fit

0x12 fragment primitive

0x13 insufficient command data

0x14 attribute not supported

0x15 too much data

0x1A bridge request too large

0x1B bridge response too large

0x1C attribute list shortage

0x1D invalid attribute list value

0x1E embedded service error

0x1F connection related failure

0x21 already written

0x25 key segment error

0x26 invalid IOI size

0x27 unexpected attribute in list

0xFF general error

0xD0 map instance undefined

0xD1 module not in run state




PLC and SLC error codes


0002 link layer timed out or received a NAK

0003 duplicate token holder detected by link layer

0004 local port is disconnected

0005 application layer timed out waiting for a response

0006 duplicate node detected

0007 station is offline

0008 hardware fault

0010 no IP address configured for the network

0011 already at a maximum number of connections

0012 invalid internet address or host name

0013 no such host

0014 cannot communicate with the named server

0015 connection not completed before user-specified timeout

0016 connection timed out by the network

0017 connection refused by the destination host

0018 connection was broken

0019 reply not received before user-specified timeout

001A no network buffer space available

0037 message timed out in local processor

0083 processor is disconnected

0089 processor’s message buffer is full

0092 no response

00D3 control block is formatted incorrectly

00D5 incorrect address for the local data table

0500 application layer timed out waiting for a response

1000 illegal command from local processor

2000 communication module not working

3000 remote node is missing, disconnected, or shut down

4000 processor connected but faulted (hardware)

5000 wrong station number

6000 requested function is not available

7000 processor is in program mode

8000 processor’s compatibility file does not exist

9000 remote node cannot buffer command

B000 processor is downloading so it is inaccessible

F001 processor incorrectly converted the address

F002 incomplete address

F003 incorrect address

F006 addressed file does not exist in target processor

F007 destination file is too small for number of words requested

F00A target processor cannot put requested information in packets

F00B privilege error, access denied

F00C requested function is not available

F00D request is redundant

F011 data type requested does not match data available

F012 incorrect command parameters

F01A file owner active - the file is being used

F01B program owner active - someone is downloading or online editing




MSG extended error codes (.EXERR)


0x00 extended status out of memory

0x01 extended status out of instances

0xFB message port not supported

0xFC message unsupported data type

0xFD message uninitialized

0xFE message timeout

0x0100 connection in use

0x0103 transport not supported

0x0106 ownership conflict

0x0107 connection not found

0x0108 invalid connection type

0x0109 invalid connection size

0x0110 module not configured

0x0111 EPR not supported

0x0114 wrong module

0x0115 wrong device type

0x0116 wrong revision

0x0118 invalid configuration format

0x011A application out of connections

0x0203 connection timeout

0x0204 unconnected message timeout

0x0205 unconnected send parameter error

0x0206 message too large

0x0301 no buffer memory

0x0302 bandwidth not available

0x0303 no screeners available

0x0305 signature mismatch

0x0306 CCM not available

0x0311 port not available

0x0312 link address not available

0x0315 invalid segment type

0x0317 connection not scheduled

0x2000 insufficient IOI

0x2001 excessive IOI

0x2002 bad parameter value

0x2018 semaphore reject

0x201B size too small

0x201C invalid size

0x2100 privilege failure

0x2101 invalid keyswitch position

0x2102 password invalid

0x2103 no password issued

0x2104 address out of range

0x2105 address and how many out of range

0x2106 data in use

0x2107 type is invalid or not supported

0x2108 controller in uoload or download mode

0x2109 attempt to change number of array dimensions

0x210A invalid symbol name

0x210B symbol does not exist

0x210E search failed

0x210F task cannot start

0x2110 unable to write

0x2111 unable to read

0x2112 shared routine not editable

0x2113 controller in faulted mode

0x2114 run mode inhibitted

0x3001 in transfer state

0x3002 in error state

0x3003 in idle state

0x3004 boot or ID updated

0x3005 in reprogrammable mode

continued




Selecting the Message Type(configuration tab)

After you enter the MSG instruction and specify the MESSAGE structure, use the configuration tab in the programming software to specify the details of the message.


continued

0x4002 motion group not inhibited

0x4003 motion K-constant not set

0x4004 motion axis not assigned to group

0x4005 motion update not configured

0x4006 maximum instances of motion axes created

0x4007 motion group inhibited

0x5001 maximum instances of motion groups created

0x5002 motion semaphore reject

0x5003 motion axes in group

0x5004 motion axes not inhibited

0x5005 duplicate axes in motion group list

0x5006 invalid axis in motion group

0x5007 motion axis not assignable to motion group

0xFD01 bad backplane EEPROM

0xFD02 no error code

0xFD03 missing requested connection

0xFD04 no CST master

0xFD05 axis or group not assigned

0xFE01 invalid connection type

0xFE02 invalid update rate

0xFE04 invalidn input image pointer

0xFE05 invalid input image size

0xFE08 invalid output image pointer

0xFE09 invalid output image size

0xFF00 no connection

0xFF01 route too long

0xFF04 invalid state

0xFF08 invalid route

0xFF0B invalid configuration

0x0FF0E no connection allowed


Click here to configure the MSG instruction



The details you configure depend on the message type you select.

You must specify this configuration information:

If the target device is a: Select one of these message types: See page:

ControlLogix device CIP data table readCIP data table writegeneric CIP

3-10

PLC-5 processor PLC5 typed readPLC5 typed writePLC5 word range readPLC5 word range write

3-10

SLC controller SLC typed readSLC typed write

3-11

Block-transfer instruction from a previous PLC-5 program

block-transfer readblock-transfer write

3-11

PLC-3 processor PLC3 typed readPLC3 typed writePLC3 word range readPLC3 word range write

3-12

PLC-2 processor PLC2 unprotected readPLC2 unprotected write

3-12

In this field: Specify:

Source Element/Tag If you select a read message type, the Source Element is the address of the data you want to read in the target device. Use the addressing syntax of the target device.

If you select a write message type, the Source Tag is the tag of the data in the Logix5550 controller that you want to send to the target device.

Number of Elements The number of elements you read/write depends on the type of data you are using. An element refers to one “chunk” of related data. For example, tag timer1 is one element that consists of one timer and its control structure. Also, timer1.acc is also one element that consists of one specific bit.

Destination Element/Tag If you select a read message type, the Destination Tag is the tag in the Logix5550 controller where you want to store the data you read from the target device. Use the tag name that maps to the target device address.

If you select a write message type, the Desintation Element is the address of the location in the target device where you want to write the data.



Specifying CIP messages

The CIP message types are designed for other ControlLogix devices, such as sending a message from one Logix5550 controller to another.

Specifying PLC-5 messages

The PLC-5 message types are designed for PLC-5 processors.

If you transfer floating point values, use a typed read or typed write to ensure accuracy.

Select this command: If you want to:

CIP Data Table Read read data from another device

CIP Data Table Write write data to another device

Generic CIP create your own message


PLC5 Typed Read read data identified by a type code.

This command reads data structures without you specifying the actual word length. For example, if you chose a typed read of timer data with a requested data size of 5 elements, the MSG instruction read 5 timer structures.

PLC5 Typed Write write data identified by a type code.

This command writes data structures without you specifying the actual word length.

PLC5 Word Range Read read a range of words, starting at the address specified as the external address and reading sequentially the number of words requested.

The data from the internal address that is read is stored, starting at the address specified as the internal address.

PLC5 Word Range Write write a range of words, starting at the address specified as the internal address and writing sequentially the number of words requested.

The data from the internal address is written, starting at the address specified for the external address.



Specifying SLC messages

The SLC message types are designed for SLC controllers.

The Logix5550 tag type must match the SLC data type. You can only transfer: 16-bit integer (INT), bit (BOOL), timer, counter, or control data.

Specifying block-transfer messages

The block-transfer message types interact with the block-transfer instructions in PLC-5 programs. Select one of the message types if you are converting PLC-5 logic to Logix5550 logic.

In addition to specifying the source and destination tags, you must also specify how many 16-bit integers to send or receive.


SLC Typed Read read data identified by a type code.

This command reads data structures without specifying the actual word length. This command provides additional data verification for communication with SLC controllers.

SLC Typed Write write data identified by a type code.

This command writes data structures without specifying the actual word length. This command provides additional data verification for communication with SLC controllers.


Block-Transfer Read re-use PLC code that uses a BTR instructions.

This message type replaces the BTR instruction.

Block-Transfer Write re-use PLC code that uses BTW instructions.

This message type replaces the BTW instruction.







The message transfer uses 16-bit words, so make sure the Logix5550 tag appropriately stores the transferred data.

You must also specify a PLC-2 compatibility file.


PLC3 Typed Read read data identified by a type code.

This command reads data structures without you specifying the actual word length. For example, if you chose a typed read of timer data with a requested data size of 5 elements, the MSG instruction read 5 timer structures.

PLC3 Typed Write write data identified by a type code.

This command writes data structures without you specifying the actual word length.

PLC3 Word Range Read read a range of words, starting at the address specified as the external address and reading sequentially the number of words requested.

The data from the internal address that is read is stored, starting at the address specified as the internal address.

PLC3 Word Range Write write a range of words, starting at the address specified as the internal address and writing sequentially the number of words requested.

The data from the internal address is written, starting at the address specified for the external address.


PLC2 Unprotected Read read 16-bit words from any area of the PLC-2 data table or PLC-2 compatibility file.

PLC2 Unprotected Write write 16-bit words to any area of the PLC-2 data table of PLC-2 compatibility file.



Specifying the Communication Details(communication tab)

When you configure a MSG instruction, you specify these details on the communication tab:

Mapping addresses

For non-ControlLogix devices, you must map the target device’s addressing to a local, Logix5550 tag. To map addresses, use themapping tool in your programming software.

MSG Programming Examples

CIP communications

Ethernet communications

ControlNet communications


Path Enter the connection path to the target device. You can find the connection path through RSLinx software.

Communication method Select CIP or DH+

If you select CIP, the message is routed through the ControlLogix backplane.

If you select DH+, the message is routed through a DH/RIO module. Specify:

Source Link: Link ID of the local DH+ link

Destination Link: Link ID of the remote DH+ link where the target device resides

Destination Node: Station address of the target device

For: In this field: Specify:

PLC-3 processors,

PLC-5 processors

SLC controllers

File Number Enter the file number of the address in the target device. For example, enter 7 for file 7, which is typically the N7 file.

Tag Name Enter the tag name the local controller uses to refer to the target device’s address. For example, N7 in a PLC-5 processor could be referred to as PLC5_source in a Logix5550 controller.

PLC-2 processors Tag Name Enter the tag name to be the PLC-2 compatibility file.



Replacing PLC-5 block-transfer instructions



Get Status Value (GSV) and Set Status Value (SSV)

Description: The Logix5550 controller stores status data in objects. (There is no status file, as in the PLC-5 processor. Use the GSV/SSV instructions to get and set controller status data within these objects. The GSV instruction retrieves the specified information and places it in the destination. The SSV instruction sets the specified attribute with data from the source.

When you enter a GSV/SSV instruction, the programming software displays the valid objects, object names, and attribute names you can choose. The GSV/SSV instructions support the same objects, but the attributes differ, depending on whether you have read access (GSV) or write access (SSV) to the attribute.

Operands:

Operation:

!ATTENTION: Use the GSV/SSV instructions carefully. Making changes to objects can cause unexpected controller operation or injury to personnel.


Object class immediate

Object name any tag type

Attribute name object specific (see list of objects below)

Destination tag DINT

This operand is only used with the GSV instruction.

Source tag DINT

This operand is only used with the SSV instruction.




Execution executes

does not execute

executes



Objects: When you enter a GSV/SSV instruction, you specify the object and its attribute that you want to access. In some cases, there will be more than one instance of the same type of object, so you might also 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. You can access these objects:

Accessing the AXIS object

The AXIS object provides status information about an axis for the servo module. Specify the object name to determine which AXIS object you want.

For more information about the AXIS object, see chapter 17.

Accessing the CONTROLLER object

The CONTROLLER object provides status information about a controller’s execution.

For information about this object: See page:

AXIS 3-16 and chapter 17

CONTROLLER 3-16

CONTROLLERDEVICE 3-17

CST 3-18

DF1 3-18

FAULTLOG 3-20

MODULE 3-22

MOTIONGROUP 3-22 and chapter 17

PROGRAM 3-22

ROUTINE 3-23

SERIALPORT 3-24

TASK 3-25

WALLCLOCKTIME 3-25

Attribute: Instruction: Description:

TimeSlice GSV

SSV

Percentage of available CPU that is assigned to communications.

Valid value is 10-90. This value is not changeable when the controller is in run mode.



Accessing the CONTROLLERDEVICE object

The CONTROLLERDEVICE object identifies the physical hardware of the controller.


DeviceName GSV ASCII string name of the controller.

Logix5550 =

ProductCode GSV Identifies the type of controller

Logix5550 = 3

ProducRev GSV Identifies the current product revision.

For a controller, this value starts at series A (1), revision A (1).

SerialNumber GSV Serial number of the device.

The serial number is assigned when the device is built.

Status GSV Bits identify status:

Value: Meaning:0100 Controller detected a minor fault.

0400 Controller has a major fault and is in faulted mode.

0xxx Controller is in run mode.

1000 Controller is in debug mode.

4000 Controller is in program mode.

8000 The controller’s keyswitch is in the remote position.

Type GSV Identifies the devices as a controller.

Controller = 14

Vendor GSV Identifies the vendor of the device.

Allen-Bradley = 0001



Accessing the CST object

The CST (coordinated system time) object provides coordinated system time (CST) for the devices in the system.

Accessing the DF1 object

The DF1 object provides an interface to the DF1 communication driver that you can configure for the serial port.


CurrentStatus GSV Current status of the coordinated system time. Bits identify:

Bit: Meaning:0 timer hardware faulted1 ramping enabled2 system time master3 synchronized4 local network master5 in relate mode6-7 unused8-9 time node type

00 = time dependent node01 = time master node10 = time relay node11 = unused

10-15 unused

CurrentValue GSV Current value of the timer.

The timer source is adjusted to match the value supplies in update services and from local communication network synchronization. The adjustment is either a ramping to the requested value or an immediate setting to the request value, as reported in the CurrentStatus attribute.


ACKTimeout GSV The amount of time to wait for an acknowledgment to a message transmission.

Delay in counts of 20 msec periods.

DF1Mode GSV Specifies the DF1 driver mode.

Value: Meaning:0 point-to-point1 DF1 slave2 DF1 master



DiagnosticCounters GSV Array of diagnostic counters for the DF1 communication driver.

DuplicateDetection GSV Enables duplicate message detection.

Value: Meaning:0 no duplicate message detection1 duplicate message detection

EmbeddedResponse GSV Enables embedded response functionality.

Value: Meaning:0 initiated only after one is receivednon-zero enabled unconditionally

ENQsSent GSV The number of inquiries (ENQs) to send after an ACK timeout.

Valid value 0-255. Recommended setting is 3.

ErrorDetection GSV Specifies the error-detection scheme.

Value: Meaning:0 BCC1 CRC

GroupSize GSV Number of stations to poll.

Valid value 0-255.

MasterMessage GSV Current value of the master message transmission.

Value: Meaning:0 between station polls (default)1 in poll sequence

MessageWaitTime GSV The time (acting as a master) to wait after receiving an ACK before polling the slave for a response.

Delay in counts of 20 msec periods. The default is 3 periods (60 msec).

NAKsReceived GSV The number of NAKs received in response to a message before stopping transmission (point-to-point communication only).

Valid value 0-255. Recommended setting is 3.


modem bits

DF1 counters point-to-point

packets sent

NAKs recevied

0

1

2

5

6

7

4

ENQs received

bad packets NAKed

word

3

packets receivedt

undelivered packets

ENQs sent

9

10

11

8

12

no memory response sent

duplicate packets received

unused

DCD recoveries count

lost modem count

modem bits

packets sent

NAKs recevied

polls received

bad packets NAKed

packets receivedt

undelivered packets

messages retried



unused


lost modem count

DF1 counters slave DF1 counters master

modem bits

packets sent

NAKs recevied

polls received

bad packets NAKed

packets receivedt

undelivered packets

messages retried



unused


lost modem count



Accessing the FAULTLOG object

The FAULTLOG object provides fault information about the controller.

PollMode GSV Current polling mode.

Value: Meaning:0 message-based, but don’t allow slaves

to initiate messages1 message-based, but allow slaves to

initiate messages (default)2 standard, single-message transfer per node scan3 standard, multiple-message transfer per node scan

Retries GSV Number of times to resend a message to the master device without getting an acknowledgment.

Valid value 0-255. Recommended setting is 3. The default is 3.

StationAddresss GSV Current station address of the serial port.

Valid value 0-254.

PendingACKTimeout SSV Pending value for the ACKTimeout attribute.

PendingDuplicateDetection SSV Pending value for the DuplicateDetection attribute.

PendingEmbeddedResponse SSV Pending value for the EmbeddedResponse attribute.

PendingENQsSent SSV Pending value for the ENQsSent attribute.

PendingErrorDetection SSV Pending value for the ErrorDetection attribute.

PendingGroupSize SSV Pending value for the GroupSize attribute.

PendingMasterMessage SSV Pending value for the MasterMessage attribute.

PendingMessageWaitTime SSV Pending value for the MessageWaitTime attribute.

PendingNAKsReceived SSV Pending value for the NAKsReceived attribute.

PendingPollMode SSV Pending value for the PollMode attribute.

PendingRetries SSV Pending value for the Retries attribute.

PendingStationAddress SSV Pending value for the StationAddress attribute.


EighthMinorEvent GSV What was the eighth-most recent minor fault.

(same format as FirstMinorEvent)

FifthMinorEvent GSV What was the fifth-most recent minor fault.

(same format as FirstMinorEvent)FirstMinorEvent GSV What was the most recent minor fault.

FourthMinorEvent GSV What was the fourth-most recent minor fault.



timestamp

type of fault

fault code

fault-specific



Accessing the MESSAGE object

You can access the MESSAGE object through the GSV/SSV instructions. Specify the object name to determine which AXIS object you want. The MESSAGE object provides an interface to setup and trigger peer-to-peer communications. This object replaces the MG data type of the PLC-5 programmable controller.

Last3MajorEvents GSV What were the last three major faults.

MajorEvents GSV

SSV

How many major faults have occurred since the last time this counter was reset.

MinorEvents GSV

SSV

How many minor faults have occurred since the last time this counter was reset.

MajorFaultBits GSV

SSV

Individual bits indicate the reason for the current major fault.

MinorFaultBits GSV

SSV

Individual bits indicate the reason for the current minor fault.

SecondMinorEvent GSV What was the second-most recent minor fault.


SeventhMinorEvent GSV What was the seventh-most recent minor fault.


SixthMinorEvent GSV What was the sixth-most recent minor fault.


ThirdMinorEvent GSV What was the third-most recent minor fault.



ConnectedFlag GSV

SSV

Specifies whether the message is connected or unconnected.

Value: Meaning:1 connected2 not connected

ConnectionPath GSV

SSV

Data to setup the connection path.

IOIString GSV

SSV

Specifies the string used for encoding the service and addressing for the message.


timestamp

most recent

type of fault

fault code

fault-specific

second most-recent third most-recent

timestamp

type of fault

fault code

fault-specific

timestamp

type of fault

fault code

fault-specific



Accessing the MODULE object

tbd

Accessing the MOTIONGROUP object

The MOTIONGROUP object provides status information about an group of axes for the servo module. Specify the object name to determine which MOTIONGROUP object you want.

For more information about the MOTIONGROUP object, see chapter 17.

Accessing the PROGRAM object

The PROGRAM object provides a way to start the execution of the application.

MessageType GSV

SSV

Specifies the type of message.

Value: Meaning:0 not initialized

Port GSV

SSV

Indicates which port the message should be sent on.

Priority GSV

SSV

Priority of the message.

UnconnectedTimeout GSV

SSV

Timeout period for all unconnected messages


EntryStatus GSV

FaultCode GSV

FaultInfo GSV

ForceStatus GSV

Instance GSV

Mode GSV

SSV


DisableFlag GSV

SSV

Control this program’s execution.

Value: Meaning:0 execution enabled1 execution disabled

Instance GSV The objects instance number.

Valid values are 0-31.




Accessing the ROUTINE object

The ROUTINE object identifies the routines associated with a PROGRAM.

LastScanTime GSV

SSV

Time is took to execute this program the last time it was executed. Time is in microseconds.

MajorFaultRecord GSV

SSV

Records major faults for this program.

MaxScanTime GSV

SSV

Maximum recorded execution time for this program. Time is in microseconds.

MinorFaultRecord GSV

SSV

Records minor faults for this program.

ProgramState GSV

SSV

Operating state of this program instance.

Value: Meaning:0001 execution of this program is disabled0002 executing a non-edited version0004 executing the edited version (online editing)0008 an edit is pending for the end of execution0010 first scan flag0020 SFC force enable0040 SFC restart (1=restart, 0=resume)0100 prescan of executable in progress0200 powerup fault recovery in progress0400 powerup recovery in progress1000 fault routine execution in progress

SFCRestart GSV

SSV

Selects a restart mode for the SFCs that are part of this program.

Value: Meaning:0 resume SFC after power loss1 restart SFC after power loss







Accessing the SERIALPORT object

The SERIALPORT object provides an interface to the serial communication port.


BaudRate GSV Specifies the baud rate.

Valid values are 110, 300, 600, 1200, 2400, 4800, 9600, and 19200 (default).

DataBits GSV Specifies the number of bits of data per character.

Value: Meaning:7 7 data bits (ASCII only)8 8 data bits

Parity GSV Specifies the parity.

Value: Meaning:0 no parity1 odd parity (ASCII only)2 even parity

RTSOffDelay GSV Amount of time to delay turning off the RTS line after the last character has been transmitted.

Delay in counts of 20 msec periods. The default is 0 msec.

RTSSendDelay GSV Amount of time to delay transmitting the first character of a message after turning on the RTS line.

Delay in counts of 20 msec periods. The default is 0 msec.

StopBits GSV Specifies the number of stop bits.

Value: Meaning:1 1 stop bit (default)2 2 stop bits (ASCII only)

PendingBaudRate SSV Pending value for the BaudRate attribute.

PendingDataBits SSV Pending value for the DataBits attribute.

PendingParity SSV Pending value for the Parity attribute.

PendingRTSOffDelay SSV Pending value for the RTSOffDelay attribute.

PendingRTSSendDelay SSV Pending value for the RTSSendDelay attribute.

PendingStopBits SSV Pending value for the StopBits attribute.



Accessing the TASK object

The TASK object provides a way to schedule the application. A task can be continuous or periodic.

Accessing the WALLCLOCKTIME object

The WALLCLOCKTIME object provides a timestamp the controller can use for scheduling.




LastScanTime GSV

SSV

Time is took to execute this program the last time it was executed. Time is in microseconds.

MaxInterval GSV

SSV

The maximum time interval between successive executions of the task.

A value of 0 indicates 1 or less executions of the task.

MaxScanTime GSV

SSV

Maximum recorded execution time for this program. Time is in microseconds.

MinInterval GSV

SSV

The minimum time interval between successive executions of the task.

A value of 0 indicates 1 or less executions of the task.

Priority GSV

SSV

Relative priority of this task as compared to the other tasks.

Valid values 0-15.

Rate GSV

SSV

StartTime GSV

SSV

Value of WALLCLOCKTIME when the last execution of the task was started.

Watchdog GSV

SSV

Time limit for execution of all programs associated with this task. Time is in seconds.

If you enter 0, these values are assigned:

Time: Task Type:0.5 sec periodic5.0 sec continuous


CSTOffset GSV

SSV

Positive offset from the coordinate system time value.

Value in msecs. The default is 0.

CurrentValue GSV

SSV

Current value of the wall clock time.

The value is referenced from 0000 hrs.January 1, 1981.



GSV/SSV Programming Example Getting fault information

The following examples uses GSV instructions to get fault information.

Getting I/O fault information

This example gets fault information from the I/O module disc_in_2 and places the data in a user-defined structure disc_in_2_info.

Getting program status information

This example gets status information about program discrete and places the data in a user-defined structure discrete_info.

Gettings task status information

This example gets status information about task IO_test and places the data in a user-defined structure io_test_info.



Setting enable and disable flags

The following example uses input data to enable or disable a program. You could also use this method to enable or disable an I/O module, which is a program solution similar to using inhibit bits with a PLC-5 processor.

Based on the status of SW.1, place the appropriate value in the disableflag attribute of program discrete.



Notes:


Chapter 4

Compare Instructions(CMP, EQU, GEQ, GRT, LEQ, LES, LIM, MEQ, NEQ)

Introduction The compare instructions let you compare values by using an expression or a specific compare instruction.

You can compare values of different data types, such as floating point and integer.


compare values based on an expression

CMP 4-3

test whether two values are equal EQU 4-5

test whether one value is greater than or equal to a second value

GEQ 4-6

test whether one value is greater than a second value

GRT 4-7

test whether one value is less than or equal to a second value

LEQ 4-8

test whether one value is less than a second value

LES 4-9

test whether one value is between two other values

LIM 4-10

pass two values through a mask and test whether they are equal

MEQ 4-12

test whether one value is not equal to a second value

NEQ 4-14

If the input rung is: and the expression is: the output status is:

true true true

false false

false true false

false false


4-2 Compare Instructions

Using arithmetic status flags

To access arithmetic status flags, use an XIC or XIO instruction with one of the status keywords.

Use the RES instruction to clear the status flags.

Use this keyword: For this status flag: With this access:

S:C carry read/write

S:N sign (result is negative) read/write

S: V overflow read/write

S:Z zero read/write


Compare Instructions 4-3

Compare (CMP)

Description: The CMP instruction is an input instruction that performs a comparison on arithmetic operations you specify in the expression. When the controller finds the expression is true, the rung goes true. Otherwise, the rung is false.

The execution time of a CMP instruction is longer than the execution time of the other comparison instructions. A CMP instruction uses more words of memory than the other comparison instructions.

The expression defines the operations you want to perform. Define the expression with operators, tags, and constants. Use brackets ( ) to define specific sections of more complex expressions.

The expression must contain one comparison operation: =, <>, <, <=, >, or >=

Valid operations

Operands:

Operator: Description:

+ add

- subtract/negate

* multiply

/ divide

** exponent (x to y)

= equal

<> not equal

< less than

<= less than or equal

> greater than

>= greater than or equal

ACS arc cosine

AND logical AND

ASN arc sine

ATN arc tangent

COS cosine

DEG degree

FRD BCD to binary

LN natural log

LOG log base 10


MOD modulo divide

NOT logical complement

OR logical OR

RAD degrees to radians

SIN sine

SQR square root

TAN tangent

TOD binary to decimal

XOR exclusive OR



Expression an expression consisting of tags and/or immediate values separated by operators



Operation:

CMP Example:




Execution executes

does not execute

executes

If the controller finds the expression true, the instruction is true.



Equal to (EQU)

Description: Use the EQU instruction to test whether two values are equal. Source A and Source B can either be values or tags.

REAL values are rarely absolutely equal. If you need to determine the quality of two REAL values, use the LIM instruction.

Operands:

Operation:

EQU Example:


Source A immediate or tag SINT, INT, DINT, or REAL

Source B immediate or tag SINT, INT, DINT, or REAL


Timing (in µs) true falseDINT 0.44 0.16REAL 0.44 0.17


Execution executes

does not execute

executes

If value_1 is equal to value_2, the instruction is true.



Greater than or Equal to (GEQ)

Description: Use the GEQ instruction to test whether one value (Source A) is greater than or equal to a second value (Source B). Source A and Source B can be values or tags.

Operands:

Operation:

GEQ Example:







Execution executes

does not execute

executes

If value_1 is greater than or equal to value_2, the instruction is true.



Greater Than (GRT)

Description: Use the GRT instruction to test whether one value (Source A) is greater than a second value (Source B). Source A and Source B can be values or tags.

Operands:

Operation:

GRT Example:







Execution executes

does not execute

executes

If value_1 is greater than value_2, the instruction is true.



Less Than or Equal to (LEQ)

Description: Use the LEQ instruction to test whether one value (Source A) is less than or equal to a second value (Source B). Source A and Source B can be values or tags.

Operands:

Operation:

LEQ Example:







Execution executes

does not execute

executes

If value_1 is less than or equal to value_2, the instruction is true.



Less Than (LES)

Description: Use the LES instruction to test whether one value (Source A) is less than a second value (Source B). Source A and Source B can be values or tags.

Operands:

Operation:

LES Example:







Execution executes

does not execute

executes

If value_1 is less than value_2, the instruction is true.



Limit (LIM)

Description: The LIM instruction is an input instruction that tests for values inside or outside of a specified range. The instruction is false until the controller detects that the Test value is within certain limits or outside of certain limits. Then the instruction goes true. When the instruction detects that the Test value is no longer within or outside of the limits, the instruction goes false.

Low Limit <= High Limit: When the controller detects that the test value is equal to or between the limits, the instruction is true; if the test value is outside the limits, the instruction is false.

Low Limit >= High Limit: When the controller detects that the test value is equal to or outside the limits, the instruction is true; if the test value is inside the limits, but not equal to either limit, the instruction is false.

Operands:

Operation:

low limit high limit

false true false

test

low limit high limit

true false true

test test


Low limit immediate or tag SINT, INT, DINT, or REAL

Test immediate or tag SINT, INT, DINT, or REAL

High limit immediate or tag SINT, INT, DINT, or REAL






LIM Example:

Execution


executes

does not execute

executes

If test_value is greater than or equal to value_1 and less than or equal to value_2, the instruction is true.



Mask Equal to (MEQ)

Description: The MEQ instruction is an input instruction that compares a Source value with a Compare value after passing portions of the Source through a Mask. If the Source value matches the Compare value bit by bit (less any masked bits), the instruction is true. The instruction goes false as soon as the controller detects a mismatch.

The Mask passes data when the Mask bits are set (1); the Mask blocks data when the Mask bits are reset (0). The Mask must be the same element size as the Source and Compare.

Use the MEQ instruction to extract for comparison data such as status or control bits.

Operands:

Operation:


Source immediate or tag SINT, INT, or DINT

Mask

which bits to pass or blockimmediate or tag SINT, INT, or DINT (hexadecimal, octal, or binary value)

Compare immediate or tag SINT, INT, or DINT


Timing (in µs) true falseDINT 0.65 0.17REAL


Execution executes

does not execute

executes



MEQ Example:

Entering an immediate mask value

If you want to enter an immediate mask value, you must precede the value with the correct prefix.

The controller passes value_1 through the mask mask_1 and compares the result to value_2. A 0 in the mask restrains the instruction from comparing that bit. If value_1 and value_2 are the same, less the masked bits, the instruction is true.

MEQ operand: Example values (using INTs):

Source 01010101 01010101

Mask 11111111 11110000

Compare 01010101 0101xxxx

Result

The instruction is true because the Source and Compare values are identical, minus the masked bits (which are not compared).

Prefix: Description:

16# hexadecimal

for example; 16#0F0F

8# octal

for example; 8#16

2# binary

for example; 2#00110011



Not Equal to (NEQ)

Description: Use the NEQ instruction to test whether two values are not equal. Source A and Source B can be values or tags.

Operands:

Operation:

NEQ Example:







Execution executes

does not execute

executes

If value_1 is not equal to value_2, the instruction is true.


Chapter 5

Compute/Math Instructions(CPT, ADD, SUB, MUL, DIV, SQR, NEG)

Introduction The compute/math instructions evaluate arithmetic operations using an expression or a specific arithmetic instruction.

You can mix values of different data types, such as floating point and integer. If you use floating point as the source, use floating point as the destination. You can mix data types, but loss of accuracy and rounding error might occur.

If the rung with the compute instruction goes true, the controller performs the computation.





evaluate an expression CPT 5-2

add two values ADD 5-4

subtract two values SUB 5-5

multiply two values MUL 5-6

divide two values DIV 5-7

take the square root of a value SQR 5-8

take the opposite sign of a value NEG 5-9

Use this keyword: For this status flag: With this read/write access:




S:Z zero read/write


5-2 Compute/Math Instructions

Compute (CPT)

Description: The CPT instruction is an output instruction that performs the arithmetic operations you define in the expression. The CPT instruction can also copy data from one tag to another and automatically convert the data type at the source tag to the data type you specify for the Destination.

The execution time of a CPT instruction is longer than the execution time of the other compute/math instructions. A CPT instruction uses more words of memory than the other compute/math instructions.

Valid operations

Determining the order of operation

The operations you write into the expression are performed by the controller in a prescribed order, not necessarily the order you write them. You can override the order of operation by grouping terms within parenthesis, forcing the controller to perform an operation within the parenthesis ahead of other operations.

Operations of equal order are performed from left to right.


+ add

- subtract/negate

* multiply

/ divide

= equal


ACS arc cosine

AND logical AND

ASN arc sine

ATN arc tangent

COS cosine

DEG degree

FRD BCD to binary

LN natural log

LOG log base 10

MOD modulo divide



OR logical OR


SIN sine

SQR square root

TAN tangent


XOR exclusive OR


Order: Operation: Description:

1 ** exponential

2 - negate

3 * multiply

/ divide

4 + add

- subtract

Pu
blication 1756-6.4.1 review January 1998 - preliminary

Compute/Math Instructions 5-3

Operands:

Operation:

CPT Example:


Destination tag SINT, INT, DINT, or REAL





Execution executes

does not execute

executes

If the preceding instructions are true, the controller evaluates the expressions and places the result in result_1.



Add (ADD)

Description: Use the ADD instruction to add one value (Source A) to another value (Source B) and place the result in the Destination. Source A and Source B can be values or tags.

The ADD instruction executes once each program scan as long as the rung is true. If you want the values added only once, use an ONS instruction.

Arithmetic status flags

Operands:

Operation:

ADD Example:

This flag: The controller:

carry (S:C) sets if generates a carry; otherwise resets

overflow (S:V) sets is an overflow is generated; otherwise resets

zero (S:Z) sets is the result is zero; otherwise resets

sign (S:N) sets if the result is negative; otherwise resets








Execution executes

does not execute

executes

If the preceding instructions are true, the controller adds float_value_1 to float_value_2 and places the result in compute_result.



Subtract (SUB)

Description: Use the SUB instruction to subtract one value (Source B) from another value (Source A) and place the result in the Destination. Source A and Source B can be values or tags.

The SUB instruction executes once each program scan as long as the rung is true. If you want the values subtracted only once, use an ONS instruction.


Operands:

Operation:

SUB Example:


carry (S:C) sets if generates a borrow; otherwise resets

overflow (S:V) sets is an underflow is generated; otherwise resets










Execution executes

does not execute

executes

If the preceding instructions are true, the controller subtracts float_value_2 from float_value_1 and places the result in compute_result.



Multiply (MUL)

Description: Use the MUL instruction to multiply one value (Source A) with another value (Source B) and place the result in the Destination. Source A and Source B can be values or tags.

The MUL instruction executes once each program scan as long as the rung is true. If you want the values multiplied only once, use an ONS instruction.


Operands:

Operation:

MUL Example:


carry (S:C) always resets

overflow (S:V) sets if an overflow is generated; otherwise resets










Execution executes

does not execute

executes

If the preceding instructions are true, the controller multiples float_value_1 to float_value_2 and places the result in compute_result.



Divide (DIV)

Description: Use the DIV instruction to divide one value (Source A) by another value (Source B) and place the result in the Destination. Source A and Source B can be values or tags.

The DIV instruction executes once each program scan as long as the rung is true. If you want the values divided only once, use an ONS instruction.


Operands:

Operation:

DIV Example:



overflow (S:V) sets if division by zero or if an overflow is generated; otherwise resets










Execution executes

does not execute

executes

If the preceding instructions are true, the controller divides float_value_1 by float_value_2 and places the result in compute_result.



Square Root (SQR)

Description: Use the SQR instruction to take the square root of a value (Source) and place the result in the Destination. If Source is negative, the controller takes the absolute value before performing the square root.

The SQR instruction executes once each program scan as long as the rung is true. If you want the square root computed only once, use an ONS instruction.


Operands:

Operation:

SQR Example:



overflow (S:V) sets if an overflow is generated; otherwise resets


sign (S:N) always resets


Source immediate or tag SINT, INT, DINT, or REAL





Execution executes

does not execute

executes

If the preceding instructions are true, the controller takes the square root of value_1 and places the result in compute_result.



Negate (NEG)

Description: Use the NEG instruction to change the sign of a value. If you negate a negative value, the result is positive. If you negate a positive value, the result is negative.

The NEG instruction executes once each program scan as long as the rung is true. If you want the values negated only once, use an ONS instruction.


Operands:

Operation:

NEG Example:


carry (S:C) sets if generates a carry; otherwise resets










Execution executes

does not execute

executes

If the preceding instructions are true, the controller takes the opposite sign of value_1 and places the result in compute_result.



Notes:


Chapter 6

Move/Logic Instructions(MOV, MVM, BTD, CLR, AND, OR, XOR, NOT,)

Introduction The move instructions modify and move bits.

If you move a REAL value to a SINT, INT, or DINT tag, the controller rounds the value to fit within the tag. The controller does not properly round numbers less than -1.

The logical instructions perform logical operations on bits.


copy the value in one word to another word

MOV 6-2

copy a specific part of a 32-bit value by masking the rest of the value

MVM 6-3

move bits within a word or between words

BTD 6-5

set all the bits in a word to zero CLR 6-7


perform a bitwise AND operation AND 6-8

perform a bitwise OR operation OR 6-10

perform a bitwise, exclusive OR operation

XOR 6-12

perform a bitwise NOT operation NOT 6-14


6-2 Move/Logic Instructions

Move (MOV)

Description: The MOV instruction is an output instruction that copies the Source to a Destination. The Source remains unchanged. As long as the rung is true, the MOV instruction moves the data each program scan.


Operands:

Operation:

MOV Example:



overflow (S:V) sets if overflow generated during REAL-to-integer conversions; otherwise resets

zero (S:Z) sets if result is zero; otherwise resets

sign (S:N) sets if result is negative; otherwise resets







Execution executes

does not execute

executes

If the preceding instructions are true, the controller copies the data in value_1 to value_2.


Move/Logic Instructions 6-3

Masked Move (MVM)

Description: The MVM instruction is an output instruction that copies the Source to a Destination and allows portions of the data to be masked. The Source remains unchanged. As long as the rung is true, the MVM instruction moves data each program scan.

The MVM instruction uses a Mask to either pass or block Source data bits. The Mask passes data when the Mask bits are set (1); the Mask blocks data when the Mask bits are reset (0). The Mask must be the same word size as the Source and Destination.


Operands:

Operation:



overflow (S:V) always resets

zero (S:Z) sets if result is zero; otherwise resets

sign (S:N) sets if result is negative; otherwise resets



Mask immediate or tag SINT, INT, or DINT

Destination tag SINT, INT, or DINT




Execution executes

does not execute

executes



MVM Example:

If the preceding instructions are true, the controller copies data in value_1 to value_2 while allowing data to be masked (a 0 masks the data in value_1).

0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1

1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0

0 1 0 1 1 1 1 1 0 1 0 1 1 1 1 1 0 1 0 1 1 1 1 1 0 1 0 1 1 1

value_1

mask_1

value_3after MVM instruction

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1value_3before MVM instruction



Bit Field Distribute (BTD)

Description: The BTD instruction is an output instruction that moves as many as 32 bits of data within a word or between words. The Source remains unchanged. The instruction writes over the Destination with the specified bits. If the length of the bit field extends beyond the Destination word, the controller does not save the overflow bits. These overflow bits are lost; they do not wrap up into the next word.

On each program scan, when the rung that contains the BTD instruction is true, the controller moves the bit field from the Source to the Destination. To move data within a word, enter the same tag for the Source and Destination.

Operands:

Operation:


Source

the tag of the bits to move

immediate or tag DINT

Source bit

the number of the bit (lowest bit number) from where to start the move

immediate (0-31)

Destination

the tag of where to move the bits

tag DINT

Destination bit

the number of the bit (lowest bit number) where the controller starts copying the bits from the Source

immediate (0-31)

Length

the number of bits to move

immediate (1-32)




Execution executes

does not execute

executes



BTD Example:

If the preceding instructions are true, the controller moves bits within value_1.

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1value_1

source bitdestination bit

If the preceding instructions are true, the controller moves bits within value_1.

example 1

example 2

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1value_1

source bit

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1value_2

destination bit



Clear (CLR)

Description: Use the CLR instruction to set all the bits of an element to zero.


Operands:

Operation:

CLR Example:




zero (S:Z) always resets







Execution executes

does not execute

executes

If the preceding instructions are true, the controller sets all the bits of value_1 to 0.



Bitwise AND (AND)

Description: Use the AND instruction to perform a bitwise AND operation using the bits in two source tags. The controller evaluates the AND operation:


Operands:

Operation:

If Source A is: And Source B is: The Destination is:

0 0 0

1 0 0

0 1 0

1 1 1




zero (S:Z) sets if the result is zero; otherwise resets

sign (S:N) sets if most-significant bit is set; otherwise resets








Execution executes

does not execute

executes



AND Example:

If the preceding instructions are true, the controller performs an AND operation on value_1 and value_2 and places the result in value_3.

0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 1 1 1 1 1 1 1 1

0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0

value_1

value_2

value_3



Bitwise OR (OR)

Description: Use the OR instruction to perform a bitwise OR operation using the bits in two source tags. The controller evaluates the OR operation:


Operands:

Operation:


0 0 0

1 0 1

0 1 1

1 1 1













Execution executes

does not execute

executes



OR Example:

If the preceding instructions are true, the controller performs an OR operation on value_1 and value_2 and places the result in value_3.

0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 1 1 1 1 1 1 1 1

0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

value_1

value_2

value_3



Bitwise Exclusive OR (XOR)

Description: Use the XOR instruction to perform a bitwise XOR operation using the bits in two source tags. The controller evaluates the XOR operation:


Operands:

Operation:


0 0 0

1 0 1

0 1 1

1 1 0













Execution executes

does not execute

executes



XOR Example:

If the preceding instructions are true, the controller performs an XOR operation on value_1 and value_2 and places the result in value_3.

0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 1 1 1 1 1 1 1 1

0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 1 1 1 1 1 1 1 1 1 1

value_1

value_2

value_3



Bitwise NOT (NOT)

Description: Use the NOT instruction to perform a bitwise NOT operation using the bits in two source tags. The controller evaluates the NOT operation:


Operands:

Operation:

If Source is: The Destination is:

0 1

1 0












Execution executes

does not execute

executes



NOT Example:

If the preceding instructions are true, the controller performs a NOT operation on value_1 and places the result in value_3.

0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 1 1 1 1 1 1 1 1

1 1 1 1 1 1 1 1 1 1 0 1 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0

value_1

value_3



Notes:


7).

tes ter

e

Chapter 7

File Concepts

Introduction This chapter presents the concepts of manipulating arrays (files) of data using the file instructions.

The controller treats files as arrays of data. You can create arrays as large as three dimensions. For example, an application has an array of integers (SINT, INT, or DINT):

• first dimension elements 0-6

• second dimension elements 0-4

• third dimension elements 0-21

In this example, the array (file) has a total of 770 integers (22 x 5 x If the data structure name is “array1,” any instruction referencing array1, has 770 integers.

To access a specific element within the array, specify the coordinaas array_name[first_dim,second_dim, third_dim]. For example, enarray1[4,3,20].

The File/Misc instructions in the programming software manipulatarrays of data. These instructions are:

• average (AVE)• copy (COP)• file arithmetic and logic (FAL)• file fill (FLL)• file search (FSC)• sort (SRT)• standard deviation (STD)


7-2 File Concepts

es

Manipulating Arrays Typical array operations include:

• copying data from a:

– source word to a destination array– source array to a destination array– source array to a destination element

• operating on data from multiple sources, such as:

– source element– source arrays

• storing the result in a:

– destination element– destination array

Use CONTROL.POS as the destination or expressions. It identifithe first element of the array for the operation.

FAL

File Arith/logicalControl control1Length 4Position 0Mode ALLDestination array1[a, control1.pos, c]Expression integer_a

FAL

File Arith/logicalControl control1Length 4Position 0Mode ALLDestination integer_aExpression array1[a, control1.pos, c]

FAL

File Arith/logicalControl control1Length 4Position 0Mode ALLDestination array1[a, control1.pos, c]Expression array2[control1.pos, b, c]

Element-to-Array Operation

Array-to-Element Operation

Array-to-Array Operation


File Concepts 7-3

16617

element to array array to array array to word

(array * element) to array (element * array) to element

(element * element) to array (array * array) to element

(element * array) to array (array * element) to element

(array * array) to array


7-4 File Concepts

Using the Control Structure The control structure controls the operation of the file instruction. The control structure stores status bit, length (.LEN), and position (.POS) values.

You can use the RES instruction to reset the status bits and clear the .POS word.

Selecting Mode of Operation The mode tells the controller how to distribute the block operation over one or more program scans. Select from:

CONTROL structure

length value (.LEN)

position value (.POS)

EN EU DN EM ER UL IN FD

31 30 29 28 27 26 25 24 16 15 0bit number


.EN bit The enable bit indicates that the instruction is enabled.

.EU bit The enable unload bit indicates unload instruction is enabled.

Only used with the FFU and LFU instructions.

.DN bit The done bit indicates that the file operation is complete.

.EM bit The empty bit indicates that the stack is empty

Only used with the FFL and LFL instructions.

.ER bit The error bit indicates when the file operation generates an overflow.

.UL bit The unload bit is the instruction’s output. The .UL bit stores the status of the bit removed from the array each time the instruction is enabled.

Only used with the BSR and BSL instructions.

.IN bit The inhibit bit indicates that the controller detected a true comparison using an FSC instruction. You must reset this bit to continue the search operation. This bit is only used by the FSC instruction.

.FD bit The found bit indicates that the controller detected a true comparison using an FSC instruction. This bit is only used by the FSC instruction.

.LEN word The length word specifies the number of elements in the array on which the file instruction operates.

.POS word The position word identifies the current element that the controller is accessing. You generally enter a zero to start at the beginning of the current dimension of the array.

If you want to: Select this mode:

operate on the entire file before continuing on to the next rung All

distribute file operation over a number of program scans

enter the number of words or operate on per scan (1-2147483647)

Numerical

manipulate one word of the file each time the rung goes from false to true

Incremental


File Concepts 7-5

All mode

In All mode, the entire file is operated on before continuing on to the next rung of logic. The operation begins when the rung goes from false to true. The position (.POS) value in the control structure points to the word in the array that the instruction is currently using. Operation stops when the function completes or the controller detects an error.

The following timing diagram shows the relationship between status bits and instruction operation. When the instruction execution is complete, the .DN bit is set. The .DN bit and the .EN bit are reset and the .POS value is zeroed when the rung conditions are no longer true. Only then can another operation be triggered by a false-to-true transition of the rung.

Data file one scan

16639

oneprogram

scan

operation complete

controller resets status bits and sets .POS value to zero

condition of the rung thatcontrols the instruction

.EN bit

.DN bit

scan of the instruction

40010


7-6 File Concepts

Numerical mode

Numerical mode distributes the array operation over a number of program scans. You enter the number of words per scan to operate on each program scan.

Execution is triggered when the rung condition goes from false to true. Once triggered, the instruction is executed each time the rung is scanned for the number of program scans necessary to complete operation on the entire array. Once triggered, rung logic can change repeatedly without interrupting execution of the instruction.

Important: Avoid using the results of a file instruction operating in numerical mode until the .DN bit is set because the data is incomplete.

one scan

16641

second scan

next scan


File Concepts 7-7

The following timing diagram shows the relationship between status bits and instruction operation. When the instruction execution is complete, the .DN it is set.

If the rung is true at completion, the .EN and .DN bit are not reset until the rung is no longer true. When the rung goes false, these bits are reset and the .POS value is zeroed.

If the rung is false at completion, the .EN bit is reset immediately. One scan after the .EN bit is reset, the .DN bit is reset and the .POS value is zeroed.

Incremental mode

Incremental mode manipulates one word of the array each time the rung goes from false to true.

multiple program scans

multiple program scans


.EN bit

.DN bit

scan of the instruction



rung is true at completion rung is false at completion

40013

operation complete operation complete

16643

1st rung enable2nd rung enable3rd rung enable

last rung enable


7-8 File Concepts

s ion.

ch

The following timing diagram shows the relationship between status bits and instruction operation. Execution occurs only in a program scan in which the rung goes from false to true. Each time this occurs, only one word of the array is manipulated. If the rung remains true for more than one program scan, the instruction is not executed in subsequent scans after the rung transition.

The .EN bit is set when rung logic is true. The .DN bit is set when the last word in the array has been manipulated. When the last word has been manipulated and the rung goes from false to true, the .EN and .DN bits are reset and the .POS value is zeroed.

Incremental mode compared to numerical mode with 1word per scan

The difference between incremental mode and numerical mode at a rate of one word per scan is:

• Numerical mode with any number of words per scan requires only one false-to-true rung transition to start execution. The instruction continues to execute the specified number of wordeach program scan until completion regardless of rung transit

• Incremental mode required a false-to-true rung transition for eaword in the array.

one or more program scan


.EN bit

.DN bit

scan of the instructioncontroller resets .EN bit

operation complete


40014


Chapter 8

File/Misc. Instructions(FAL, FSC, COP, FLL, AVE, SRT, STD)

Introduction The file/miscellaneous instructions operate on arrays of data.

If you move a REAL value to a SINT, INT, or DINT tag, the controller rounds the value to fit within the tag. The controller does not properly round numbers less than -1.


perform arithmetic, logic, shift, and function operations on array data

FAL 8-4

search for and compare array data FSC 8-7

copy the contents of one array into another array

COP 8-10

fill an array with specific data FLL 8-12

calculate the average of a set of values

AVE 8-13

sort one dimension of array data into ascending order

SRT 8-15

calculate the standard deviation of a set of values

STD 8-17


8-2 File/Misc. Instructions

Using the File/Misc. Instructions The control structure controls the operation of the file instruction. The control structure stores status bit, length (.LEN), and position (.POS) values.

You can use the RES instruction to reset the status bits and clear the .POS word.


Some of the file/miscellaneous instructions use arithmetic status flags. To access arithmetic status flags, use an XIC or XIO instruction with one of the status keywords.


CONTROL structure

length value (.LEN)



31 30 29 28 27 26 25 24 16 15 0bit number



.EU bit not used


.EM bit not used


.UL bit not used

.IN bit not used

.FD bit not used







S:Z zero read/write


File/Misc. Instructions 8-3

Specifying dimensions within an array

The controller supports arrays of 1, 2, or 3 dimensions. Each time you enter an array tag for an instruction, you must also specify which dimension the instruction uses for its operations. You specify the active dimension of the array by using the .POS value of the CONTROL structure for the instruction.

The .POS value provides a sequential progression through the array. You could also use another tag or an immediate value to specify the position within the array. In this case, you would have to increment the position value.

Some file instructions operate on the right-most dimension only. Be careful when using these instructions with multiple-dimensional arrays to make sure the instruction operates on the data you intend. See the following chapters of file instructions to make sure you understand how the instructions operate.

Example array tag: Description:

array_1[control_1.pos] This is a single dimension array tag. The tag control_1.pos identifies the current position within the array.

array_2[0, control_2.pos] This is a 2-dimensional array. The instruction would operate on the second dimension. You can enter an immediate value or tag to identify the first dimension.

array_3[0,1,control_3.pos] This is a 3-dimensional array. The instruction would operate on the third dimension. You can enter an immediate value or tag to identify the first and second dimensions.



File Arithmetic and Logic (FAL)

Description: The FAL instruction performs copy, arithmetic, logic, and function operations on data stored in an array. The FAL instruction performs the same operations on arrays as the CPT instruction performs on elements.

The FAL instruction is an output instruction that performs the operations defined by the source tags and operators in the Expression. The instruction stores the results in the Destination.

Select the Mode to determine how the controller distributes the operations over program scans.

You can use this instruction to perform operations such as:

• zero an array• copy data from one array to another• convert data from one data type to another

(copy from one array to a second array of a different data type)• perform computations on data stored in an array• unload an array of error codes one at a time for display

Valid operations

Operands:


+ add

- subtract/negate

* multiply

/ divide

= equal


ACS arc cosine

AND logical AND

ASN arc sine

ATN arc tangent

COS cosine

DEG degree

FRD BCD to binary

LN natural log

LOG log base 10

MOD modulo divide



OR logical OR


SIN sine

SQR square root

TAN tangent


XOR exclusive OR



Control tag CONTROL

Length

number of elements in the array

immediate (1-33554432)

Position

current element in the array


Mode INC, ALL, or 1-33554432


Pu
blication 1756-6.4.1 review January 1998 - preliminary


Control status:

Operation:

Expression arithmetic expression consisting of tags and/or immediate values separated by operators

CONTROL.POS identifies the dimension to vary (array1[A, CONTROL.POS, C]



.EN bit The enable bit is set when the rung goes from false to true. It indicates that the instruction is enabled.

In Incremental mode, the .EN bit follows the rung status.

In Numerical and All mode, the .EN bit remains set until the instruction completes its operation, regardless of the rung status.

The .EN bit is reset when the rung goes false, but only after the controller sets the .DN bit.

.DN bit The done bit is set when the instruction has operated on the last element.

In Numerical mode, if the Expression is false at completion, the controller resets the .DN bit one program scan after the operation is complete. If the Expression is true at complete, the controller reset the .DN bit when the rung goes false.

.ER bit The error bit is set when the operation generates an overflow. The instruction stops executing until the program resets the .ER bit. When the controller detects an error, the .POS value stores the position of element that faulted.

.LEN word The length value specifies the number of elements in the array.

.POS word The position value identifies the element that the controller is currently manipulating.





does not execute

executes



FAL Example:

If the preceding instructions are true, the controller copies each element of array_1 into the same positions within array_2.

array-to-array copy

word-to-array copy

If the preceding instructions are true, the controller copies the value of element value_1 into the first 10 positions of array_2.

arithmetic array operation

If the preceding instructions are true, the controller divides the value in the current position of array_1 with the value in the current position of array_2.



File Search and Compare (FSC)

Description: The FSC instruction performs search and compare operations. The FSC instruction performs the same operations on arrays as the CMP instruction performs on elements.

The FSC instruction is an output instruction that compares values in source arrays. element by element, for the operations you specify in the Expression. When the controller finds the specified comparison true, it sets the found (.FD) bit and records the position in the .POS word. The inhibit (.IN) bit is set to prevent further searching of arrays.

Your logic must examine the .FD bit and the .POS value to take appropriate action. Reset the .IN bit after a true comparison is found so the instruction can continue.

Select the Mode to determine how the controller distributes the operations over program scans.

You can use this instruction to perform operations such as:

• set high and low process alarms for multiple analog inputs• compare batch variables against a reference file before starting a

batch operation

Valid Comparisons for Use in the Expression

The expression must contain at least one of these operations: =, <>, <, <=, >, or >=

Operator: Description:none copy

0 clear

+ add

- subtract/negate

* multiply

| divide


= equal

<> not equal

< less than

<= less than or equal

> greater than

>= greater than or equal

ACS arc cosine

AND logical AND

ASN arc sine

ATN arc tangent

COS cosine

DEG degree

FRD BCD to binary

Operator: Description:LN natural log

LOG log base 10

MOD modulo divide


OR logical OR


SIN sine

SQR square root

TAN tangent


XOR exclusive OR




Operands:

Control status:


Control tag CONTROL

Length



Position



Mode INC, ALL, or 1-33554432

Expression arithmetic expression consisting of tags and/or immediate values separated by operators

CONTROL.POS identifies the dimension to vary (array1[A, CONTROL.POS, C]



In Incremental mode, the .EN bit follows the rung status.

In Numerical and All mode, the .EN bit remains set until the instruction completes its operation, regardless of the rung status.

The .EN bit is reset when the rung goes false, but only after the controller sets the .DN bit.

.DN bit The done bit is set when the instruction has operated on the last element.

In Numerical mode, if the Expression is false at completion, the controller resets the .DN bit one program scan after the operation is complete. If the Expression is true at complete, the controller reset the .DN bit when the rung goes false.

.ER bit The error bit is set when the operation generates an overflow. The instruction stops executing until the program resets the .ER bit. When the controller detects an error, the .POS value stores the position of element that faulted.





Operation:

FSC Example:





does not execute

executes

If the preceding instructions are true, the controller determines whether the first 10 elements in array_1 are not equal to the first 10 elements in array_2.



File Copy (COP)

Description: The COP instruction is an output instruction that copies the values in the Source to the Destination. Use this instruction to copy from one tag of any data type to another tag of the same or a different data type. The Source tag must specify the array element of the first data item to be copied; the Destination tag must specify the array element where the Source is to be copied.

The Source remains unchanged. The Length determines how many elements to copy. The COP instruction does not use status bits. If you need an enable bit, program a parallel output that uses a storage tag.

The COP instruction does not write over array boundaries. Any overflow data is lost.

For best results, the Source and Destination should be the same type.

Operands:

Operation:

COP Example:


Source tag array any type

Destination tag array any type

Length

number of elements in the Source

immediate or tag SINT, INT, or DINT

(1-33554432)




Execution executes

does not execute

executes



If the preceding instructions are true, the controller copies the first 10 elements of the second dimension of array_4 into the first 10 elements of the second dimension of array_5.



File Fill (FLL)

Description: The FLL instruction is an output instruction that fills the elements of an array with the Source value. Use this instruction to fill the elements of an array with the same value. The Destination tag must specify the first array element to receive the Source value.

The Source remains unchanged. The Length determines the number of elements in the Destination array to fill with the Source value. The FLL instruction does not use status bits. If you need an enable bit, program a parallel output that uses a storage tag.

The FLL instruction does not write over array boundaries. Any overflow data is lost.

No data conversion occurs if the Source and the Destination are different data types.

Operands:

Operation:

FLL Example:



Destination tag array any type

Length



(1-33554432)




Execution executes

does not execute

executes

If the preceding instructions are true, the controller copies the value of value_1 into the first 10 elements of the second dimension of array_4.



File Average (AVE)

Description: The AVE instruction calculates the average of a set of values. When the rung goes from false to true, the value at the current position is added to the next value, which is added to the next value, and so on.

Each time another value is added, the .POS value is incremented. The final sum is divided by the number of values that were added and the result is stored in the Destination.


If an overflow occurs, the controller stops the calculation, sets the .ER bit, and the Destination remains unchanged. The .POS value identifies the element that caused the overflow. When you clear the .ER bit, the controller resets the .POS value to zero and the average is recalculated.

Operands:


carry always resets

overflow sets if overflow generated; otherwise resets

zero sets if result is zero; otherwise resets

sign sets if result is negative; otherwise resets


Array tag array SINT, INT, DINT, or REAL

Dimension to vary 0, 1, 2

Destination tag SINT, INT, DINT, or REAL(must match array type)

Control tag CONTROL

Length



Position





Control status:

Operation:

AVE Example:


.EN bit The enable bit is set when the rung goes from false to true. It indicates that the instruction is enabled. The instruction follows the rung status.

.DN bit The done bit is set after the instruction finishes operations. After the rung goes false, the controller resets the .DN bit on the next false-to-true rung transition.

.ER bit The error bit is set when the operation generates an overflow. The instructions stops the calculation until the logic resets the .ER bit.







does not execute

executes

If the preceding instructions are true, the controller averages the first 10 elements of array_2 and stores the result in float_value_1.



File Sort (SRT)

Description: The SRT instruction sorts a set of values in one dimension of the Array into ascending order. This instruction executes on a false-to-true rung transition.

Make sure the Length you specify does not cause the tag to exceed array boundaries.

Operands:

Control status:

Operation:




Control tag CONTROL

Length



Position












does not execute

executes



SRT Example:

If the preceding instructions are true, the controller sorts the first 10 elements of array_2 into ascending order.



ed

.ER

he

File Standard Deviation (STD)

Description: The STD instruction calculates the standard deviation of a set of values in one dimension of the Array and stores the result in the Destination. This instruction executes on a false-to-true rung transition.

The standard deviation is calculated according to this formula:

Where:

• SUM( ) = summation of the enclosed variables• AVE( ) = average of the enclosed variables• xi = variable elements in the array• N = number of elements in the array

Make sure the Length you specify does not cause the tag to excearray boundaries.


If an overflow occurs, the controller stops the calculation, sets the bit, and the Destination remains unchanged. The .POS value identifies the element that caused the overflow. When you clear t.ER bit, the controller resets the .POS value to zero and the average isrecalculated.

Operands:


carry always resets

overflow sets if overflow is generated; otherwise resets

zero sets if result is zero; otherwise resets

sign always resets

SUM xi AVE xi( )–( )2

N 1–( )-----------------------------------------------------Standard Deviation =





(must match array type)

Control tag CONTROL

Length



Position





Control status:

Operation:

STD Example:




.ER bit The error bit is set when the operation generates an overflow. The instructions stops the calculation until the logic resets the .ER bit.







does not execute

executes

If the preceding instructions are true, the controller finds the standard deviation of the first 10 elements of the second dimension of array_4 and stores the result in float_value_1.


Chapter 9

File/Shift Instructions(BSL, BSR, FFL, FFU, LFL, LFU)

Introduction Use the file/shift instructions to track the flow of parts and information.


Load bits into, shift bits through, and unload bits from a bit array one bit at a time, such as for tracking bottles through a line where each bit represents a bottle.

BSL 9-3

BSR 9-5

Load and unload values in the same order, such as for tracking parts through an assembly line where parts are represented by values that have a part numbers and assembly code.

FFL 9-7

FFU 9-9

Load and unload values in reverse order, such as tracking stacked inventory in a warehouse where goods are represented by a serial numbers and inventory codes.

LFL 9-11

LFU 9-13


9-2 File/Shift Instructions

Using the File/Shift Instructions The control structure controls the operation of the shift instruction.

CONTROL structure

length value (.LEN)



31 30 29 28 27 26 25 24 16 15 0bit number



.EU bit The enable unload bit indicates unload instruction is enabled.

Only used with the FFU and LFU instructions.


.EM bit The empty bit indicates that the stack is empty

Only used with the FFL and LFL instructions.


.UL bit The unload bit is the instruction’s output. The .UL bit stores the status of the bit removed from the array each time the instruction is enabled.

Only used with the BSR and BSL instructions.






File/Shift Instructions 9-3

Bit Shift Left (BSL)

Description: Use the BSL instruction to shift all bits within the specified array one position left with each false-to-true rung transition.

This instruction manipulates the right-most dimension only (for example, dimension 2 in array1[0,1,2]).

Operands:

Control status:

Operation:


Array tag array DINT

Control tag CONTROL

Source bit tag BOOL

Length

number of bits in the array

immediate (1-2147483647)



.DN bit The done bit is set to indicate that the array shifted one position.

.LEN word The length value specifies the number of bits in the array.

.POS word The position value identifies the bit that the controller is currently manipulating.





does not execute

executes



BSL Example:

If the preceding instructions are true, the controller starts the bit-shift-left operation on array_dint.

unload bit

input_115 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

16658



Bit Shift Right (BSR)

Description: Use the BSR instruction to shift all bits within the specified array one position right with each false-to-true rung transition.


Operands:

Control status:

Operation:


Array tag array DINT

Control tag CONTROL

Source bit tag BOOL

Length

number of bits in the array

immediate (1-2147483647)



.DN bit The done bit is set to indicate that the array shifted one position.

.LEN word The length value specifies the number of bits in the array.

.POS word The position value identifies the bit that the controller is currently manipulating.





does not execute

executes



BSR Example:

If the preceding instructions are true, the controller starts the bit-shift-right operation on array_dint.

unload bitinput_1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

16659



FIFO Load (FFL)

Description: Use the FFL instruction with the FFU instruction to store and retrieve data in a first-in/first-out order. The FFL instruction retrieves the Source value and loads it into the next position in the stack.


Use the same Control, Length, and Position for the FFU/FFL pair of instructions.

Operands:

Control status:


Source

tag that stores the “next in” value to the stack


FIFO tag array DINT or REAL

Control tag CONTROL

Length



Position

current position in the array


usually enter 0


.EN bit The enable load bit is set when the rung goes from false to true. It indicates that the instruction is enabled. The instruction follows the rung status.

During prescan, this bit is set to prevent a false load when the program scan begins.

.DN bit The done bit is set to indicate that the stack is full. The .DN bit inhibits loading the stack until there is room.

.EM bit The empty bit is set to indicate that the array is empty. Do not enable the FFU instruction if the .EM bit is set.





Operation:

FFL/FFU Example:





does not execute

executes

If the preceding instructions are true, the controller starts the FIFO operation on array_dint.

16660

array_dint

source (value_1)

destination (value_2)

FFU removes data from the stack

FFL places data in the stack



FIFO Unload (FFU)

Description: Use the FFU instruction with the FFL instruction to store and retrieve data in a first-in/first-out order. The FFU instruction unloads the value from position 0 of the stack and stores that value in the Destination.


Use the same Control, Length, and Position for the FFU/FFL pair of instructions.

Operands:

Control status:


FIFO tag array DINT or REAL

Destination

tag that stores the value that exits from the stack

tag DINT

Control tag CONTROL

Length



Position



usually enter 0


.EU bit The enable unload bit is set when the rung is true. This instruction indicates that the instruction is enabled.






Operation:

FFL/FFU Example:





does not execute

executes

If the preceding instructions are true, the controller starts the FIFO operation on array_dint.

16660

array_dint

source (value_1)

destination (value_2)

FFU removes data from the stack

FFL places data in the stack



LIFO Load (LFL)

Description: Use the LFL instruction with the LFU instruction to store and retrieve data in a last-in/first-out order. The LFL instruction retrieves the Source value and loads it into the next position in the stack.


Use the same Control, Length, and Position for the LFU/LFL pair of instructions.

Operands:

Control status:


Source

tag that stores the “next in” value to the stack


LIFO tag array DINT or REAL

Control tag CONTROL

Length



Position



usually enter 0


.EN bit The enable load bit is set when the rung goes from false to true. It indicates that the instruction is enabled. The instruction follows the rung status.

During prescan, this bit is set to prevent a false load when the program scan begins.


.EM bit The empty bit is set to indicate that the array is empty. Do not enable the FFU instruction if the .EM bit is set.





Operation:

LFL/LFU Example:





does not execute

executes

If the preceding instructions are true, the controller starts the LIFO operation on array_dint.

16621

array_dint

source (value_1) destination (value_2)

LFU removes data from the stack

LFL places data in the stack



LIFO Unload (LFU)

Description: Use the LFU instruction with the LFL instruction to store and retrieve data in a last-in/first-out order. The LFU instruction unloads the last-entered value from the stack and stores that value in the Destination.


Use the same Control, Length, and Position for the LFU/LFL pair of instructions.

Operands:

Control status:


LIFO tag array DINT or REAL

Destination

tag that stores the value that exits from the stack

tag DINT

Control tag CONTROL

Length



Position



usually enter 0


.EU bit The enable unload bit is set when the rung is true. This instruction indicates that the instruction is enabled.






Operation:

LFL/LFU Example:





does not execute

executes

If the preceding instructions are true, the controller starts the LIFO operation on array_dint.

16621

array_dint

source (value_1) destination (value_2)

LFU removes data from the stack

LFL places data in the stack


Chapter10

Sequencer Instructions(SQI, SQO, SQL)

Introduction Sequencer instructions are typically used to control automatic assembly machines that have a consistent and repeatable operation. Use the SQI instruction to detect when a step is complete. Use the SQO instruction to set output conditions for the next step. Use the SQL instruction to load reference conditions into the sequencer input and output arrays.


Monitor machine operating conditions for diagnostic purposes by comparing 32-bit data through a mask with reference data.

SQI 10-3

Control sequential machine operations by transferring 32-bit data through a mask to output tags.

SQO 10-5

Capture reference conditions by manually stepping the machine through its operating sequences and loading data into a destination array.

SQL 10-7


10-2 Sequencer Instructions

Using the Sequencer Instructions The control structure controls the operation of the shift instruction.

length value (.LEN)



31 30 29 28 27 26 25 24 16 15 0bit number

CONTROL structure



.EU bit not used


.EM bit not used

.ER bit not used

.UL bit not used

.IN bit not used

.FD bit not used




Sequencer Instructions 10-3

Sequencer Input (SQI)

Description: Use the SQI instruction to detect when a step is complete in a sequence pair of SQO/SQI instructions.


Use the same Control, Length, and Position for the SQI, SQO, SQL combination of instructions.

Operands:

Control status:

Operation:


Array tag array SINT, INT, or DINT


Source tag SINT, INT, or DINT

Control tag CONTROL

Length

number of steps


Position

current step


usually enter 0








does not execute

executes



SQI Example:

A 0 in the mask leaves the bit unchanged.



If the preceding instructions are true, the controller starts the sequencer operation on array_dint.

SQO operand: Example values (using INTs):

Source 11110101 01001010

Mask 00001111 00001111

Destination xxxx0101 xxxx1010


16# hexadecimal


8# octal

for example; 8#16

2# binary




Sequencer Output (SQO)

Description: Use the SQO instruction to set output conditions for the next step of a sequence pair of SQO/SQI instructions.



Operands:

Control status:





Control tag CONTROL

Length

number of steps


Position

current step


usually enter 0



During prescan, this bit is set to prevent a false increment when the program scan begins.

.DN bit The done bit is set after the instruction finishes operating on the last element in the array. After the rung goes false, the controller resets the .DN bit on the next false-to-true transition.





Operation:

SQO Example:








does not execute

executes

If the preceding instructions are true, the controller starts the sequencer operation on array_dint.

SQO operand: Example values (using INTs):

Source 11110101 01001010

Mask 00001111 00001111

Destination xxxx0101 xxxx1010


16# hexadecimal


8# octal

for example; 8#16

2# binary




Sequencer Load (SQL)

Description: Use the SQL instruction to load reference conditions into the sequencer input and output array. Use with SQO/SQI instructions.



Operands:

Control status:




Control tag CONTROL

Length

number of steps


Position

current step


usually enter 0



During prescan, this bit is set to prevent a false increment when the program scan begins.

.DN bit The done bit is set after the instruction finishes operating on the last element in the array. After the rung goes false, the controller resets the .DN bit on the next false-to-true transition.





Operation:

SQL Example:





does not execute

executes

If the preceding instructions are true, the controller loads the value at value_2 into the current step of array_dint.


Chapter11

Program Control Instructions(JMP, LBL, JSR, RET, SBR, TND, MCR, UID, UIE, AFI, NOP)

Introduction Use the program control instructions to change the flow of logic.


Jump over a section of logic that does not always need to be executed.

JMPLBL

11-2

Jump to a separate subroutine file, pass data to the subroutine, perform an operation, and return results.

JSRSBRRET

11-4

Mark a temporary end that halts program execution beyond that mark.

TND 11-6

Turn off all non-retentive outputs in a section of logic.

MCR 11-7

Disable user tasks. UID 11-9

Enable user tasks. UIE 11-10

Disable a rung. AFI 11-11

Insert a placeholder in the logic. NOP 11-12


11-2 Program Control Instructions

ller

he

e

Jump to Label (JMP)Label (LBL)

Description: Use JMP and LBL instructions in pairs to skip portions of the ladder program. You can jump to the same label from one or more JMP instructions.

Jumping forward to a label saves program scan time by omitting a logic segment until it’s needed. Jumping backward lets the controrepeat iterations of logic until its complete.

Be careful not to jump backward an excessive number of times. Twatchdog timer could time out because the controller never reaches the end of the logic, which would fault the controller.

The LBL instruction is the target of the JMP instruction that has thsame label name. Make sure the LBL instruction is the first instruction on its rung.

Operands:

If the jump rung is: The controller:

true skips from the JMP rung to the LBL rung and continues executing the logic.

You can jump forward or backward.

false ignores the JMP instruction.

!ATTENTION: Jumped logic is not scanned. Programcritical logic outside the jumped zone.


Label number label name


Program Control Instructions 11-3

Operation:

JMP/LBL Example:




Execution executes

does not execute

executes

If the preceding instructions are true, the controller jumps over successive rungs of logic until it reaches the rung that contains the LBL instruction with the same label as the JMP instruction.

[other rungs of code]



Jump to Subroutine (JSR)Subroutine (SBR)Return (RET)

Description: The JSR, SBR, and RET instructions direct the controller to go to a separate routine within the program, scan that routine once, and return to the point of departure.

The JSR instruction directs the controller to the specified routine, and if needed, defines the parameters passed to and received from the routine. The optional SBR instruction stores the incoming parameters. Use the SBR instruction only if you want to pass parameters. The RET instruction ends the subroutine, and if needed, stores parameters to return to the JSR instruction.

The number and type of parameters in the JSR instruction should match those in the SBR and RET instructions. Unpredictable results can occur otherwise.

There are no restrictions on the number of nested jumps you have or the number of parameters you pass or return.

The JSR, SBR, and RET instructions pass parameters into and out of a subroutine by value. This means that the controller uses additional execution time and memory to handle the values. You can reduce execution time by directly accessing program-scoped and controller-scoped data from within the subroutine, rather than passing values.

15294

main routine

level 1

subroutine action_1

level 3

subroutine action_3

level 2

subroutine action_2

JSRJSR

JSR

SBRSBRSBR

RETRETRET

action_1

action_2 action_3



Operands:

Operation:

JSR/SBR/RET Example:


Routine name tag ROUTINE

Input parameter immediate or tag any type

Return parameter tag any type




Execution executes

does not execute

executes

If the preceding instructions are true, the controller jumps to routine_1 within the same program.




Temporary End (TND)

Description: Use the TND instruction as a boundary. The TND instruction lets your program run only up to this instruction. When the rung is true, the TND instruction is interpreted as the end of the routine.

When the controller encounters the TND instruction, the controller moves to the end of the current routine. Control then returns to the calling routine. If the calling routine was the main routine, control returns to the next program within the current task.

Use the TND instruction when debugging or troubleshooting your logic. The TND instructions limits logic execution only up to this instruction. Progressively move the TND instruction through the logic as you debug each new section.

Operands: none

Operation:

TND Example:


Timing (in µs) neglible


Execution executes

does not execute

executes

If the preceding instructions are true, the controller stops scanning this routine.



.

to

t

d

er-

Master Reset Control (MCR)

Description: Use the MCR instructions in pairs to create program zones that turn off all the non-retentive outputs in the zone. The controller still scans rungs within an MCR zone, but scan time is reduced because all the rungs in the zone are false. Non-retentive outputs are reset when the rung goes false.

MCR zones let you enable or inhibit segments of logic, such as for recipe applications.

When you program an MCR zone, note that:

• You must end the zone with an unconditional MCR instruction

• You cannot nest one MCR zone within another.

• Do not jump into an MCR zone. If the zone is false, jumping inthe zone activates the zone.

• If an MCR zone continues to the end of the routine, you do nohave to program an MCR instruction to end the zone.

Important: The MCR instruction is not a substitute for a hard-wiremaster control relay that provides emergency-stop capability. Youshould still install a hard-wired master control relay to provide emgency I/O power shutdown.

Operands: none

If the MCR rung that starts the zone is:

The controller:

true Executes the rungs in the MCR zone based on each rung’s individual conditions (as if the MCR zone did not exist).

false Resets all non-retentive output instructions in the MCR zone, regardless of each rung’s individual conditions.

!ATTENTION: Do not overlap or nest MCR zones. Each MCR zone must be separate and complete. If they overlap or nest, unpredictable machine operation could occur with possible damage to equipment or injury to personnel.

If you start instructions such as timers or counters in an MCR zone, instruction execution stops when the zone is disabled. Program critical operations outside the zone.



Operation:

MCR Example:




Execution executes

does not execute

executes

When the first MCR instruction is true, the controller executes the rungs in the MCR zone (between the two MCR instructions).

When the first MCR instruction is false, the controller resets all non-retentive outputs in the MCR zone (the rungs between the MCR instructions).




User Interrupt Disable (UID)

Description: Use the UID instruction to temporarily disable switching between user tasks. The current task continues to execute until either a UIE instruction is executed or the end of the program is reached.

When the rung is true, the UID instruction increments an internal counter. As long as this counter value does not equal zero, the currently-executing task cannot be interrupted.

The UID instruction does not disable a fault routine.

Operands: none

Operation:

UID Example:




Execution executes

does not execute

executes

If the preceding instructions are true, the controller disables switching between user tasks.



User Interrupt Enable (UIE)

Description: Use the UIE instruction to re-enable switching between user tasks.

When the rung is true and the internal counter is greater than zero, the counter is decremented. When the counter equals zero, the task currently executing can be interrupted again. Any pending interrupt programs are executed at this time.

Operands: none

Operation:

UIE Example:




Execution executes

does not execute

executes

If the preceding instructions are true, the controller re-enables switching between user tasks.



Always False Instruction (AFI)

Description: Use the AFI instruction to make a rung always false. Use the AFI instruction to temporarily disable a rung while you are debugging a program.

Operands: none

Operation:

AFI Example:




Execution executes

does not execute

executes

If the preceding instructions are true, the controller makes the current rung false.



No Operation (NOP)

Description: The NOP instruction functions only as a placeholder; it performs no operation. You can use this instruction as a placeholder for future logic. When debugging your application, you can use this instruction when optimizing timing.

Operands: none

Operation:

NOP Example:




Execution executes

does not execute

executes

You can use this instruction as a placeholder.


Chapter12

For/Break Instructions(FOR, BRK)

Introduction Use the FOR instruction to repeatedly call a subroutine. Use the BRK instruction to interrupt the execution of the subroutine.


Repeatedly execute a routine. FOR

Terminate the repeated execution of a routine.

BRK


12-2 For/Break Instructions

For (FOR)

Description: Use the FOR instruction to repeatedly execute a routine until the Index tag exceeds the Terminal value. This instruction does not pass parameters to the routine (see the JSR instruction).

When the rung is true, the FOR instruction executes the rungs between the FOR and BRK instructions repeatedly in one program scan until the Index value exceeds the Terminal value or a BRK instruction ends the repetitions. The FOR instruction repeats this operation every program scan the FOR rung is true.

When the rung is false, the controller skips to the rung that follows the rung with the BRK instruction.

Be careful not to loop too many times in a single program scan. An excessive number of repetitions can cause the watchdog to timeout because the controller never reaches the end of the logic, which faults the controller.

Operands:

!ATTENTION: For and BRK instructions might not execute properly in branches of ladder logic. Do not use FOR and BRK instructions in branches.

Using FOR and BRK instructions within an output branch can cause unpredictable machine operation.


Routine name ROUTINE name

Index tag DINT

Initial value immediate or tag SINT, INT, or DINT

Terminal value immediate or tag SINT, INT, or DINT

Step size immediate or tag SINT, INT, or DINT


For/Break Instructions 12-3

Operation:

FOR Example:




Execution executes

does not execute

executes

If the preceding instructions are true, the controller executes the routine until completion or until the controller reaches a BRK instructions.


12-4 For/Break Instructions

Break (BRK)

Description: The BRK instruction interrupts the execution of a subroutine and its associated FOR instruction. When the rung goes true, the BRK instruction returns the controller to the next highest loop (if you have nested loops) or to the instruction that follows the BRK instruction.

Operands: none

Operation:

BRK Example:




Execution executes

does not execute

executes

If the preceding instructions are true, the controller stops executing the current routine and returns to the instruction following the FOR instruction.


Chapter13

Special Instructions(FBC, DDT, DTR, PID)

Introduction The special instructions perform application-specific operations.


Compare I/O data against a known, good reference and record any mismatches.

FBC 13-3

Compare I/O data against a known, good reference, record any mismatches, and update the reference to match the source.

DDT 13-6

Pass the source data through a mask and compare the result to reference data. Then write the source into the reference for the next comparison.

DTR 13-9

Control a PID loop with inputs from an analog input module and an output to an analog output module.

PID 13-17


13-2 Special Instructions

Using the Diagnostic Instructions The FBC and DDT diagnostic instructions let you detect problems with data in your programs. The controller stores status bits and the length and position values in a 96-bit storage structure (three 32-bit words) in a CONTROL structures. There is one CONTROL structure to store status for the compare operation and one CONTROL structure to store status for the result.

CONTROL structure

length value (.LEN)



31 30 29 28 27 26 25 24 16 15 0bit number



.EU bit not used


.EM bit not used


.UL bit not used



.LEN word The length word specifies the number of elementsin the array on which the file instruction operates.



Special Instructions 13-3

File Bit Comparison (FBC)

Description: Use the FBC instruction to compare bits in a file of real-time machine or process values (Source) with bits in the Reference array. The FBC instruction records the position of each mismatch in the Result array.

This instruction manipulates the right-most dimension only (for example, dimension 2 in a three-dimensional array array1[0,1,2]).

The difference between the DDT and FBC instructions is that each time the DDT instruction finds a mismatch, the controller changes the reference bit to match the source bit. The FBC instruction does not change the reference bit.

Selecting the search mode

Operands:

If you want to detect: Select this mode:

One mismatch at a time Set the .IN bit (1)

With each false-to-true transition, the instruction searches for the next mismatch between the Source and Reference arrays. Upon finding a mismatch, the instruction stops, sets the .FD bit, and records the position of the mismatch.

All mismatches Reset the .IN bit (0)

With a false-to-true transition, the instruction searches for all mismatches between the Source and Reference arrays.


Source tag array DINT

Reference tag array DINT

Result tag array DINT

Compare control tag CONTROL

Length

number of bits to compare

immediate (1-2147483647)

Position

current bit in Source array

immediate (0-2147483647)

usually enter 0

Result control tag CONTROL

Length

number of elements in Result array


Position

current position in Result array


usually enter 0



Compare control status:

Result control status:

Operation:



If the .IN bit is set for one-at-a-time operation, your logic must toggle the .EN bit after the instruction detects each mismatch.

.DN bit The done bit is set when the controller reaches the end of the Source and Reference arrays.

.IN bit The inhibit bit determines the mode of operation.

If the .IN bit is set, the controller detects one mismatch at a time (per program scan). The controller stops the search at each mismatch and waits for the logic to re-enable the instruction before continuing the search.

If the .IN bit is reset, the controller detects all mismatches in one program scan.

.FD bit The found bit is set each time the controller records a mismatch (one-at-a-time operation) or after recording all mismatches (all-per-scan operation).

.LEN word The length value identifies the number of bits to compare.

.POS word The position value identifies the current bit. Specify a position only if you want the instruction to start at as offset concurrent with a control offset for one scan.


.DN bit The done bit is set when the Result array is full.

.LEN word The length value identifies the number of elements in the Result array.

.POS word The position value identifies the current position in the Result array.





does not execute

executes



FBC Example:

If the preceding instructions are true, the controller compares the source array_dint_1 to the reference array_dint_2 and stores the locations of any mismatches in the result array_dint_3.

source

array_dint_115 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

16657

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1 1 1 1 0 0 0 0 1 1 1

1 0 1 1 0 0 0 1 1 1 1

reference

array_dint_2

result

array_dint_3

3

9



Diagnostic Detect (DDT)

Description: Use the DDT instruction to compare bits in a Source file with bits in a Reference file to determine changes of state. The DDT instruction changes the status of the Reference bit to match the status of the corresponding Source bit. The DDT instruction records the position of each mismatch in the Result file.

This instruction manipulates the right-most dimension only (for example, dimension 2 in a three-dimensional array array1[0,1,2]).

The difference between the DDT and FBC instructions is that each time the DDT instruction finds a mismatch, the controller changes the reference bit to match the source bit. The FBC instruction does not change the reference bit.

Selecting the search mode

Operands:

If you want to detect: Select this mode:

One mismatch at a time Set the .IN bit (1)

With each false-to-true transition, the instruction searches for the next mismatch between the Source and Reference arrays. Upon finding a mismatch, the instruction stops, sets the .FD bit, and records the position of the mismatch.

All mismatches Reset the .IN bit (0)

With a false-to-true transition, the instruction searches for all mismatches between the Source and Reference arrays.


Source tag array DINT

Reference tag array DINT

Result tag array DINT

Compare control tag CONTROL

Length

number of bits to compare

immediate (1-2147483647)

Position

current bit in Source array

immediate (0-2147483647)

usually enter 0

Result control tag CONTROL

Length

number of elements in Result array


Position

current position in Result array


usually enter 0



Compare control status:

Result control status:

Operation:



If the .IN bit is set for one-at-a-time operation, your logic must toggle the .EN bit after the instruction detects each mismatch.

.DN bit The done bit is set when the controller reaches the end of the Source and Reference arrays.

.IN bit The inhibit bit determines the mode of operation.

If the .IN bit is set, the controller detects one mismatch at a time (per program scan). The controller stops the search at each mismatch and waits for the logic to re-enable the instruction before continuing the search.

If the .IN bit is reset, the controller detects all mismatches in one program scan.

.FD bit The found bit is set each time the controller records a mismatch (one-at-a-time operation) or after recording all mismatches (all-per-scan operation).

.LEN word The length value identifies the number of bits to compare.

.POS word The position value identifies the current bit. Specify a position only if you want the instruction to start at as offset concurrent with a control offset for one scan.


.DN bit The done bit is set when the Result array is full.

.LEN word The length value identifies the number of elements in the Result array.

.POS word The position value identifies the current position in the Result array.





does not execute

executes



DDT Example:

If the preceding instructions are true, the controller compares the source array_dint_1 to the reference array_dint_2 and stores the locations of any mismatches in the result array_dint_3. The controller also changes the mismatched bits in the reference array_dint_2 to match the source array_dint_1.

source

array_dint_115 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

16657

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1 1 1 1 0 0 0 0 1 1 1

1 0 1 1 0 0 0 1 1 1 1

reference

array_dint_2

result

array_dint_3

3

9



Data Transitional (DTR)

Description: The DTR instruction is an input instruction that you use to pass a Source value through a Mask and compare the result to a Reference value. Then the DTR instruction writes the Source element to the Reference element for the next comparison.

If the masked Source differs from the Reference, the instruction goes true for one program scan.

Operands:

Operation:


Source immediate or tag DINT

Mask immediate or tag DINT

Reference immediate or tag DINT




Execution executes

does not execute

executes



DTR Example:




If the preceding instructions are true, the controller passes the source value_1 through the mask_1 and compares the result to the reference value_2.

13385

The rung remains false as long as the input value does not change.

The rung remains true for one scan when a change is detected.

0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1

1 8 3 1 8 7

mask = 0FFF

1 8 7

source

value_1

reference

value_2

1 8 3

1 8 3

1 8 3

current scan

previous scan previous scan

current scan


16# hexadecimal


8# octal

for example; 8#16

2# binary




Using PID Instructions PID closed-loop control holds a process variable at a desired set point. The following figure shows a flow-rate/fluid level example:

In the above example, the PID equation controls the process by sending an output signal to the control valve. The greater the error between the setpoint and process variable input, the greater the output signal, and vice versa. An additional value (feedforward or bias) can be added to control output as an offset. The goal of PID calculations is to maintain the process variable you are controlling at the setpoint.

The base PID equation is the standard parallel position PID algorithm, with the option of entering gains as independent or dependent.

13385

setpoint

flow rate

errorPID equation

feedforward or bias

control outputprocess variable

level detector

Gains Option: Derivative of: Equation:

Dependent gains(ISA standard)

error

process variable (PV)

CV KC E1Ti---- Edt Td

dEdt-------+

0

t

∫+ BIAS+=

CV KC E1Ti---- Edt Td–

dPVdt

-----------

0

t

∫+ BIAS+=

E = SP - PV

CV KC E1Ti---- Edt Td

dEdt-------+

0

t

∫+ BIAS+=

E = PV - SP



Where:

Independent gains error

process variable (PV)

Gains Option: Derivative of: Equation:

CV KPE Ki+ Edt KddEdt-------+

0

t

∫ BIAS+=

CV KPE Ki+ Edt Kd–dPVdt

-----------

0

t

∫ BIAS+=

E = SP - PV

CV KPE Ki+ Edt KddEdt-------+

0

t

∫ BIAS+=

E = PV - SP

Variable: Description:

KP proportional gain (unitless)

Kp = Kc unitless

Ki integral gain (seconds -1)

Kd derivative gain (seconds)

Kd = Kc (Td) 60 seconds

KC controller gain (unitless)

reset gain (repeats/minute)

Td rate gain (minutes)

SP setpoint

PV process variable

E error (SP-PV) or (PV-SP)

BIAS feedforward or external

CV control variable

dt loop update time

Ki

KC

60Ti-----------=

1Ti----



its

eve sum

the

Integral term implementation

Perform integration by maintaining an accumulated sum:

If the integral (Ki) or reset (1/Ti) gain is zero, the accumulated sum

continually sets to zero in auto mode.

Avoid “integral wind-up” by preventing the running sum from accumulating whenever the CV output reaches its maximum or minimum values. These values are either 0% and 100% or the user-specified limits in output limiting.

The accumulated sum remains frozen until the output drops belowmaximum value or rises about its minimum value; then normal accumulation resumes.

When executing the PID instruction in manual mode, you can achia bumpless transfer back to auto mode by using the accumulatedto track the manual output:

When you switch to auto mode, the PID computation yields this manual output value and no “jump” in output occurs as a result of mode change.

Gains: Summation:

independent gains

dependent gains

Sk Ki Ek( )dt Sk 1–+=

Sk1Ti---- Ek( )dt Sk 1–+=

Sk CVmanual BIAS– KPE– Kd–dEdt-------+=



ing

d rror

g

Derivative term

The following approximation calculates the derivative term:

Where Q represents wither Error or PV, depending on your settings.

The calculation is further enhanced by using a “derivative smoothfilter.” This first order, low pass, digital filter eliminates large derivative term spikes caused by noise in the PV.

Where:

Setting the deadband

The adjustable deadband lets you select an error range above anbelow the setpoint where output does not change as long as the eremains within this range. This deadband lets you control how closely the process variable matches the setpoint without changin


Kd derivative gain (seconds)

Dk current derivative term

Dk-1 previous derivative term

Qk error or PV, depending on your settings

a

dt loop update time

dQdt-------

Qk Qk 1––

dt-------------------------≅

Dk 1 a–( ) Kd

Qk Qk 1––

dt------------------------- aDk 1–+=

1

16dtKd------ 1+

----------------------



the output.

Using zero-crossing

Zero-crossing is deadband control that lets the instruction use the error for computational purposes as the process variable crosses into the deadband until the process variable crosses the setpoint. Once the process variable crosses the setpoint (error crosses zero and changes sign) and as long as the process variable remains in the deadband, the instruction considers the error value zero.

Enter your deadband value in the control block. The deadband extends above and below the setpoint by the value you specify. Enter zero to inhibit the deadband. If scaled, the deadband has the same scaled units as the setpoint.

Setting output alarms

You can set an output alarm on the control variable output at a selected value above or below the setpoint. When the instruction detects that the output has reached either value, the controller sets an alarm bit in the control block. Alarm bits are reset by the instruction when the output comes back inside the limits. The instruction does not prevent the output from exceeding the alarm values unless you select output limiting.

The controller handles alarm values as a percentage of the output. If you do not want alarms, enter 0% for the lower alarm and 100% for the upper alarm.

Using output limiting

You can set an output limit (percentage of output) on the control output. When the instruction detects that the output has reached a limit, it sets an alarm bit in the control block and prevents the output from exceeding either the lower or upper limit.

error within deadband range

high alarm

+ deadband

setpoint

- deadband

low alarm

time



ut

t by

cess

f the

ergy

Using manual mode(with bumpless transfer)

Manual operation lets an output from a manual control station or from logic override the calculated output of the PID instruction.

With a manual control station, you control the output device directly and override the PID instruction’s output. You must feed the outpvalue into the tieback input. The PID instruction uses this value tocalculate the integral term value required to achieve a bumpless transfer when you switch from manual to auto mode.

Feedforward or output biasing

You can feedforward a disturbance from the system or bias outpufeeding either of these values into the PID instructions feedforward/bias word of the control block.

The feedforward value represents a disturbance fed in the PID instruction before the disturbance has a chance to change the provariable. Feedforward is often used to control processes with a transportation lag. For example, a feedforward value representing “cold water poured into a warm mix” could boost the output value faster than waiting for the process variable to change as a result omixing.

A bias value can be used to compensate for steady-state loss of enfrom the controlled process.

15297

PVinput

analog input module

main control station

first channel

second channel

output tracking

(tieback input)

output



Proportional Derivative Integral (PID)

Description: The PID instruction is an output instruction that controls physical properties, such as temperature, pressure, liquid level, or flow rate of process loops.

The PID instruction controls a PID loop with inputs from an analog input module and an output to an analog output module. For temperature control, you can convert the analog output to a time proportioning on/off output for driving a heater or cooling unit.

Execute the PID instruction periodically at constant intervals using a timer or real-time sampling. The logic can interact with the PID algorithm by changing variables during operation, or you can change variables from a programming terminal.

The PID instruction provides bumpless transfer when not using the integral term. It does this by generating a bias term to the difference between the proportional term and the manually-adjusted output as follows:

The PID instruction has only a .EN bit to indicate execution status. The .EN bit indicates that its qualifying rung conditions are true, in which case the .EN bit is set (a false-to-true transition is not needed). The .EN bit is reset when the same qualifying rung conditions become false. The PID instruction does not use a .DN bit.

If you select: The algorithm is:

manual mode with tieback BIAS = TIEBACK - Pterm

manual mode with setpoint BIAS = SETPOINT - Pterm

rung state

execution of the PID instruction

.EN bit



Operands:

Operation:


PID tag PID

Process variable tag SINT, INT, DINT, or REAL

Tieback immediate or tag SINT, INT, DINT, or REAL

Control variable tag SINT, INT, DINT, or REAL

PID master loop tag PID (optional)

Inhold bit tag BOOL (optional)

Inhold value tag DINT (optional)

Setpoint display only

Process variable display only

Output % display only




Execution executes

does not execute

executes



Control status: Specify a unique PID structure for each PID instruction.

Word: Contains: Valid Range:

CTL .EN enabled.CT cascade type (0=master; 1=slave).CL cascade loop (0=no; 1=yes).PVT process variable tracking (0=no; 1=yes.DOE derivative of (0=PV; 1=error).SWM software mode (0=no-auto); 1=yes- sw manual).CA control action (0=direct (SP-PV); 1=reverse (PV-SP)).MO station mode (0=automatic; 1=manual).PE PID equation (0=independent; 1=dependent).NDF derivative smoothing (0=no; 1=yes).NOBC bias calculation (0=no; 1=yes).NOZC zero crossing (0=no; 1=for deadband).INI PID initialized (0=no; 1=yes).SPOR setpoint out of range (0=no; 1=yes).OLL CV is below minimum output value (0=no; 1=yes) .OLH CV is above maximum output value (0=no; 1=yes).EWD error is withinin deadband (0=no; 1=yes).DVNA error is alarmed low (0=no; 1=yes).DVPA error is alarmed high (0=no; 1=yes).PVLA PV is alarmed low (0=no; 1=yes).PVHA PV is alarmed high (0=no; 1=yes).MSTR slave with valid master address (0=no; 1=yes)

not applicable

SP setpoint -3.4 E+38 to 3.4 E+38

KP independent proportional gain (unitless)

ISA controller gain (unitless)0 to 3.4 E+38

0 to 3.4 E+38

KI independent integral gain (1/sec)

ISA reset term (minutes per repeat)0 to 3.4 E+38

0 to 3.4 E+38

KD independent derivative gain (seconds)

ISA rate term (minutes)0 to 3.4 E+38

0 to 3.4 E+38

BIAS feedforward or bias -100 to 100%

MAXS maximum scaling -3.4 E+38 to 3.4 E+38

MINS minimum scaling -3.4 E+38 to 3.4 E+38

DB deadband 0 to 3.4 E+38

SO set output % 0-100%

MAXO maximum output limit (% of output) 0-100%

MINO minimum output limit (% of output) 0-100%

UPD loop update time (seconds) >= 0.01 seconds

PV scaled PV value -3.4 E+38 to 3.4 E+38

ERR scaled error value -3.4 E+38 to 3.4 E+38

OUT output (% of 4095) 0-100%

PVH process variable high alarm value -3.4 E+38 to 3.4 E+38

PVL process variable low alarm value -3.4 E+38 to 3.4 E+38

DVP positive deviation alarm -3.4 E+38 to 3.4 E+38

DVN negative deviation alarm -3.4 E+38 to 3.4 E+38

PVDB process variable alarm deadband 0 to 3.4 E+38

DVDB error alarm deadband 0 to 3.4 E+38

MAXI maximum PV value -3.4 E+38 to 3.4 E+38



Configuring a PID Instruction After you enter the PID instruction and specify the PID structure, you use the configuration tabs to specify the details of the message.

Specifying tuning

MINI minimum PV value -3.4 E+38 to 3.4 E+38

TIE tieback value for manual control (0-4095) 0-100%

MAXCV maximum CV value -3.4 E+38 to 3.4 E+38

MINCV minimum CV value -3.4 E+38 to 3.4 E+38

MINTIE minimum tieback value -3.4 E+38 to 3.4 E+38

MAXTIE maximum tieback value -3.4 E+38 to 3.4 E+38

Word: Contains: Valid Range:


Setpoint (SP) Enter a setpoint value (.SP) The valid range is:-3.4 E+38 to 3.4 E+38

Set output % Enter a set output percentage (.SO). The valid range is: 0-100%

Output bias Enter an output bias percentage (.OUT). The valid range is: 0-100%

Proportional gain (Kp) Enter a proportional gain (.KP).

For independent gains, its the proportional gain (unitless). The valid range

is: 0 to 3.4 E+38

For dependent gains, its the controller gain (unitless). The valid range is: 0

to 3.4 E+38

Integral gain (Ki) Enter an integral gain (.KI).

For independent gains, its the integral gain (1/sec). The valid range is: 0 to

3.4 E+38

For dependent gains, its the reset term (minutes per repeat). The valid

range is: 0 to 3.4 E+38

Derivative time (Kd) Enter the derivative time (.KD).

For independent gains, its the derivative gain (seconds). The valid range

is: 0 to 3.4 E+38

For dependent gains, its the rate term minutes). The valid range is:

0 to 3.4 E+38

Manual mode Select either manual or software manual

Click here to configure the PID instruction



Specifying configuration

Specifying alarms


PID equation Select independent gains or dependent gains.

Use independent when you want the three gains constants (P, I, and D) to operate independently. Select dependent when you want to use standard loop tuning methods.

Control action Select either E=PV-SP (direct acting) or E=SP-PV (reverse)

Derivative of Select PV or error.

Use the PV derivative for more stable control when you do not change the setpoint often. Use the error derivative for fast responses to setpoint changes when the algorithm can tolerate overshoots.

Loop update time Enter an update time (greater than or equal 0.01 seconds) at 1/4 or 1.10 the natural period of the load time constant. The load time constant should be greater than:

3ms(algorithm) + block-transfer time(ms)

ATTENTION: If you omit an update time or enter a negative update

time, a major fault occurs the first time the controller runs the PID instruction.

CV high limit Enter a maximum control variable value (.MAXCV). The valid range is:

-3.4 E+38 to 3.4 E+38

CV low limit Enter a minimum control variable value (.MINCV). The valid range is:

-3.4 E+38 to 3.4 E+38

Deadband value Enter a deadband value (.DB). The valid range is: 0 to 3.4 E+38

Derivative smoothing Enable or disable this selection.

Bias calculation Enable or disable this selection.

Zero crossing in deadband Enable or disable this selection.

PV tracking Enable or disable this selection.

Cascade loop Enable or disable this selection.

Cascade type If cascade loop is enabled, select either slave or master.


PV high Enter a PV high alarm value (.PVH). The valid range is:

-3.4 E+38 to 3.4 E+38

PV low Enter a PV low alarm value (.PVL). The valid range is:

-3.4 E+38 to 3.4 E+38

PV deadband Enter a PV deadband value (.PVDB). The valid range is: 0 to 3.4 E+38

positive deviation Enter a positive deviation value (.DVP). The valid range is:

-3.4 E+38 to 3.4 E+38

negative deviation Enter a negative deviation value (.DVN). The valid range is:

-3.4 E+38 to 3.4 E+38

deviation deadband Enter a deviation deadband value (.DVDB). The valid range is: 0 to 3.4 E+3



Specifying scaling

PID Programming Examples Programming Considerations


PV unscaled maximum Enter a maximum PV value (.MAXI). The valid range is:

-3.4 E+38 to 3.4 E+38

PV unscaled minimum Enter a maximum PV value (.MINI). The valid range is:

-3.4 E+38 to 3.4 E+38

PV engineering units maximum Enter the maximum engineering units.

PV engineering units minimum Enter the minimum engineering units.

CV maximum Enter a maximum CV value (.MAXCV). The valid range is:

-3.4 E+38 to 3.4 E+38

CV minimum Enter a minimum CV value (.MINCV). The valid range is:

-3.4 E+38 to 3.4 E+38

Tieback maximum Enter a maximum tieback value (.MAXTIE). The valid range is:

-3.4 E+38 to 3.4 E+38

Tieback minimum Enter a minimum tieback value (.MINTIE). The valid range is:

-3.4 E+38 to 3.4 E+38

Consideration: Description:

run time errors If the controller encounters one of these conditions, the controller generates an run time error when it tries to execute the instruction:

• loop update time is zero or negative

• setpoint is out of range (SP < Smin or SP > Smax)

If you change SP, Smin, or Smax and this out-of-range condition occurs, the controller first tries to use the previously-valid SP, continues PID control, and sets the setpoint out-of-range error bit. If the controller cannot find a previously-valid SP, the controller generates the run time error.

If you enter negative values for Kp, KI, KD, TI, or TD, the controller substitutes a zero

for the negative number without generating a run time error.

number of PID loops The number of PID loops that the controller can support depends on the update time required by the loops. The longer the update time and the less-sophisticated the loop control, the more loops the controller can support.

The time required to receive analog inputs plus the time required for one scan should be less than the update time required by all the loops.

loop update time The loop update time should be equal to the rate at which the PID rung changes between false and true. Deviation in toggle rate from the update time reduces the accuracy of the PID calculations.



set ly

Placing the PID instruction in the main routine

When you place the PID instruction in the main routine, control the sample time with a timer, where the PID loop update time equals the timer preset.

Timer-based execution uses a free-running timer for event coordination. When the timer’s accumulated value reaches its prevalue, it triggers the loop update sequence. The timer immediateresets and restarts to maintain a consistent update interval. Use timer-based execution in “slower” loop applications or in applicationswith relatively few loops.



ity

ke the

Placing the PID instruction in an RTS routine

When you place the PID instruction in a real-time sample-based routine, the PID instruction’s execution is triggered by the availabilof new analog data from an analog input source configured for real-time sampling. Configure the loop update time to equal the real-time sample interval.

Simulating a manual control station

When you program the simulation of a manual control station, masure that a hardware manual control station is not connected whenlogic is enabled.

The following programming example uses these tags:

Tag: Description:

switch_1 manual pushbutton switch

switch_2 automatic pushbutton switch

switch_3 enter pushbutton switch

output_value manual output value

output_bit PID set output bit

PID_output_value PID set output value

control_output current control output



Cascading loops

You can cascade two loops by assigning the control output of the outer loop to the setpoint of the inner loop. Do not scale the setpoint of the inner loop. Set the scaling bit to 1 to inhibit scaling.



Controlling a ratio

You can maintain two values in a ratio by using a MUL instruction with these parameters:

• uncontrolled value

• controlled value

• ratio between these two values

In the MUL instruction, enter:

For this MUL parameter: Enter this value:

destination controlled value

source A uncontrolled value

source B ratio



Tracking the process variable

When in manual control, you can force the setpoint to be equal to the process variable (PV) by moving the PV into the setpoint element. to achieve a smooth manual-to-automatic transfer. If the setpoint is scaled, move the scaled PV from the PID control structure directly into the setpoint element. If the setpoint is not scaled, move the unscaled value from the PV address in the PID instruction to the setpoint.


Chapter14

Trigonometric Instructions(SIN, COS, TAN, ASN, ACS, ATN)

Introduction The trigonometric instructions evaluate arithmetic operations using trigonometric operations.







Take the sine of a value. SIN 14-2

Take the cosine of a value. COS 14-3

Take the tangent of a value. TAN 14-4

Take the arc sine of a value. ASN 14-5

Take the arc cosine of a value. ACS 14-6

Take the arc tangent of a value. ATN 14-7





S:Z zero read/write


14-2 Trigonometric Instructions

Sine (SIN)

Description: Use the SIN instruction to take the sine of a value (Source in radians) and store the result in the Destination.

The Source must be greater than or equal to -205887.4 and less than or equal to 205887.4. The resulting value in the Destination is always greater than or equal to -1 and less than or equal to 1.


Operands:

Operation:

SIN Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the sine operation.


Trigonometric Instructions 14-3

Cosine (COS)

Description: Use the COS instruction to take the cosine of a value (Source in radians) and store the result in the Destination.

The Source must be greater than or equal to -205887.4 and less than or equal to 205887.4. The resulting value in the Destination is always greater than or equal to -1 and less than or equal to 1.


Operands:

Operation:

COS Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the cosine operation.



Tangent (TAN)

Description: Use the TAN instruction to take the tangent of a value (Source in radians) and store the result in the Destination.

The Source must be greater than or equal to -102943.7 and less than or equal to 102943.7. The resulting value in the Destination is always a real number.


Operands:

Operation:

TAN Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the tangent operation.



Arc Sine (ASN)

Description: Use the ASN instruction to take the arc sine of a value (Source in radians) and store the result in the Destination.

The Source must be greater than or equal to -1 and less than or equal to 1. The resulting value in the Destination is always greater than or equal to -π/2 and less than or equal to π/2 (where π = 3.141592).


Operands:

Operation:

ASN Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the arc sine operation.



Arc Cosine (ACS)

Description: Use the ACS instruction to take the arc cosine of a value (Source in radians) and store the result in the Destination.

The Source must be greater than or equal to -1 and less than or equal to 1. The resulting value in the Destination is always greater than or equal to 0 or less than or equal to π (where π = 3.141592).


Operands:

Operation:

ACS Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the arc cosine operation.



Arc Tangent (ATN)

Description: Use the ATN instruction to take the arc tangent of a value (Source in radians) and store the result in the Destination.

The resulting value in the Destination is always greater than or equal to -π/2 and less than or equal to π/2 (where π = 3.141592).


Operands:

Operation:

ATN Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the arc tangent operation.



Notes:


Chapter15

Advanced Math Instructions(LN, LOG, XPY)

Introduction The advanced math instructions evaluate operations using an expression or a specific arithmetic instruction.







Take the natural log of a value. LN 15-2

Take the log base 10 of a value. LOG 15-3

Raise a value to the power of another value.

XPY 15-4





S:Z zero read/write


15-2 Advanced Math Instructions

Natural Log (LN)

Description: Use the LN instruction to take the natural log of the Source and store the result in the Destination.

The Source must be greater than zero. The resulting Destination is greater than or equal to -87.33655 and less than or equal to 88.72284.

The LN instruction executes once each program scan as long as the rung is true. If you only want the values added once, use an ONS instruction.


Operands:

Operation:

LN Example:










Timing (in µs) true falseDINT 0.15REAL 0.16


Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the natural log operation.


Advanced Math Instructions 15-3

Log Base 10 (LOG)

Description: Use the LOG instruction to take the log base 10 of the Source and store the result in the Destination.

The Source must be greater than zero. The resulting Destination is greater than or equal to -37.92978 and less than or equal to 38.53184.

The LOG instruction executes once each program scan as long as the rung is true. If you only want the values added once, use an ONS instruction.


Operands:

Operation:

LOG Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller performs the log operation.



X to the Power of Y (XPY)

Description: Use the XPY instruction to take the Source A (X) to the power of Source B (Y) and store the result in the Destination. If Source A is negative, Source B must be an integer value.

The XPY instruction uses this algorithm:XPY = X**Y

The controller evaluates x0=1 and 0x=0.

The XPY instruction executes once each program scan as long as the rung is true. If you only want the values added once, use an ONS instruction.


Operands:

Operation:













Execution executes

does not execute

executes


Advanced Math Instructions 15-5

XPY Example:

If the preceding instructions are true, the controller performs the exponential operation.



Notes:


Chapter16

Math Conversion Instructions(DEG, RAD, TOD, FRD)

Introduction The math conversion instructions convert values.






Convert radians into degrees. DEG 16-2

Convert degrees into radians. RAD 16-3

Convert an integer value to a BCD value.

TOD 16-4

Convert a BCD value to an integer value.

FRD 16-5





S:Z zero read/write


16-2 Math Conversion Instructions

Degrees (DEG)

Description: Use the DEG instruction to convert the Source (in radians) to degrees and store the result in the Destination.


Operands:

Operation:

DEG Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller converts value_1 from radians to degrees.


Math Conversion Instructions 16-3

Radians (RAD)

Description: Use the RAD instruction to convert the Source (in degrees) to radians and store the result in the Destination. The RAD instruction uses this algorithm:Source*π/180


Operands:

Operation:

RAD Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller converts value_1 from degrees to radians.



Convert to BCD (TOD)

Description: Use the TOD instruction to convert an integer value (0 ≤ Source ≤

99,999,999) to a BCD value and store the result in the Destination.


Operands:

Operation:

TOD Example:



overflow (S:V) sets if the integer value is outside the range 0-99,999,999; otherwise resets

zero (S:Z) sets is the result is negative or zero; otherwise resets



Source immediate or tag SINT, INT, or DINT0<=Source<=99,999,999





Execution executes

does not execute

executes

If the preceding instructions are true, the controller converts value_1 from an integer value to a BCD value.


Math Conversion Instructions 16-5

Convert to Integer (FRD)

Description: Use the FRD instruction to convert a BCD value (Source) to an integer value and store the result in the Destination.


Operands:

Operation:

FRD Example:












Execution executes

does not execute

executes

If the preceding instructions are true, the controller converts value_1 from a BCD value to an integer value.



Notes:


Chapter17

Motion Concepts

Introduction The ControlLogix system takes a new approach to motion control. In the ControlLogix system, the motion application program execution and motion planner functions reside in the Logix5550 controller, creating highly-integrated motion and sequential control. A smart axis motion module receives coarse position commands from the ControlLogix controller and closes a high-speed (100µs) fine planner, position loop, and velocity loop. The ControlLogix chassis allows high-speed synchronization of one or more ControlLogix processors and up to 16 motion control modules, which means one chassis can support up to 32 axes.

RSLogix5000 programming software provides complete motion configuration and application programming, which eliminates the need to purchase and maintain multiple programming tools. An axis wizard guides you through assigning and configuring an axis. The axis wizard also initiates a powerful auto-tune utility which you can use to determine all axis gains and dynamics.

The Logix5550 controller uses 27 high-level motion instructions, including instructions for homing, jogging, point-to-point positioning, complex gearing, and high-speed registration. You can insert these instructions directly into the ladder diagram application program.


17-2 Motion Concepts

nd

s

e

to

Identifying the Components of the ControlLogix Motion System

The Logix5550 Controller (1756-L1)

The Logix5550 controller is the main component in the ControlLogix system. It supports sequential and motion functions, and it performs all of the motion command execution and motion trajectory planner functions. You can use one or more Logix5550 controllers in each chassis, and each controller can control up to 16 motion modules.

The Logix5550 controller supports the following motion features:

• An extensive command set including 27 motion instructions

• A high-speed motion task which executes motion commands agenerates move profiles

• The ability to manage up to 16 Analog/Encoder Servo modulefor a total of 32 axes

The Analog/Encoder Servo Module (1756-MO2AE)

The Analog/Encoder Servo module provides an analog/quadraturencoder servo drive interface. The servo module receives configuration and move information from the Logix5550 controllerand manages motor position, velocity, and torque.

The servo module supports:

• Connection capability for up to two drives

• Two 16-bit analog outputs

• Two quadrature encoder limits

• Two home limit switch inputs

• Two drive fault inputs

• Two drive enable outputs

• 100 µs/200 µs Position and Velocity loop

RSLogix5000 Programming Software

The RSLogix5000 programming software provides complete programming and commissioning support for the ControlLogix system. RSLogix5000 is the only programming software needed fully configure and program the ControlLogix motion control systems.

RSLogix5000 software includes the following features:

• Wizards for servo axis configuration including drive hookup diagnostics and auto-tuning

• Ladder-based application programming including support for 27 motion commands

• On-line editing and monitoring capability

• Multiple network support including ControlNet, Ethernet, DeviceNet, and DH+/RIO


Motion Concepts 17-3

.

Developing a Motion Control Application Program

To develop a motion control application program, you must complete several steps including:

• Adding a motion module to the I/O Configuration list

• Identifying and configuring each axis

• Writing an application program using the motion control instruction set

Adding a motion module

Use your programming software to add and configure the motion module. The software has a wizard for configuring motion module

To add a motion module to the I/O configuration list:

Identifying and configuring each axis

When you add the motion module, you identify and configure the axes for each channel on the module.

1. Select the channel you want to configure.

2. Click New Axis.

3. Click Configure...

4. Follow the axis wizard to configure the axis. For more information, see the Motion Control User Manual, publication 1756-x.xx.

1 Select I/O Configuration2 Click the right mouse button and select

New Module3 Select the 1756-MO2AE module

In this field: Enter:

Name Enter a name for the motion module. The name can:

• have as many as 40 characters• contain letters, numbers, and underscores (_)

Slot Select the chassis slot number of the motion module.

Description Enter a description of the module (optional). The description can:


In this field: Enter:

Name Enter a name for the axis. The name can:


Description Enter a description of the axis (optional). The description can:


Type Select AXIS.



Writing a motion application program

To write a motion application program, you can insert motion instructions directly into the ladder diagram application program.

The motion instruction set consists of five groups of motion instructions:

These instructions operate on one or more axes. You must identify and configure axes before you can use them. For more information about identifying and configuring axes, refer to the Motion Control User Manual, publication 1756-x.xx.

Group For more information, refer to:

Motion state instructions Chapter 18

Motion move instructions Chapter 19

Motion group instructions Chapter 20

Motion event instructions Chapter 21

Motion configuration instructions Chapter 22



n.

er servo

se

ue,

Understanding Instruction Timing Motion instructions use three types of timing sequences:

• Immediate timing, where the instruction completes in one sca

• Delayed (message) timing, where the instruction completes ovseveral scans because the instruction sends messages to themodule.

• Process timing, where the instruction could take an indefinite amount of time to complete.

Immediate type instructions

Immediate type motion instructions execute to completion in one scan. If the processor detects an error during the execution of theinstructions, the error status bit sets and the operation ends.

Examples of immediate type instructions include the:

• Motion Change Dynamics (MCD) instruction

• Motion Group Strobe Position (MGSP) instruction

Immediate instructions work as follows:

1. When the rung that contains the motion instruction becomes trthe processor:

• Sets the enable (EN) bit.

• Clears the done (DN) bit.

• Clears the error (ER) bit.

2. The processor executes the instruction completely.

3.

4. The next time the rung becomes false, the processor clears the .EN bit.

If the processor: Then:

Does not detect an error when the instruction executes

The processor sets the .DN bit.

Detects an error when the instruction executes

The processor sets the .ER bit and stores an error code in the control structure.



ue,

a

a

mits

n

5. The processor can execute the instruction again when the rung becomes true.

Delayed (message) type instructions

Delayed type motion instructions send one or more messages to the servo module.

Examples of delayed type instructions include the:

• Motion Direct Drive On (MDO) instruction

• Motion Redefine Position (MRP) instruction

Delayed type instructions work as follows:

1. When the rung that contains the motion instruction becomes trthe processor:

• Sets the enable (EN) bit.

• Clears the done (DN) bit.

• Clears the error (ER) bit.

2. The processor begins to execute the instruction by setting up message request to the servo module.

Note: The remainder of the instruction executes in parallel tothe program scan.

3. The processor checks if the servo module is ready to receive new message.

4. The processor places the results of the check in the messagestatus word of the control structure.

5. When the module is ready, the processor constructs and transthe message to the module.

Important: This process may repeat several times if the instructiorequires multiple messages.

EN

DN

ER

Scan rung true

Scan rung true

Scan rung false

Scan rung true



6.

7. The next time the rung becomes false, the processor clears the .EN bit.

8. When the rung becomes true, the processor can execute the instruction again.

Process type instructions

Process type motion instructions initiate motion processes that can take an indefinite amount of time to complete.

Examples of process type instructions include the:

• Motion Arm Watch Position (MAW) instruction

• Motion Axis Move (MAM) instruction

If the processor: Then:


The processor sets the .DN bit.


The processor sets the .ER bit and stores an error code in the control structure.

EN

DN

ER

Scan rung true

Scan rung true

Scan rung false

Scan rung false

Execution complete



tion me

am

the

ss

e

Process type instructions work as follows:

1. When the rung that contains the motion instruction becomes true, the processor:

• Sets the enable (.EN) bit.

• Clears the done (.DN) bit.

• Clears the error (.ER) bit.

• Clears the process complete (.PC) bit.

2. The controller initiates the motion process.3.

4. When the motion process reaches the point where the instruccan be executed again, the controller sets the .DN bit. For soprocess type instructions, like MAM, this will occur on the firstscan. For others, like MAH, the .DN bit will not be set until theentire homing process is complete.

5. Once the initiation of the motion process completes, the progrscan can continue.

Important: If one of the following events occurs during the motionprocess, the controller sets the .DN bit and the .PC bit and clears.IP bit:

• The motion process completes.• Another instance of the instruction executes.• Another instruction stops the motion process.• A motion fault stops the motion process.

Important: The remainder of the instruction and the control procecontinue in parallel with the program scan.

6. The next time the rung becomes false after the .DN bit sets, thcontroller clears the .EN bit.

If the processor: Then the controller:


• Sets the .DN bit.

• Sets the in process (.IP) bit.


• Sets the .ER bit.

• Stores an error code in the control structure.

• Does not change the .IP and .PC bits.

Detects another instance of the motion instruction

Clears the .IP bit for that instance.



7. When the rung becomes true, the instruction can execute again.

EN

DN

ER

Scan rung true

Process complete

Scan rung false

Scan rung false

Execution complete

IP

PC



Using the Control Structure The controller uses the Motion_Instruction structure to store status information during the execution of motion instructions. Every motion instruction has a motion_control parameter which requires a motion_instruction tag for this purpose. For each motion instruction you use, define a separate motion_instruction tag.

The motion control structure is shown below:

MOTION_INSTRUCTION structure

EN DN ER

error code (.ERROR) (16 bits) message status (.STATUS) (8 bits)

execution state (.STATE) (8 bits)

IP PC

31 30 29 28 27 26 16 15 0bit number



.DN bit The done bit indicates that the operation is complete.

.ER bit The error bit indicates when the operation generates an overflow.

.IP bit The in process bit indicates that a process is being executed.

.PC bit The process complete bit indicates that the operation is complete.

The .DN bit sets after an instruction has completed execution. The .PC bit sets when the initiated process has completed.

.ERR word The error value contains the error code associated with a motion function.

.MSG word The message status value indicates the status condition of any message associated with the motion function.

.EXE word The execution status value keeps track of the execution state of a function. Many motion functions have several steps and this value tracks these steps.



Error codes (.ERROR)

Message status (.STATUS)

Execution status (.STATE)

The execution status is always set to 0 when the controller sets the .EN bit for a motion instruction. Other execution states depend on the motion instruction. See the specific instruction for details (not every motion instruction has additional execution states).


1 The axis value is not an axis type.

2 The group value is not a group type.

3 The instruction tried to execute while another instance of this instruction was executing. This can occur when the controller executes a messaging instruction without checking the .DN bit of the preceding instruction.

4 The instruction tried to execute on an axis whose servo loop is closed.

5 The instruction tried to execute on an axis whose servo loop is not closed.

6 The axis drive is enabled.

7 The axis is in the shutdown state.

8 The axis is not configured as a servo axis type.

9 The instruction tried to execute in a direction that aggravates the current overtravel condition.

10 The master axis reference is the same as the slave axis reference.

11 The axis is not configured.

12 Messaging to the servo module failed.

13 The instruction tried to use a parameter that is outside the range limit.

Message Status:

Description:

0x0 The message was successful.

0x1 The module is processing another message.

0x2 The module is waiting for a response to a previous message.

0x3 The response to a message failed.

0x4 The module is not ready for messaging.



Using Motion Variables The Logix5550 controller stores motion status information in the AXIS and MOTION_GROUP objects. You can use the GSV and SSV instruction to set and read data within these objects. This section defines the motion class and motion instance variables which you can access using the GSV and SSV instructions. See chapter 3 for more information about the GSV and SSV instructions.

Motion instance variables

To use the motion instance variables, choose AXIS from the object list of the GSV and SSV instructions.


ACStopMode The type of stop to perform on your axis.

Value: Meaning:0 fast stop1 fast shutdown2 hard shutdown

ActualPosition The actual position of your axis.

ActualVelocity The actual velocity of your axis.

AverageVelocity The average velocity of your axis.

AverageVelocityTimebase The timebase of the average velocity of your axis.

AxisConfigurationState The state of the axis configuration.

AxisInstance The instance of the axis.

AxisType The type of axis that you are using.

Value: Meaning:0 unused axis1 position only axis2 servo axis

Bandwidth The unity gain bandwidth that the controller uses to calculate the gains for a Motion Apply Axis Tuning (MAAT) instruction.

CommandPosition The command position of your axis.

CommandVelocity The command velocity of your axis.

ConversionConstant The conversion factor used to convert from your units to feedback counts.

DampingFactor The value used in calculating the maximum position servo bandwidth during the execution of the Motion Run Axis Tuning (MRAT) instruction.

DriveFaultAction The operation performed when a drive fault occurs.

Value: Meaning:0 shutdown the axis1 disable the drive2 stop the commanded motion3 change the status bit only

EffectiveInertia The inertia value for the axis as calculated from the measurements the controller made during the last Motion Run Axis Tuning (MRAT) instruction.

EncoderLossFaultAction The operation performed when an encoder loss fault occurs.




EncoderNoiseFaultAction The operation performed when an encoder noise fault occurs.


FrictionCompensation The fixed output level used to compensate for static friction.

GroupInstance The instance number of the motion group that contains your axis.

HomeMode The homing mode for your axis.

Value: Meaning:0 passive homing1 active homing (default)2 absolute homing

HomePosition The homing position of your axis.

HomeReturnSpeed The homing return speed of your axis.

HomeSequenceType The homing sequence type for your axis.

Value: Meaning:0 immediate homing1 switch homing2 marker homing3 switch-marker homing (default)

HomeSpeed The homing speed of your axis.

MapTableInstance The I/O map instance of the servo module.

MaximumAcceleration The maximum acceleration of your axis.

MaximumDeceleration The maximum deceleration of your axis.

MaximumNegativeTravel The maximum negative travel limit.

MaximumPositiveTravel The maximum positive travel limit.

MaximumSpeed The maximum speed of your axis.

ModuleChannel The channel of your servo module.

MotionConfigurationBits The motion configuration bits for your axis.

Bit: Meaning:0 home direction1 home switch normally-closed2 home marker edge negative

MotionFaultBits The motion fault bits for your axis.

Bit: Meaning:0 servo parameters are out of sync with the controller

MotionStatusBits The motion status bits for your axis.

Bit: Bit Name: Meaning:0 ACCEL_STS acceleration1 DECEL_STS deceleration2 MOV_STS move2 JOG_STS jog4 GEAR_STS gear5 HOM_STS homing6 CLUTCH_STS clutch

MotorEncoderTestIncrement The amount of motion that is necessary to initiate the Motion Run Hookup Diagnostic (MRHD) test.

OutputLimit The value of the maximum servo output voltage of your axis.




OutputOffset The value used to offset the effects of the cumulative offsets of the servo module DAC output and the servo drive input.

OutputScaling The value used to convert the output of the servo loop into the equivalent voltage to the drive.

PositionAccelerationFFGain The torque command output necessary to generate the commanded acceleration.

PositionError The difference between the actual and command position of an axis.

PositionErrorFaultAction The operation performed when a position error fault occurs.


PositionErrorTolerance The amount of position error that the servo tolerates before issuing a position error fault.

PositionIError The sum of the position error for an axis.

PositionIntegralGain The value used to achieve accurate axis positioning despite disturbances such as static friction and gravity.

PositionLockTolerance The amount of position error that the servo module tolerates when giving a true position locked status indication.

PositionProportionalGain The value the controller multiples with the position error to correct for the position error.

PositionUnwind The value used to perform the automatic unwind of the rotary axis.

PositionVelocityFFGain The velocity command output necessary to generate the commanded velocity.

RegistrationPosition The registration position for your axis.

ServoConfigurationBits The servo configuration bits for your servo loop.

Bit: Meaning:0 rotary axis1 external velocity servo drive2 encoder polarity negative3 servo polarity negative4 soft overtravel checking5 position error checking6 encoder loss fault checking7 encoder noise fault checking8 drive fault checking9 drive fault normally-closed

ServoEventBits The servo event bits for your servo loop.

Bit: Bit Name: Meaning:0 WATCH_EV_ARM_STS watch event armed1 WATCH_EX_STS watch event2 REG_EV_ARM_STS registration event armed3 REG_EX_STS registration event4 HOM_EV_ARM_STS home event armed5 HOM_EV_STS home event




ServoFaultBits The servo fault bits for your servo loop.

Bit: Bit Name: Meaning:0 P_OTRVL_FLT positive overtravel fault1 N_OTRVL_FLT negative overtravel fault2 POS_ERR_FLT position error fault3 ENC_CHA_LS_FLT encoder channel A loss fault4 ENC_CHB_LS_FLT1 encoder channel B loss fault5 ENC_CHZ_LS_FLT encoder channel Z loss fault6 ENC_NS_FLT encoder noise fault7 DRV_FLT drive fault8 SYNC_CONN_FLT synchronous connection fault9 HARD_FLT servo hardware fault

ServoOutputLevel The output voltage level for your axis servo loop.

ServoStatusBits The status bits for your servo loop.

Bit: Bit Name: Meaning:0 SRV_ACT_STS servo action1 DRV_EN_STS drive enable2 OUT_LMT_STS output limit3 POS)LCK_STS position lock4 POS)SYNC_STS position sync13 TUNE_STS tuning process14 TEST_STS test diagnostic15 SHUTDOWN_STS axis shutdown

ServoStatusUpdateBits The servo status update bits for your axis.

Bit: Meaning:0 position error update1 position ierror update2 velocity error update3 velocity ierror update4 velocity command update5 velocity command update6 velocity feedback update6 servo output level update

SoftOvertravelFaultAction The operation performed when a soft overtravel fault occurs.


StartActualPosition The actual position of your axis when new commanded motion starts for the axis.

StartCommandPosition The command position of your axis when new commanded motion starts for the axis.

StrobeActualPosition The actual position of an axis when the Motion Group Strobe Position (MGSP) instruction executes.

StrobeCommandPosition The command position of an axis when the Motion Group Strobe Position (MGSP) instruction executes.

TestDirectionForward The direction of axis travel during the Motion Run Hookup Diagnostic (MRHD) instruction as seen by the servo module.

Value: Meaning:0 negative (reverse) direction1 positive (forward) direction




TestStatus The status of the last Motion Run Hookup Diagnostic (MRHD) instruction.

Value: Meaning:0 test process successful1 test in progress2 test exceeded 2-second time-out3 test process stopped by the user

TuneAccel The acceleration value measured during the last Motion Run Axis Tuning (MRAT) instruction.

TuneAccelTime The acceleration time in seconds measured during the last Motion Run Axis Tuning (MRAT) instruction.

TuneDecel The deceleration value measured during the last Motion Run Axis Tuning (MRAT) instruction.

TuneDecelTime The deceleration time in seconds measured during the last Motion Run Axis Tuning (MRAT) instruction.

TuneRiseTime The axis rise time in seconds measured during the last Motion Run Axis Tuning (MRAT) instruction.

TuneStatus The status of the last Motion Run Axis Tuning (MRAT) instruction.

Value: Meaning:0 test process successful1 tuning in progress2 axis reached tuning travel limit3 axis polarity set incorrectly4 tune process aborted by user

TuneVelocityBandwidth The bandwidth of the drive as calculated from the measurements made during the last Motion Run Axis Tuning (MRAT) instruction.

TuneVelocityScaling The axis drive scaling factor measured during the last Motion Run Axis Tuning (MRAT) instruction.

TuningConfigurationBits The tuning configuration bits for your axis.

Bit: Meaning:0 tuning direction (0=forward, 1=reverse)1 tune position error integrator2 tune velocity error integrator3 tune velocity feedforward bit4 acceleration feedforward5 tune velocity low-pass filter

TuningTravelLimit The travel limit used by the Motion Run Axis Tuning (MRAT) instruction to limit the action of the action during tuning.

TuningVelocity The maximum speed initiated by the Motion Run Axis Tuning (MRAT) instruction.

VelocityCommand The current velocity reference to the velocity servo loop for an axis.

VelocityError The difference between the commanded and actual velocity of a servo axis.

VelocityFeedback The actual velocity of your axis as estimated by the servo module.

VelocityFilterBandwidth The bandwidth of the servo low-pass digital output filter.

VelocityIError The sum of the velocity error for a specified axis.

VelocityIntegralGain The value that the controller multiplies with the Velocity IError value to correct the velocity error.

VelocityProportionalGain The value that the controller multiplies with the Velocity Error to correct the velocity error.

WatchPosition The watch position of your axis.



Chapter18

Motion State Instructions(MSO, MSF, MASD, MASR, MDO,MDF, MAFR)

Introduction Motion state control instructions directly control or change the operating states of an axis. The motion conversion instructions are:


Enable the servo drive and activate the axis servo loop.

MSO 18-3

Disable the servo drive and deactivate the axis servo loop.

MSF 18-5

Force an axis into the shutdown operating state. Once the axis is in the shutdown operating state, the controller blocks any instructions that initiate axis motion.

MASD 18-7

Change an axis from an existing shutdown operating state to an axis ready operating state. If all of the axes of a servo module are removed from the shutdown state as a result of this instruction, the OK relay contacts for the module will close.

MASR 18-10

Activate the servo drive and set the servo output voltage of an axis.

MDO 18-12

Disable the servo drive and set the servo output voltage to the output offset voltage.

MDF 18-14

Clear all motion faults for an axis. MAFR 18-16


18-2 Motion State Instructions

The five operating states of an axis are:

To determine the operating state of the axis, you can look at the DRIVE and FDBK LEDs on the servo module.

Operating State: Description:

Axis ready This is the normal power-up state of the axis.

In this state:

• the servo module drive enable output is inactive.

• servo action is disabled.

• no servo faults are present.

Direct drive control This operating state allows the servo module DAC to directly control an external drive.

In this state:

• the servo module drive enable output is active.



Servo control This operating state allows the servo module to perform closed loop motion.

In this state:

• the servo module drive enable output is active.

• servo action is enabled.


• the axis is forced to maintain the commanded servo position.

Axis faulted In this operating state, a servo fault is present, and the status of the drive enable output, the action of the servo, and the condition of the OK contact depend on the faults and fault actions that are present.

Shutdown This operating state allows the OK relay contacts to open a set of contacts in the E-stop string of the drive power supply.

In this state:

• the servo module drive enable output is inactive.


• the OK contact is open.

If the DRIVE LED is: And the FDBK LED is:Then the operating state of the axis is:

Flashing green Flashing green Axis ready

Solid green Flashing green Direct drive control

Solid green Solid green Servo control

Solid red Flashing or solid red Axis faulted

Flashing red Flashing green Shutdown


Motion State Instructions 18-3

Motion Servo On (MSO)

Description: Use the MSO instruction to enable the servo drive and to activate the axis servo loop. A common use for this instruction is activating an axis servo loop in preparation for commanding motion.

Important: This instruction causes an abrupt, uncontrolled stop. Do not use this instruction while the axis is moving.

The MSO instruction uses delayed timing.

To use the MSO instruction, configure the axis as a servo axis.

Operands:

Operation:

Control status:


Axis tag AXIS

Motion control tag MOTION_INSTRUCTION



Memory (words) DINT 12REAL


does not execute

executes


.EN bit The enable bit sets when the rung goes from false to true. It remains set until servo messaging completes and the rung becomes false.

.DN bit The done bit sets when the instruction enables axis servo action.

.ER bit The error bit sets when the instruction detect an error, such as if the axis is not configured.



MSO error codes (.ERROR)

MDO changes to the servo module LEDs

MSO changes to the axis status bits

MSO Example:



3 The instruction tried to execute while another instance of this instruction was executing. This can occur when the servo module executes a messaging instruction without checking the .DN bit of the preceding instruction.


8 The axis is not configured as a servo axis.



This LED Will change to Meaning

FDBK Flashing green Servo action is enabled.

DRIVE Flashing green The drive enable output is active.

Bit Name State Meaning

SRV_ACT_STS True • Axis is in the servo on state.

• Servo loop is active.

DRV_EN_STS True The drive enable output is active.

ACCEL_STS False The axis is not accelerating.

DECEL_STS False The axis is not decelerating.

CLUTCH_STS False The axis is not clutching.

JOG_STS False The axis is not jogging.

MOV_STS False The axis is not moving.

GEAR_STS False The axis is not gearing.

HOM_STS False The axis is not homing.

When the input instructions are true, the controller enables the servo drive and activates the axis servo loop configured by axis_1.



Motion Servo Off (MSF)

Description: Use the MSF instruction to disable the servo drive and to deactivate the axis servo loop.

Important: When you need to turn the axis manually, use the MSF instruction to turn off servo action. Although servo action is off, the controller continues to track the axis position. When the servo action is turned on using the Motion Servo On (MSO) instruction, the servo maintains the new position.

The MSF instruction uses delayed timing.

To use the MSF instruction, configure the axis as a servo axis.

Operands:

Operation:

Control status:


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction enables axis servo action.




MSF error codes (.ERROR).

MSF changes to the servo module LEDs

MSF changes to the axis status bits

MSF Example:








FDBK Flashing green Servo action is disabled.

DRIVE Flashing green The drive enable output is inactive.


SRV_ACT_STS False • Axis is in the axis ready state.

• Servo loop is inactive.

DRV_EN_STS False The drive enable output is inactive.








When the input instructions are true, the controller disables the servo drive and the axis servo loop configured by axis_1.



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Motion Axis Shutdown (MASD)

Description: Use the MASD instruction to force an axis into the shutdown operating state. Once the axis is in the shutdown operating state, the controller blocks any instructions that initiate axis motion.

If an axis is in the shutdown operating state, it means:

• The axis servo action is off.

• The drive enable output is deactivated

• The servo output level is the output offset value.

• The servo module OK contacts are open.

Important: You can use the OK contacts to open the contacts thaopen the E-stop string (if wired) that controls the power to the drivsystem.

The axis will remain in the shutdown state until either a Motion AxShutdown Reset (MASR) instruction or a Motion Group ShutdownReset (MGSR) instruction executes.

The MASD instruction uses delayed timing.

To use the MASD instruction, configure the axis as either a servo aor a position only axis.

Operands:

Operation:


Axis tag AXIS






does not execute

executes



Control status:

MASD error codes (.ERROR)

MASD changes to the servo module LEDs



.DN bit The done bit sets when the instruction sets the axis to the shutdown state.








FDBK Flashing green Servo action is inactive.

DRIVE Flashing red • The drive enable output is inactive.

• The OK contact is open.



MASD changes to the axis status bits

MASD Example:


SRV_ACT_STS False • The axis is in the axis ready state.

• The servo loop is inactive.


SHUTDOWN_STS True The axis is in the shutdown state.








When the input instructions are true, the controller forces axis_1 into the shutdown operating state.



Motion Axis Shutdown Reset (MASR)

Description: Use the MASR instruction to change an axis from an existing shutdown operating state to an axis ready operating state. If all of the axes of a servo module are removed from the shutdown state as a result of this instruction, the OK relay contacts for the module will close.

Important: Because this instruction can close the OK contacts, you can use this instruction to close the contacts in the E-stop string that control the power to the drive system. Once you close the E-stop string, you can reapply power to the drive.

The MASR instruction uses delayed timing.

To use the MASR instruction, configure the axis as either a servo axis or a position-only axis.

Operands:

Operation:

Control status:


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction clears the axis from the shutdown state.




MASR error codes (.ERROR)

MASR changes to the servo module LEDs

MASR changes to the axis status bits

MASR Example:







FDBK Flashing green Servo action is inactive.

DRIVE Flashing green • The drive enable output is inactive.

• The OK contact is closed.





SHUTDOWN_STS False The axis is not in the shutdown state.

When the input instructions are true, the controller resets axis_1 from a previous shutdown operating state into an axis ready operating state.



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it

Motion Direct Drive On (MDO)

Description: Use the MDO instruction to activate the servo drive and to set the servo output voltage of an axis.

Common uses for this instruction include:

• Creating an independent programmable analog output as an oloop speed reference for a drive.

• Testing a servo drive for closed loop operation.

The MDO instruction uses delayed timing.

To use the MDO instruction:

• Configure the axis as either a servo axis or a position-only axi

• Ensure that the axis operating state is axis ready.

• Ensure that servo action is off.

Operands:

Operation:

Important: The servo output voltage is not limited by the output limconfiguration parameter and is not affected by the servo output polarity configuration bit.


Axis tag AXIS

Drive Output1

1. The 16-bit digital-to-analog convertor on the servo module limitsthe effective resolution of the MDO instruction to 305 µV or0.003%.

immediate or tag SINT, INT, DINT, or REAL

Drive Units immediate

0=volts 1=% of maximum output limit






does not execute

executes



Control status:

MDO error codes (.ERROR)

MDO changes to the servo module LEDs

MDO changes to the axis status bits

MDO Example:



.DN bit The done bit sets when the instruction updates the axis servo output.

.ER bit The error bit sets when the instruction detect an error, such as if the drive output value was too large.




4 The axis servo loop is closed.




13 An input parameter was out of range.

This LED: Will change to: Meaning:


DRIVE Solid green The drive enable output is active.


DRV_EN_STS True • The axis is in the drive control state.

• The drive enable output is active.

When the input instructions are true, the controller activates the servo drive for axis_1 and sets the servo output voltage of axis_1.



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Motion Direct Drive Off (MDF)

Description: Use the MDF instruction to disable the servo drive and to set the servo output voltage to the output offset voltage. The output offset voltage is the output voltage which generates zero or minimal drive motion. You can specify this value during axis configuration.

Common uses for this instruction include:

• Stopping motion initiated by a preceding Motion Direct Drive O(MDO) instruction.

• Changing an axis from the direct drive control operating state to the axis ready operating state.

The MDF instruction uses delayed timing.

To use the MDF instruction, configure the axis as either a servo aor a position-only axis.

Operands:

Operation:


Axis tag AXIS





Execution executes

does not execute

executes



Control status:

MDF error codes (.ERROR)

MDF changes to the servo module LEDs

MDF changes to the axis status bits

MDF Example:



.DN bit The done bit sets when the instruction disables the axis drive signals.











DRIVE Flashing green The drive enable output is inactive.


DRV_EN_STS False • The axis is in the axis ready state.

• The drive enable output is inactive.

When the input instructions are true, the controller deactivates the servo drive for axis_1 and sets the servo output voltage of axis_1 to the output offset value.



Motion Axis Fault Reset (MAFR)

Description: Use the MAFR instruction to clear all motion faults for an axis. This is the only method for clearing axis motion faults.

Important: The MAFR instruction removes the fault status, but does not perform any other recovery, such as enabling servo action. In addition, when the controller removes the fault status, the condition that generated the fault(s) may still exist. If the condition is not corrected before using the MAFR instruction, the axis will immediately fault again.

The MAFR instruction is usually used as a part of a fault handling program. A fault-handling program provides specific action in response to possible faults. Once the fault condition is removed, the MAFR block clears all the active fault status bits.

The MAFR instruction uses delayed timing.

To use the MAFR instruction, configure the axis as either a servo axis or a position-only axis.

Operands:

Operation:


Axis tag AXIS






does not execute

executes



Control status:

MAFR error codes (.ERROR)

MAFR changes to the servo module LEDs

MAFR changes to the axis status bits



.DN bit The done bit sets when the instruction clears all the fault status bits.








FDBK Flashing or solid green There are no feedback faults.

DRIVE Not solid red There are no drive faults.














MAFR Example:

When the input instructions are true, the controller clears all motion faults for axis_1.


Chapter19

Motion Move Instructions(MAS, MAH, MAJ, MAM, MAG, MCD, MRP)

Introduction Motion move instructions control all aspects of axis position. The motion move instructions are:


Initiate a controlled stop of any motion process on an axis.

MAS 19-2

Home an axis. MAH 19-5

Initiate a jog motion profile for an axis. MAJ 19-8

Initiate a move profile for an axis. MAM 19-11

Provide electronic gearing between any two axes

MAG 19-15

Change the speed, acceleration rate, or deceleration rate of a move profile or a jog profile in progress.

MCD 19-18

Change the command or actual position of an axis.

MRP 19-21


19-2 Motion Move Instructions

Motion Axis Stop (MAS)

Description: Use a MAS instruction to initiate a controlled stop of any motion process on an axis and to clear associated motion status flags.

Important: If the axis is not moving when the MAS instruction executes, the MAS instruction has no effect on motion.

The MAS instruction uses immediate and process type timing.

To use the MAS instruction, configure the axis as a servo or position-only axis.

Operands:

Operation:


Axis tag AXIS

Stop type

motion type to stop

immediate

stop all motionstop joggingstop movingstop gearingstop tuningtest

Change decel

select whether or not to change the deceleration

immediate

0=no 1=yes

Decel

deceleration rate of the axis


Decel units immediate

0=% of maximum deceleration

1=units/second2






does not execute

executes


Motion Move Instructions 19-3

Control status:

MAS error codes (.ERR)

MAS changes to the axis status bits



.DN bit The done bit sets when the instruction initiates an axis stop.


.IP bit The in process bit sets when the rung goes true.

It resets when one of the following events occurs:

• The MAS instruction completes

• A servo fault terminates the MAS instruction

.PC bit The process complete bit sets after the stop operation completes.









CLUTCH_STS True The axis is stopping.







MAS Example:

When the input instructions are true, the controller stop motion on axis_1 and clears all associated, motion status flags.



an

Motion Axis Home (MAH)

Description: Use the MAH instruction to home an axis.

Two different homing modes are available:

• Active—the axis executes the configured home sequence typeand establishes an absolute axis position.

• Passive—the axis waits for the next marker pulse to establishaccurate home position.

The MAH instruction uses delayed and process type timing.

To use the MAH instruction:

Operands:

Operation:

If you want to use: Then:

Active homing • Configure the axis as a servo axis.

• Ensure that the axis operating state is servo on.

Passive homing Configure the axis as either a servo axis or a position-only axis.


Axis tag AXIS






does not execute

executes



Control status:

MAH error codes (.ERR)



.DN bit The done bit sets when the instruction initiates an axis home operation.




• The MAH instruction completes.

• A Motion Axis Stop (MAS) instruction terminates the MAH instruction.

• A servo fault occurs.

.PC The process complete bit sets when the instruction completes an axis home operation.










MAH changes to the axis status bits

MAH Example:






HOM_STS True The axis is homing.

When the input instructions are true, the controller homes axis_1.



Motion Axis Jog (MAJ)

Description: Use the MAJ instruction to initiate a jog motion profile for an axis.

Important: To stop an axis jog, use the Motion Axis Jog (MAJ) instruction with a speed of zero or the Motion Axis Stop (MAS) instruction.

The MAJ instruction uses immediate and process type timing.

To use the MAJ instruction:

• Configure the axis as a servo axis.


Operands:


Axis tag AXIS

Direction

direction of the jog


0=forward jog 1=reverse jog

Speed

speed to move the axis


Speed units immediate

0=% of maximum speed1=units/second

Accel

acceleration rate of the axis


Accel units immediate

0=% of maximum acceleration

1=units/second2

Decel





1=units/second2

Profile

velocity profile to run the jog

immediate

0=trapezoidal 1=S-curve



Operation:

Control status:

Merge

select whether or not to turn all axis movement into pure jog

immediate

0=disable 1=enable

Merge speed

if you selected the merge check box, this field determines the speed of the jog profile.

immediate

0=programmed value in the speed field 1=current axis speed







does not execute

executes



.DN bit The done bit sets when the instruction initiates an axis jog.




• Another MAJ instance supersedes the current instruction.

• A Motion Axis Stop (MAS) instruction, a merge operation, or a servo fault terminates the MAJ instruction.

.PC bit The process complete bit sets when the instruction completes an axis jog.



MAJ error codes (.ERR)

MAJ changes to the axis status bits

MAJ Example:







13 The instruction tried to execute with a parameter that is outside the range limit.


JOG_STS True The axis is jogging.



When the input instructions are true, the controller initiates a jog motion for axis_1.



Motion Axis Move (MAM)

Description: Use the MAM instruction to initiate a move profile for an axis.

The MAM instruction uses immediate and process type timing.

To use the MAM instruction:



Operands:


Axis tag AXIS

Move type

type of move operation


0=absolute move1=incremental move2=rotary shortest path move3=rotary positive move4=rotary negative move

Position/Distance

value of the absolute command position to move to, or for incremental movement, the value of the distance to move from the current command position


Speed




0=% of maximum speed1=units/second

Accel





1=units/second2



Operation:

Decel





1=units/second2

Profile

velocity profile to run the jog

immediate

0=trapezoidal 1=S-curve

Merge

select whether or not to turn all axis movement into pure jog

immediate

0=disable 1=enable

Merge speed

if you selected the merge check box, this field determines the speed of the move profile.

immediate

0=programmed value in the speed field 1=current axis speed







does not execute

executes



Control status:

MAM error codes (.ERR)

MAM changes to the axis status bits



.DN bit The done bit sets when the instruction initiates an axis move.




• The MAM instruction completes.

• A Motion Stop Axis (MAS) instruction, a merge operation, or a servo fault terminates the MAM instruction.

.PC bit The process complete bit sets when the instruction completes an axis move.






9 The instruction tried to execute in a direction that aggravates the current overtravel condition.


13 The instruction tried to use a parameter that is outside the legal range limit.



MOV_STS True The axis is moving.




MAM Example:

When the input instructions are true, the controller initiates a move for axis_1.



Motion Axis Gearing (MAG)

Description: Use the MAG instruction to provide electronic gearing between any two axes.

The MAG instruction uses immediate and process type timing.

To use the MAG instruction:



Operands:


Slave axis

axis to perform the operation on

tag AXIS

Master axis

axis that the slave axis follows

tag AXIS

Direction

direction of the slave axis relative to the master axis


0=slave axis moves in the same direction as the master axis

1=slave axis moves in the opposite direction of 2=slave axis moves in the reverse of its current direction

3=slave axis to continues its current direction

Master reference

master position source

immediate

0=actual source 1=command source

Ratio format

format of the ratio between the slave and the master axis

immediate

0=real gear ratio1=integer fraction of slave encoder counts to master encoder counts

Ratio

signed, real value of the gear ratio of slave units per master units


Slave counts immediate or tag SINT, INT, or DINT

Master counts immediate or tag SINT, INT, or DINT



Operation:

Control status:

Clutch

select whether or not to ramp the slave axis to gearing speed using the acceleration value

immediate

0=disable1=enable

Accel

acceleration of the slave axis




1=units/second2







does not execute

executes



.DN bit The done bit sets when the instruction initiates an axis gear.



It resets if a Motion Stop Axis (MAS) instruction, a merge operation, or a servo fault terminates the MAG instruction.

.PC bit The process complete bit sets after the slave axis ramps to match the slave speed.



MAG error codes (.ERR)

MAG changes to the axis status bits

MAG Example:






10 The master axis reference is the same as the slave axis reference.




CLUTCH_STS True The axis is clutching.

GEAR_STS True The axis is gearing.

When the input instructions are true, the controller provides electronic gearing between axis_slave and axis_1.



the

Motion Change Dynamics (MCD)

Description: Use the MCD instruction to change the speed, acceleration rate, or deceleration rate of a move profile or a jog profile in progress.

The MCD instruction uses immediate type timing.

To use the MCD instruction:


• Ensure the axis operating state is servo on.

Note: If the axis does not have a move or a jog in progress whenMCD instruction executes, the instruction will have no effect.

Operands:


Axis tag AXIS

Motion type

motion profile to change

immediate

0=jog 1=move

Change speed

select whether or not to change the speed

immediate

0=no1=yes

Speed




0=% of maximum speed 1=units/second

Change accel

select this check box to change the acceleration

immediate

0=no 1=yes

Accel





1=units/second2

Change decel

select this check box to change the deceleration

immediate

0=no 1=yes

Decel





Operation:

Control status:

MCD error codes (.ERR)



1=units/second2







does not execute

executes



.DN bit The done bit sets when the instruction changes axis dynamics.











MCD Example:

When the input instructions are true, the controller changes the speed, acceleration, or deceleration rate of a move profile of jog profile in progress for axis_1.



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Motion Redefine Position (MRP)

Description: Use the MRP instruction to change the command or actual position of an axis.

Note: This instruction does not cause any motion; the axis position is only redefined.

The controller can calculate new axis positions in two ways:

• Absolute, where the controller assigns the position value as thcurrent actual or command position.

• Relative, where the controller adds the position value to the curent actual or command position.

The MRP instruction uses delayed type timing.

To use the MRP instruction, configure the axis as either a servo aor a position-only axis.

Operands:


Axis tag AXIS

Type

type of redefinition operation

immediate

0=absolute1=relative

Position select

select whether to perform the redefinition operation on the current:

• actual position

• command position

immediate

0=actual 1=command

Position

value to change the axis position

immediate or tag SINT, IN, DINT, or REAL

Control tag MOTION_INSTRUCTION



Operation:

Control status:

MRP error codes (.ERR)

MRP Example:





does not execute

executes



.DN bit The done bit sets when the instruction redefines the axis position commands.







When the input instructions are true, the controller changes the command or position of axis_1.


Chapter20

Motion Group Instructions(MGS, MGPS, MGSD, MGSR, MGSP)

Introduction Motion group instructions control a group of axes. The motion group instructions are:


Initiate a stop on the motion on a group of axes.

MGS 20-2

Initiate a stop of all motion on all the axes in a group, using the method that you set for each axis.

MGPS 20-4

Force all axes in a group into the shutdown operating state.

MGSD 20-6

Transition a group of axes from the shutdown operating state to the axis ready operating state.

MGSR 20-8

Latch the current command and actual position of all axes in a group.

MGSP 20-10


20-2 Motion Group Instructions

Motion Group Stop (MGS)

Description: Use the MGS instruction to initiate a stop on the motion on a group of axes.

The MGS instruction uses process type timing.

To use the MGS instruction, the group must be configured.

Operands:

Operation:


Axis tag AXIS

Inhibit

select whether or not the group of axes are inhibited after they stop

immediate

0=disable1=enable






does not execute

executes


Motion Group Instructions 20-3

Control status:

MGS error codes (.ERR)

MGS changes to the axis status bits

MGS Example:



.DN bit The done bit sets when the instruction initiates a group stop for all the axes in a group.

.ER bit The error bit sets when the instruction detect an error, such as if the group is not configured.


It resets when the MGS instruction completes.

.PC bit The process complete bit sets after the instruction stops all the axes.

If the Inhibit option is selected, the .PC bit sets after the instruction sets all the axes to the axis ready state.





CLUTCH_STS True The axis is stopping.





When the input instructions are true, the controller stops motion on all axes in group_1.



Motion Group Program Stop (MGPS)

Description: Use the MGPS instruction to initiate a stop of all motion on all the axes in a group. The instruction stops each axis using a method that you set for each axis.

The MGPS instruction uses delayed and process type timing.

To use the MGPS instruction, the group must be configured.

Operands:

Operation:

Control status:


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction sets the group of axes to the shutdown operating state.


.IP bit The in process bit sets on a positive transition.

It resets after the Motion Group Programmed Stop (MGPS) instruction completes.

.PC bit The process complete bit sets after the instruction stops all the axes.



MGPS error codes (.ERR)

MGPS changes to the axis status bits

MGPS Example:









When the input instructions are true, the controller stops motion on all axes in group_1, using a method that you set for each axis.



Motion Group Shutdown (MGSD)

Description: Use the MGSD instruction to force all axes in a group into the shutdown operating state.

The shutdown state of an axis means:

• The servo is off.

• The drive enable output is deactivated.

• The servo output level sets to the output offset value.

• The servo module OK relay contacts are open.

The MGSD instruction uses delayed type timing.

To use the MGSD instruction, the group must be configured.

Operands:

Operation:

Control status:


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction sets the group of axes to the shutdown operating state.




MGSD error codes (.ERR)

MGSD changes to the servo module LEDs

MGSD changes to the axis status bits

MGSD Example:






DRIVE Flashing red • The drive enable output is inactive.

• The OK contact is open.





SHUTDOWN_STS True The axis is in the shutdown state.








When the input instructions are true, the controller forces all axes in group_1 into a shutdown operating state.



Motion Group Shutdown Reset (MGSR)

Description: Use the MGSR instruction to transition a group of axes from the shutdown operating state to the axis ready operating state.

The MGS instruction uses delayed type timing.

To use the MGSR instruction, the group must be configured.

Operands:

Operation:

Control status:


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction resets the group of axes from the shutdown operating state.




MGSR error codes (.ERR)

MGSR changes to the servo module LEDs

MGSR changes to the axis status bits

MGSR Example:






DRIVE Flashing green • The drive enable output is inactive.

• The OK contact is closed.






When the input instructions are true, the controller transitions all axes in group_1 from the shutdown operating state to the axis ready operating state.



Motion Group Strobe Position (MGSP)

Description: Use the MGSP instruction to latch the current command and actual position of all axes in a group.

The MGSP instruction uses immediate type timing.

To use the MGSP instruction, the group must be configured.

Operands:

Operation:

Control status:


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction sets a group of axes to the shutdown operating state.




MGSP error codes (.ERR)

MGSP Example:




When the input instructions are true, the controller latches the current command and the actual position of all axes in group_1.



Notes:


Chapter21

Motion Event Instructions(MAW, MDW, MAR, MDR)

Introduction Motion event instructions control the arming and disarming of special event checking functions, such as registration and watch position. The motion event instructions are:


Arm watch-position event-checking for an axis.

MAW 21-2

Disarm watch-position event-checking for an axis.

MDW 21-4

Arm servo-module registration-event checking for an axis.

MAR 21-6

Disarm servo-module registration-event checking for an axis.

MDR 21-9


21-2 Motion Event Instructions

Motion Arm Watch (MAW)

Description: Use the MAW instruction to arm watch-position event-checking for an axis.

The MAW instruction uses delayed and process type timing.

To use the MAW instruction, configure the axis as either a servo axis or a position only axis.

Operands:

Operation:


Axis tag AXIS

Trigger condition

watch-event trigger condition

immediate

0=forward

The servo module looks for the actual position to change from less than the watch position to greater than the watch position.

1=reverse

The servo module looks for the actual position to change from greater than the watch position to less than the watch position.

Watch position

new value for the watch position







does not execute

executes


Motion Event Instructions 21-3

Control status:

MAW error codes (.ERR)

MAW changes to the axis status bits

MAW Example:



.DN bit The done bit sets when the instruction arms watch-event checking.




• A watch event occurs.

• Another MAW instruction supersedes the current instruction.

• A Motion Disarm Watch (MDW) instruction terminates the MAW instruction.

.PC bit The process complete bit is when a watch event occurs.







WATCH_EV_ARM_STS

True The axis is looking for a watch position event.

WATCH_EV_STS False The previous watch event is cleared.

When the input instructions are true, the controller arms watch-position event-checking for axis_1.



Motion Disarm Watch (MDW)

Description: Use the MDW instruction to disarm watch-position event-checking for an axis.

The MDW instruction uses delayed type timing.

To use the MDW instruction, configure the axis as either a servo axis or a position-only axis.

Operands:

Operation:

Control status:

Important: When you use this instruction, the controller clears the watch-event status bit and the watch-armed status bits. This instruction also clears the .IP bit in the control structure.


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction disarms watch-event checking.




MDW error codes (.ERR)

MDW changes to the axis status bits

MDW Example:







WATCH_EV_ARM_STS False The axis is not looking for a watch position event.

WATCH_EV_STS False The previous watch event is cleared.

When the input instructions are true, the controller disarms watch-position event-checking for axis_1.



Motion Arm Registration (MAR)

Description: Use the MAR instruction to arm servo module registration event checking for an axis.

The MAR instruction uses delayed and process type timing.

To use the MAR instruction, configure the axis as either a servo axis or a position only axis.

Operands:


Axis tag AXIS

Trigger condition

input condition that defines the registration event

immediate

0=trigger on positive transitions

1=trigger on negative transitions

Windowed registration

select whether or not the registration position within the position window

immediate

0=disable1=enable

Min. position

minimum position for windowed registration event checking.

The registration position must be greater than this value before the controller accepts the registration event.


Max. position

maximum position for windowed registration event checking

The registration position must be less than this value before the controller accepts the registration event.





Operation:

Control status:

MAR error codes (.ERR)





does not execute

executes



.DN bit The done bit sets when the instruction arms registration event checking.




• A registration event occurs

• Another MAR instruction supersedes the current instruction

• A Motion Disarm Registration (MDR) instruction terminates the MAR instruction.

.PC bit The process complete bit sets when a registration event occurs.








MAR changes to the axis status bits

MAR Example:


REG_EV_ARM_STS True The axis is looking for a registration event.

REG_EV_STS False The previous registration event is cleared.

When the input instructions are true, the controller arms servo-module registration-event checking for axis_1.



Motion Disarm Registration (MDR)

Description: Use the MDR instruction to disarm servo module registration event checking for an axis.

The MDR instruction uses delayed timing.

To use the MDR instruction, configure the axis as either a servo axis or a position only axis.

Operands:

Operation:

Control status:

Important: When you use this instruction, the controller resets the registration event status bit and the registration armed status bit.


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction disarms axis-registration event checking.




MDR error codes (.ERR)

MDR changes to the axis status bits

MDR Example:







REG_EV_ARM_STS False The axis is not looking for a registration event.

REG_EV_STS False The previous registration event is cleared.

When the input instructions are true, the controller disarms servo-module registration-event checking for axis_1.


Chapter22

Motion Configuration Instructions(MAAT, MRAT, MAHD, MRHD)

Introduction Use the motion configuration instructions to tune an axis and to run diagnostic tests for the servo system. These tests include:

• A motor encoder hookup test.

• An encoder hookup test.

• A marker test

The motion configuration instructions are:


Compute a complete set of servo gains and dynamic limits based on a previously executed MRAT instruction.

The MAAT instruction also updates the servo module with the new gain parameters.

MAAT 22-2

Command the servo module to run a tuning motion profile for an axis.

MRAT 22-4

Apply the results of a previously executed MRHD instruction.

The MAHD instruction generates a new set of encoder and servo polarities based on the observed direction of motion during the MRHD instruction.

MAHD 22-7

Command the servo module to run one of four diagnostic tests on an axis.

MRHD 22-9


22-2 Motion Configuration Instructions

Motion Apply Axis Tuning (MAAT)

Description: Use the MAAT instruction to compute a complete set of servo gains and dynamic limits based on a previously executed Motion Run Axis Tuning (MRAT) instruction. This instruction also updates the servo module with the new gain parameters.

The MAAT instruction uses delayed type timing.

To use the MAAT instruction:


• Ensure the axis operating state is axis ready.

• Ensure servo action is off.

• Use a Motion Run Axis Tuning (MRAT) instruction before the MAAT instruction.

Operands:

Operation:

Control status:


Axis tag AXIS






does not execute

executes



.DN bit The done bit sets when the instruction completes an apply axis-tuning process.



Motion Configuration Instructions 22-3

MAAT error codes (.ERR)

MAAT Example:








When the input instructions are true, the controller computes a complete set of servo gains and dynamic limits for axis_1.



Motion Run Axis Tuning (MRAT)

Description: Use the MRAT to command the servo module to run a tuning motion profile for an axis.

Note: This instruction does not close the servo loop at any time.

The MRAT instruction uses delayed and process type timing.

To use the MRAT instruction:


• Ensure the axis operating state is axis ready.

Operands:

Operation:


Axis tag AXIS






does not execute

executes



Control status:

MRAT error codes (.ERR)

MRAT changes to the axis status bits



.DN bit The done bit sets when the instruction initiates a tuning process.


In process (IP) The in process bit sets when the rung goes true.


• The MRAT instruction completes.

• A Motion Axis Stop (MAS) instruction or a servo fault terminates the MRAT instruction.

Process complete (PC) The process complete bit sets when the instruction completes a tuning process.












• The drive enable output is active while the tuning profile is running.

TUNE_STS True The axis is running a tuning process.



MRAT Example:

When the input instructions are true, the controller commands the servo module to run a tuning motion profile for axis_1.



s.

Motion Apply Hookup Diagnostics (MAHD)

Description: Use the MAHD instruction to apply the results of a previously executed Motion Run Hookup Diagnostics (MRHD) instruction. The MAHD instruction generates a new set of encoder and servo polarities based on the observed direction of motion during the MRHD instruction.

The MAHD instruction uses delayed type timing.

To use the MAHD instruction:

• Configure the axis as either a servo axis or a position-only axi

• Use a Motion Run Hookup Diagnostics (MRHD) instruction before the MAHD instruction.

Operands:

Operation:


Axis tag AXIS

Diagnostic test

specify the test to apply

immediate

0=motor/encoder hookup test1=encoder hookup test2=encoder marker test

Observed direction

direction of motion during the diagnostic tests

immediate

0=forward 1=reverse






does not execute

executes



Control status:

MAHD error codes (.ERR)

MAHD Example:



.DN bit The done bit sets when the instruction applies the results of a test process.











When the input instructions are true, the controller applies the results of a previously executed Motion Run Hookup Diagnostics (MRHD) instruction to axis_1.



Motion Run Hookup Diagnostics (MRHD)

Description: Use the MRHD instruction to command the servo module to run one of four diagnostic tests on an axis.

The MRHD instruction uses delayed and process type timing.

To use the MRHD instruction, specify the diagnostic test to run:

Operands:

Operation:

If you want to run the: Then:

Motor/encoder test • Configure the axis as a servo axis.

• Ensure that the axis is in the axis ready operating state.

Encoder hookup test Configure the axis as either a servo axis or a position only axis.

Encoder marker test Configure the axis as either a servo axis or a position only axis.


Axis tag AXIS

Diagnostic test

specify which diagnostic test to run

immediate

0=motor/encoder hookup test1=encoder hookup test2=encoder marker hookup test






does not execute

executes



Control status:

MRHD error codes (.ERR)

MRHD changes to the axis status bits



.DN bit The done bit sets when the instruction initiates a test process.


In process (IP) The in process bit sets when the rung goes true.


• The MRHD instruction completes.

• A Motion Axis Stop (MAS) instruction or a servo fault terminates the MRHD instruction.

Process complete (PC) The process complete bit sets when the instruction completes the diagnostic test process.












• The drive enable output is active while the tuning profile is running.

TEST_STS True The axis is running a tuning process.



Example:

When the input instructions are true, the controller runs the encoder diagnostic test on axis



Notes:


Allen Bradley by Rockwell Automation

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