Allen-Bradley 1756-L63XT User Manual Download Page 143

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Rockwell Automation Publication 1756-UM001O-EN-P - October 2014

143

Chapter

Develop Motion Applications

Motion Control Options

ControlLogix controllers support digital, analog, and Integrated Motion
interfaces:

•

Digital drive interfaces include EtherNet/IP connected drives and sercos
interface connected drives.

•

Analog drives support ±10V analog output and can interface with various
feedback device types including quadrature encoder, SSI, and LVDT
feedback.

•

Integrated Motion on an EtherNet/IP network supports Kinetix 350,
Kinetix 5500, Kinetix 6500, and PowerFlex 755 drives.

Topic

Page

Motion Control Options

143

Motion Overview

144

Obtain Axis Information

144

Program Motion Control

145

Summary of Contents for 1756-L63XT

Page 1: ...ControlLogix System Catalog Numbers 1756 L61 1756 L62 1756 L63 1756 L63XT 1756 L64 1756 L65 1756 L71 1756 L72 1756 L73 1756 L73XT 1756 L74 1756 L75 User Manual...

Page 2: ...prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Allen Bradley ArmorBlock ArmorBlock MaXum ArmorPOINT Compact I O CompactLogix ControlFLASH Con...

Page 3: ...n to the right of this paragraph New and Updated Information This table contains the changes made to this revision Topic Page Added DLR segment to EtherNet IP Network Example 86 Added DH Modules and C...

Page 4: ...4 Rockwell Automation Publication 1756 UM001O EN P October 2014 Summary of Changes Notes...

Page 5: ...Install the SD Card 25 Remove the SD Card 26 Install the ESM 28 Uninstall the ESM 29 Chapter2 Installthe1756 L6xController Before You Begin 35 1756 L6x Controller Parts 35 Parts Not Included with the...

Page 6: ...y 71 Clear the Program from On board NVS Memory 71 Estimate the ESM Support of the WallClockTime 72 Maintain the Battery Only 1756 L6x Controllers 72 Check the Battery Status 72 1756 BA1 or 1756 BATA...

Page 7: ...on1756 L6x Controllers 1756 L6x Controller Serial Port 102 ControlLogix Chassis Serial Communication Options 102 Communication with Serial Devices 103 DF1 Master Protocol 104 DF1 Point to Point Protoc...

Page 8: ...IP Considerations 141 Determine When Data is Updated 141 Chapter9 DevelopMotionApplications Motion Control Options 143 Motion Overview 144 Obtain Axis Information 144 Program Motion Control 145 Exampl...

Page 9: ...Redundancy 179 Build a Redundant System 179 ControlNet Considerations in Redundant Systems 180 EtherNet IP Considerations in Redundant Systems 180 IP Address Swapping 180 Redundancy and Scan Time 181...

Page 10: ...ruary 2012 200 1756 UM001L EN P November 2011 200 1756 UM001K EN P May 2011 200 1756 UM001J EN P July 2010 201 1756 UM001I EN P January 2007 201 1756 UM001H EN P July 2008 201 1756 UM001G EN P January...

Page 11: ...gix5000 controllers for discrete process batch motion safety and drive based solutions The Studio 5000 environment is the foundation for the future of Rockwell Automation engineering design tools and...

Page 12: ...y application requirements for GuardLogix 5570 controllers in Studio 5000 version 21 or later projects GuardLogix Controllers User Manual publication 1756 UM020 Provides information on how to install...

Page 13: ...e in redundant systems For more information about controllers and redundant systems see Chapter 12 Extreme Environment ControlLogix Controllers The extreme environment ControlLogix controllers catalog...

Page 14: ...rsion 12 06 00or later 1756 L62 B Version 13 04 00 or later 1756 L63 A IfnotusingaCompactFlash card version 10 07 00 or later If using a CompactFlash card version 11 16 00 or later 1756 L63 B Version...

Page 15: ...vides detailed information about ControlLogix redundancy systems ControlLogix HART Analog I O Modules User Manual publication 1756 UM533 Provides information for using HART analog I O modules ControlL...

Page 16: ...ibutes Logix5000 Controllers I O and Tag Data Programming Manual publication 1756 PM004 Provides information for creating and configuring program tags for optimal task and program execution Logix5000...

Page 17: ...nd Grounding Guidelines Application Data publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system Product Certifications website http www rockwellautomat...

Page 18: ...18 Rockwell Automation Publication 1756 UM001O EN P October 2014 Preface Notes...

Page 19: ...dequate protection to radio communication services in such environments This equipment is supplied as open type equipment It must be mounted within an enclosure that is suitably designed for those spe...

Page 20: ...nt unless power has been removed or the area is known to be nonhazardous Do not disconnect connections to this equipment unless power has been removed or the area is known to be nonhazardous Secure an...

Page 21: ...ING This equipment shall be mounted in an ATEX certified enclosure with a minimum ingress protection rating of at least IP54 asdefinedinIEC60529 andusedinanenvironmentofnotmorethanPollutionDegree2 asd...

Page 22: ...1784 SD1 1 GB or 1784 SD2 2 GB ESM without WallClockTime back up power 1756 ESMNSE This ESM does not have WallClockTime back up power UsethisESMif your applicationrequires that the installed ESM depl...

Page 23: ...cts may create electrical resistance that can affect controller operation ATTENTION Prevent Electrostatic Discharge This equipment is sensitive to electrostatic discharge which can cause internal dama...

Page 24: ...into place 3 Verify that the controller is flush with the power supply or other installed modules After you have inserted the controller into the chassis reference the Troubleshoot the Module on page...

Page 25: ...ved to the card 1 Verify that the SD card is locked or unlocked according to your preference For more information about the lock unlock memory settings see the Load or Store to the Memory Card on page...

Page 26: ...oller ships with an SD card installed Complete these steps to remove the SD card from the 1756 L7x controller Logix 55xx RUN FORCE SD OK Logix 55xx RUN FORCE SD OK WARNING When you insert or remove th...

Page 27: ...cards available from Rockwell Automation catalog number 1784 SD1 or 1784 SD2 WhileotherSD cardscanbeusedwiththecontroller Rockwell Automation has not tested the use of those cards with the controller...

Page 28: ...oller 2 Slide the ESM back until it snaps into place The ESM begins charging after installation The following status messages indicate charging status ESM Charging CHRG After you install the ESM it ca...

Page 29: ...ur controller can change WARNING If your application requires the ESM to deplete its residual stored energyto 40 Joule orlessbefore you transport itinto or out ofthe application useonlythe1756 SP ESMN...

Page 30: ...ed controller Use the 1756 ESMNSE module if your application requires that the installed ESM deplete its residual stored energy to 40 Joule or less before transporting it into or out of your applicati...

Page 31: ...tion 1756 UM001O EN P October 2014 31 Install the 1756 L7x Controller Chapter 1 2 Use your thumb to press down on the black release and pull the ESM away from the controller Logix 55xx RUN FORCE SD OK...

Page 32: ...32 Rockwell Automation Publication 1756 UM001O EN P October 2014 Chapter 1 Install the 1756 L7x Controller Notes...

Page 33: ...issuppliedasopen typeequipment Itmustbemountedwithinanenclosurethatissuitablydesignedforthose specific environmental conditions that will be present and appropriately designed to prevent personal inju...

Page 34: ...mponents may impair suitability for Class I Division 2 Ifthisproductcontainsbatteries theymustonly be changed in an area known to be nonhazardous WARNING RISQUE D EXPLOSION Couper le courant ou s assu...

Page 35: ...to your application ATTENTION Personnel responsible for the application of safety related programmable electronic systems PES shall be aware of the safety requirements in the application of the system...

Page 36: ...ries B Controller on page 37 Remove a CompactFlash Card from a Series B Controller on page 38 InstallaCompactFlashCardinaSeriesAController Complete these steps to install a CompactFlash card in a seri...

Page 37: ...mpactFlash card from a series A controller 1 Lay the controller in its side with the mode switch facing left 2 Raise the locking clip 3 Gently pull the card out of the slot Install aCompactFlash Cardi...

Page 38: ...lease the latch and secure it over the CompactFlash card RemoveaCompactFlashCardfromaSeriesBController Complete these steps to remove a CompactFlash card from a series B controller 1 Verify that the O...

Page 39: ...disconnect the battery an electrical arc can occur Thiscouldcauseanexplosioninhazardouslocationinstallations Besure that power is removed or the area is nonhazardous before proceeding For safety info...

Page 40: ...battery slot 3 Write the date on the battery label 4 Attach the label to the inside of the controller door InstalltheBatteryonaSeriesBController Complete these steps to install the battery on a serie...

Page 41: ...tall the 1756 L6x Controller Chapter 2 1 Plug the battery connector into the battery port Red Black 2 Insert the battery with the arrow pointing up into the battery slot 3 Write the date on the batter...

Page 42: ...zardous locationinstallations Besurethatpowerisremovedortheareaisnonhazardous before proceeding Repeated electrical arcing causes excessive wear to contacts on both the controller and its mating conne...

Page 43: ...y that the controller is flush with the power supply or other installed modules 6 Verify that the top and bottom latches are engaged After you have inserted the controller into the chassis you can ref...

Page 44: ...from the chassis 1 Press the locking tabs on the top and bottom of the controller 2 Slide the controller out of the chassis WARNING When you insert or remove the module while backplane power is on an...

Page 45: ...tion module For information on Double Data Rate DDR backplane communication usage see Double Data Rate DDR Backplane Communication on page 88 Topic Page Make Connections 45 Connect to the 1756 L7x Con...

Page 46: ...e and runs at 12 Mbps To use the USB port of the controller you must have RSLinx software version 2 56 or later installed on your workstation Use a USB cable to connect your workstation to the USB por...

Page 47: ...iver To configure a USB driver perform this procedure 1 Connect your controller and workstation by using a USB cable The Found New Hardware Wizard dialog box appears 2 Click any of the Windows Update...

Page 48: ...click Next The software is installed 4 Click Finish to configure your USB driver To browse to your controller in RSLinx software click the RSWho icon The RSLinx Workstation organizer appears Your cont...

Page 49: ...ou make your own serial cable Limit the length to 15 2 m 50 ft Wire the connectors as shown Attach the shield to the connectors Plug the controller end of the serial cable into the RS 232 port on the...

Page 50: ...ter 3 Start Using the Controller Configure the Serial Driver Use RSLinx software to configure the RS 232 DF1 device driver for serial communication To configure the driver perform this procedure 1 In...

Page 51: ...ver 3 Click Add New The Add New RSLinx Driver dialog box appears 4 Type the driver name and click OK 5 Specify the serial port settings a From the Comm Port pull down menu choose the serial port on th...

Page 52: ...equired for your controller Task Page Determine Required Controller Firmware 52 Obtain Controller Firmware 53 Use ControlFLASH Software to Upgrade Firmware 53 Use AutoFlash to Upgrade Firmware 56 IMPO...

Page 53: ...Verify that the network connection is made and the network driver has been configured in RSLinx software 2 Start ControlFLASH software and click Next to begin the upgrade process 3 Select the catalog...

Page 54: ...Using the Controller 5 Select the controller and click Next 6 Select the firmware revision that you want to upgrade to and click Next 1756 L7x Controller with USB Network Driver 1756 L6x Controller wi...

Page 55: ...see the following example there is likely an anomaly with your firmware files To recover perform the following Go to http www rockwellautomation com support and download the firmware revision you are...

Page 56: ...eps 1 Verify that the network connection is made and your network driver is configured in RSLinx software 2 Use the Logix Designer application to create a controller project at the version you need 3...

Page 57: ...Start Using the Controller Chapter 3 4 Select your controller and click Update Firmware 5 Select the firmware revision to upgrade to and click update 6 Click Yes The firmware upgrade begins 1756 L6x C...

Page 58: ...To go online with the controller you must specify a communication path in the Logix Designer application You specify the communication path after you create a controller program Complete these steps t...

Page 59: ...application onto the controller You can download a project in two ways Use the Who Active Dialog Box to Download on page 59 Use the Controller Status Menu to Download on page 60 Use the Who Active Dia...

Page 60: ...ontroller When you upload a project to the controller it copies the project from the controller to the Logix Designer application To upload a project use one of these methods Use the Who Active Dialog...

Page 61: ...in the Who Active dialog box 2 Click Upload after verifying the project that you are uploading in the Connected to Upload dialog box Use the Controller Status Menu to Upload After you have set a commu...

Page 62: ...and firmware upgrades are prohibited See Table 5 for a complete list of prohibited features The physical mode switch can complement other authorization and authentication methods that similarly contro...

Page 63: ...unauthorized access to the controller or potential tampering with the program of the controller configuration or device firmware Place the mode switch in REM or PROG mode during controller commissioni...

Page 64: ...sonnelanddamagetoequipment RemoteProgrammode Thismodeisidentical to Program mode RemoteTestmode Thecontrollermodeduring which code is executing I O is notcontrolled and limited editing operations are...

Page 65: ...memory for the controller Store to the Memory Card After you are online with the controller and have changed the controller to Program or Remote Program mode complete these steps to store a project t...

Page 66: ...e andthelockedstatusisindicatedinthebottom leftcornerof the Nonvolatile memory Load Store dialog box See step 4 If the memory card is not installed a message in the lower left corner of the Nonvolatil...

Page 67: ...e Enable automatic firmware updates so I O devices in the configuration tree of the controller that are configured to use Exact Match Keying are updated as required Enable and Store Files to Image 1 1...

Page 68: ...store is in progress When the store is complete the following occurs OK indicator on the controller is momentarily red then solid green 1756 L7x While the store is in progress the following occurs OK...

Page 69: ...Manual publication 1756 PM017 With these controllers These indications show the store status 1756 L6x While theload is in progress the following occurs OK indicator on the controller is flashing gree...

Page 70: ...powered chassis Clear the program from the on board NVS memory of the 1756 L7x controller For more information see Clear the Program from On board NVS Memory The following table describes the ESMs IMP...

Page 71: ...rns off The following graphic shows the OK status indicator on the controller 2 Leave the ESM on the controller until the OK status indicator is Off Clear the Program from On board NVS Memory If your...

Page 72: ...or further information see the Additional Resources section in the preface Check the Battery Status When the battery is approximately 95 discharged these low battery warnings are indicated The BAT is...

Page 73: ...prevent possible battery leakage even if the BAT status indicator is off replace a battery according to this schedule EXAMPLE If a controller is Off at one of these times 8 hr day during a 5 day work...

Page 74: ...rature Battery Life Before BAT Status Indicator Turns On Battery Life After BAT Status IndicatorTurnsOnandPowerisOff Power Off 100 Power Off 50 Yearly Decrease 60 C 140 F 22 days 43 days 23 6 hrs 25 C...

Page 75: ...Battery Life Before the BAT Status Indicator Turns Red Project Size 1 MB 2 MB 4 MB 8 MB 16 MB 25 35 C 13 95 F 3 per day 3 years 3 years 26 months 20 months 10 months 2 per day or less 3 years 3 years...

Page 76: ...weeks 21 40 C 69 8 104 F 3 per day 18 weeks 14 weeks 10 weeks 8 weeks 5 weeks 1 per day 24 weeks 21 weeks 18 weeks 16 weeks 11 weeks 1 per month 26 weeks 26 weeks 26 weeks 26 weeks 26 weeks 41 45 C 1...

Page 77: ...45 85 C 49 185 F such as during transportation To avoid leakage or other hazards do not store batteries above 60 C 140 F for more than 30 days This product contains a sealed lithium battery that need...

Page 78: ...78 Rockwell Automation Publication 1756 UM001O EN P October 2014 Chapter 3 Start Using the Controller Notes...

Page 79: ...guration options that are available with ControlLogix controllers StandaloneControllerandI O One of the simplest ControlLogix configurations is a standalone controller with I O assembled in one chassi...

Page 80: ...ces can be connected to the ControlLogix chassis via multiple communication networks For example a system can be connected to the following Distributed I O via an Ethernet network A PowerFlex drive co...

Page 81: ...upplies Studio 5000 environment For more information to design and select components for your ControlLogix system see the ControlLogix Selection Guide publication 1756 SG001 See the Additional Resourc...

Page 82: ...56 L73 1756 L74 1756 L75 Controller tasks 32 tasks 100 programs task Event tasks all event triggers 32 tasks 1000 programs task Event tasks all event triggers Communication ports 1 port RS 232 serial...

Page 83: ...7x controllers ship with an SD card installed We recommend that you leave the SD card installed so ifa fault occurs diagnostic data is automaticallywrittentothecardandRockwellAutomationcanusethedatato...

Page 84: ...ate the defined device With Compatible Module you can typically replace a device with another device that has the following characteristics Same catalog number Same or higher Major Revision Minor Revi...

Page 85: ...Net Network Communication 89 DeviceNet Network Communication 92 Data Highway Plus DH Network Communication 95 Universal Remote I O RIO Communication 97 Foundation Fieldbus Communication 98 HART Commun...

Page 86: ...lution Figure 10 EtherNet IP Network Example For more information about using EtherNet IP modules see the EtherNet IP Modules in Logix5000 Control Systems User Manual publication ENET UM001 ControlLog...

Page 87: ...ector on the module 1756 EN2TR Perform the same functions as a 1756 EN2T module Support communication on a ring topology for a Device Level Ring DLR single fault tolerant ring network 1756 EN2TRXT Per...

Page 88: ...7x controller The following communication modules support DDR when used with the 1756 L7x controller Minimum series are indicated as follows 1756 EN2T C 1756 EN2TR B 1756 EN2TF B 1756 EN2TXT C 1756 EN...

Page 89: ...et Network Communication The ControlNet network is a real time control network that provides high speed transport of time critical I O and interlocking data and messaging data This includes the upload...

Page 90: ...e information about using ControlNet modules see ControlNet Modules in Logix5000 Control Systems User Manual publication CNET UM001 ControlLogix ControlNet Module Features The ControlNet communication...

Page 91: ...CN2 Perform the same functions as a 1756 CNB module Provide twice the capacity for more demanding applications 1756 CN2R Perform the same functions as a 1756 CN2 module Support redundant ControlNet m...

Page 92: ...ess to the intelligence present in your devices by letting you connect devices directly to plant floor controllers without having to hard wire each device into an I O module With a ControlLogix system...

Page 93: ...ual publication DNET UM004 ControlLogix DeviceNet Module Features The DeviceNet communication module provides these features Supports messaging to devices not controller to controller Shares a common...

Page 94: ...ces on the network Each device on your network requires some input or output memory of the scanner Some devices send and receive data so they need input and output memory The 1756 DNB module supports...

Page 95: ...data sharing Cellular level data sharing You can connect a maximum of 32 stations to one DH link Channel A supports 57 6 Kbps 115 2 Kbps and 230 4 Kbps Channel B supports 57 6 Kbps and 115 2 Kbps Tabl...

Page 96: ...g table for the 1756 DHRIO or 1756 DHRIOXT module The 1756 DHRIO or 1756 DHRIOXT module can route a message through up to four communication networks and three chassis This limit applies only to the r...

Page 97: ...r a Universal Remote I O Network For the controller to control I O over a universal remote I O network you must complete these tasks Table 21 RIO Modules and Capabilities RIO Module Is used to 1756 RI...

Page 98: ...l racks to each channel used in Remote I O Scanner mode Both channels of a 1756 DHRIO or 1756 DHRIOXT module cannot scan the same partial or full rack address Both module channels can communicate to 0...

Page 99: ...te Transducer is an open protocol that is designed for process control instrumentation RSFieldbus Software 24V DC Power Supply Power Conditioner Field Device Field Device 1788 EN2FFR Linking Device Co...

Page 100: ...V The HART protocol also provides diagnostic data from the transmitter Figure 16 HART Protocol Example For more information about using the HART I O modules see the ControlLogix HART Analog I O Module...

Page 101: ...6x Controller Serial Port 102 Communication with Serial Devices 103 DF1 Master Protocol 104 DF1 Point to Point Protocol 105 DF1 Radio Modem Protocol 106 DF1 Slave Protocol 109 DH 485 Protocol 110 ASCI...

Page 102: ...igure 17 ControlLogix DF1 Device Communication Example ControlLogix Chassis Serial Communication Options You can use the serial port of the ControlLogix controller or use ProSoft modules in the Contro...

Page 103: ...d message transmission between the master and slave nodes 104 DF1 Point to Point Communicate between the controller and one other DF1 protocol compatible device Program the controller via the serial p...

Page 104: ...ster slave network includes one controller that is configured as the master node and up to 254 slave nodes Link slave nodes by using modems or line drivers A master slave network can have node numbers...

Page 105: ...to Point protocol is used when connecting from the controller to one DF1 device DF1 Point to Point protocol is the default System mode protocol Default parameters are listed in Table 24 Table 24 Defa...

Page 106: ...node ignores any packets received that have a destination address other than its own except for broadcast packets and passthru packets Unlike DF1 full duplex or DF1 half duplex protocols the DF1 radio...

Page 107: ...modem network If the devices on the network are ControlLogix controllers you must configure them with the DF1 radio modem driver via RSLogix 5000 software version 17 01 02 or later or Logix Designer...

Page 108: ...gn node addresses in sequential order Initiators such as personal computers are assigned the lowest address numbers to minimize the time that is required to initialize the network Error Detection Clic...

Page 109: ...The other nodes are slave stations and must wait for permission from the master before transmitting Make these considerations when using the DF1 Slave protocol If multiple slave stations are used on t...

Page 110: ...more information see the ControlLogix DH 485 Communication Module User Manual publication 1756 UM532 The DH 485 protocol uses RS 485 half duplex as its physical interface RS 485 is a definition of el...

Page 111: ...NAL TE TERM T A A A Computer with Studio 5000 Environment ControlLogix ControlLogix 1756 DH485 1756 ENBT AIC Link Coupler AIC Link Coupler AIC Link Coupler AIC Link Coupler AIC Link Coupler AIC Link C...

Page 112: ...he following Read ASCII characters from a weigh scale module or barcode reader Send and receive messages from an ASCII triggered device such as a MessageView terminal After you configure the controlle...

Page 113: ...Properties and click the Serial Port tab 2 From the Mode pull down menu choose the mode that corresponds to your intended protocol Use this table as a reference 3 Specify the remaining properties in...

Page 114: ...meters for the protocol 5 If you are using the User mode protocol ASCII click the User Protocol tab and specify the ASCII parameters After you have configured the controller for ASCII protocol communi...

Page 115: ...roadcast feature can be configured by using ladder logic or structured text The broadcast feature can also be set by modifying the path value of a message tag in the tag editor To configure and progra...

Page 116: ...Poll Timeout N A 3000 N A Reply Message Wait 5 N A N A Polling Mode Message pollstheslavebyusingtheMessage instruction Slave initiates messages for slave to slave broadcast Standard schedules polling...

Page 117: ...Message instruction according to the protocol you are using For more information to specify the configuration details see the Logix5000 Controllers General Instruction Reference Manual publication 17...

Page 118: ...l establish a serial port connection and execute a ladder logic routine Two controller projects specific to the Modbus network are available as sample programs within the Logix Designer application Mo...

Page 119: ...to remote I O or remote communication modules Controller to remote I O rack optimized modules Produced and consumed tags Messages Controller access via the Logix Designer application Controller access...

Page 120: ...that can consume a produced tag you also reduce the number of connections the controller has available for other operations like communication and I O Table 26 Produced and Consumed Tag Definitions T...

Page 121: ...aces The MSG instruction is a ladder logic output instruction that asynchronously reads or writes a block of data to or from another module over Table 27 Produced and Consumed Tag Connections This Typ...

Page 122: ...g connections Calculate Connection Use The total connection requirements of a ControlLogix system include local and remote connections Table 29 Message Types Message Type Communication Method Connecte...

Page 123: ...756 EN2T 1756 EN2TXT or 1756 EN2TR EtherNet IP communication module 1756 ENBT EtherNet IP communication module 0 1756 EWEB EtherNet IP web server module 0 1756 DNB DeviceNet communication module 2 175...

Page 124: ...rk Produces one tag that the 1794 FlexLogix controller consumes Is programmed via the Logix Designer application DeviceNet module in a remote chassis 2 Other remote communication adapter 1 Produced ta...

Page 125: ...ble 33 Connections Example Calculation Connection Type Device Quantity Connections per Device Total Connections Controller to local I O modules 4 1 4 Controller to 1756 ENBT module 1 0 0 Controller to...

Page 126: ...126 Rockwell Automation Publication 1756 UM001O EN P October 2014 Chapter 7 Manage Controller Communication Notes...

Page 127: ...se with I O modules 1492 PanelConnect modules and cables can be used to connect input modules to sensors For more information about ControlLogix I O module features specifications and wiring options s...

Page 128: ...le Add Local I O to the I O Configuration If you are adding local I O add the I O module to the backplane with the controller To add an I O module to the local chassis complete these steps 1 Right cli...

Page 129: ...w speed counter Programmable limit switch Remote I O Modules Remote I O refers to I O that is not in the local chassis and is connected to the controller via a communication network The ControlLogix c...

Page 130: ...he I O Configuration folder in the Logix Designer application complete these steps 1 Add a communication module to the backplane that contains the controller 2 Specify the communication module propert...

Page 131: ...ion 6 Right click the backplane of the newly added communication module and choose New Module 7 Select the I O module that you want to add and click OK 8 Specify the Module Properties according to you...

Page 132: ...t designed for use with a specific controller Examples of distributed I O that can be used with Logix5000 controllers include the following 1794 FLEX I O modules 1734 POINT I O modules 1797 FLEX Ex I...

Page 133: ...to the I O Configuration If you are adding distributed I O add the I O modules to the communication adapter of the I O To add distributed I O to the I O Configuration folder for the ControlLogix cont...

Page 134: ...properties see the Additional Resources section in the preface 3 Right click the communication network and choose New Module 4 Add the communication adapter for the distributed I O platform that you a...

Page 135: ...e Module Properties dialog box in the I O Configuration folder A MSG instruction in program logic Use a MSG instruction of type Module Reconfigure to send new configuration information to an I O modul...

Page 136: ...136 Rockwell Automation Publication 1756 UM001O EN P October 2014 Chapter 8 I O Modules...

Page 137: ...tware you are using Later versions have more modules and devices that can be added while online You can add these modules and devices to the local or remote chassis via the unscheduled portion of a Co...

Page 138: ...timized connections Digital I O modules can also be added as direct connections Analog I O modules can be added only as direct connections Disable the Change of State COS feature on digital input modu...

Page 139: ...les provides increased capacity for adding I O while online compared to 1756 CNB or 1756 CNBR modules With this increased capacity you can easily add I O and increase ControlNet connections that are u...

Page 140: ...te one ControlNet network for I O For the dedicated ControlNet network verify that there is little or none of the following HMI traffic MSG traffic Programming workstations 9 15 00 3 3 13 20 4 0 7 00...

Page 141: ...siderations When you add I O modules to the EtherNet IP network make these considerations The EtherNet IP I O modules that you add can be added as these connection types Rack optimized connections inc...

Page 142: ...Data is sent to the backplane at the RPI and at the end of each task Data is sent to the backplane at the RPI and at the change of a specified point DataissenttothebackplaneattheRTS and RPI Dataissent...

Page 143: ...EtherNet IP connected drives and sercos interface connected drives Analog drives support 10V analog output and can interface with various feedback device types including quadrature encoder SSI and LV...

Page 144: ...hese methods Double click the axis to open the Axis Properties dialog box Use a Get System Value GSV or Set System Value SSV instruction to read or change the configuration at runtime View the Quick V...

Page 145: ...y using motion control instructions in these programming languages Ladder Diagram LD Structured Text ST Sequential Function Chart SFC Figure 26 Motion Control Instruction Example In this example a sim...

Page 146: ...nstruction jogs the axis forward at 8 units second If Jog_Pushbutton off then the MAS instruction stops the axis at 100 units second2 Make sure that Change Decel is Yes Otherwise the axis decelerates...

Page 147: ...efficient application execution Application elements include the following Tasks Programs Routines Parameters and Local Tags Topic Page Elements of a Control Application 147 Tasks 148 Programs 151 Rou...

Page 148: ...mong the operations in your application The controller executes only one task at a time One task can interrupt the execution of another and take control In any given task multiple programs can be used...

Page 149: ...ure 29 Tasks Task 32 Task 1 Configuration Status Watchdog Program 1000 Program 1 Main Routine Fault Routine Other Routines Controller global Tags I O Data System shared Data Controller Fault Handler P...

Page 150: ...background Any CPU time that is not allocated to other operations such asmotion communication and other tasks is used to execute the programs in the continuous task The continuous task runs constantly...

Page 151: ...s it You can configure periodic and event tasks to execute from the lowest priority of 15 up to the highest priority of 1 Configure the task priority by using the Task Properties dialog box Figure 31...

Page 152: ...gram Within a Control Application Figure 33 Programs Controller Fault Handler Task 32 Task 1 Configuration Status Watchdog Program 1000 Program 1 Main Routine Fault Routine Other Routines Controller g...

Page 153: ...to any task show up as unscheduled programs Unscheduled programs within a task are downloaded to the controller with the entire project The controller verifies unscheduled programs but does not execu...

Page 154: ...ciated task and calls the associated program Use logic such as the Jump to Subroutine JSR instruction to call other routines You can also specify an optional program fault routine The controller execu...

Page 155: ...our application as you develop it This example shows data tags that are created within the scope of the Main Program of the controller Figure 37 Tags Example There are several guidelines for creating...

Page 156: ...that are associated with them as there is no indication in the tag browser that extended properties are defined for a tag If however you try to use extended properties that have not been defined for a...

Page 157: ...d from MyArray is configured in the tag properties At least one array element must have a limit that is configured for indirectly referenced array logic to verify For example if MyArray x Max is being...

Page 158: ...n of multiple operations not sequenced Boolean or bit based operations Complex logical operations Message and communication processing Machine interlocking Operations that service or maintenance perso...

Page 159: ...nstructions you can combine your most commonly used logic into sets of reusable instructions You save time when you create instructions for your projects and share them with others Add On Instructions...

Page 160: ...n Add On Instruction Previously you could access the MODULE object data but not from within an Add On Instruction You must create a Module Reference parameter when you define the Add On Instruction to...

Page 161: ...and Set System Value SSV instructions to get and set change controller data The controller stores system data in objects There is no status file as in the PLC 5 processor The GSV instruction retrieves...

Page 162: ...nimum timeout period that once expired without communication causes a timeout is 100 ms The timeout period can be greater depending on the RPI of the application For example if your application uses t...

Page 163: ...Fault_Alert is set Figure 40 GSV Used to Identify I O Timeout For more information about attributes available with the Module object see the Logix5000 Controllers General Instructions Reference Manua...

Page 164: ...major fault causes the execution of the Controller Fault Handler First develop a routine in the Controller Fault Handler that can respond to I O connection faults Then in the Module Properties dialog...

Page 165: ...the overhead time slice has no effect Table 39 shows the ratio between the continuous task and service communication at various system overhead time slices for RSLogix 5000 version 16 03 00 or later a...

Page 166: ...se Run Continuous Task default or Reserve for System Tasks The Run Continue Task radio button is used when there is no communication or background tasks to process controller immediately returns to th...

Page 167: ...ple Controller Projects Logix Designer application includes sample projects that you can copy and modify to fit your application To access the sample projects choose Open Sample Project in the Studio...

Page 168: ...168 Rockwell Automation Publication 1756 UM001O EN P October 2014 Chapter 10 Develop Applications Notes...

Page 169: ...routines and tags Unlike a program an equipment phase runs by a state model and lets you do one activity State model A state model divides the operating cycle of your equipment into a series of states...

Page 170: ...nProgram Controller Tags Controller Add Water Phase A PHASE tag gives you the status of an equipment phase An equipment phase directs one activity of your equipment A state model divides the activity...

Page 171: ...itions and how the states relate to each other Each state can be described as an Acting state or Waiting state Figure 44 PhaseManager State Transitions Table 41 States in PhaseManager Software State D...

Page 172: ...ansition Commands Table 42 Acting States in the PhaseManager State Model State Question to Ask Resetting How does the equipment get ready to run Running What does the equipment do to make product Hold...

Page 173: ...Transition Description Command A command tells the equipment to do something For example the operator pushes the start button to begin production and the stop button to halt production The PhaseManage...

Page 174: ...ng Held Holding Held Holding Held Restarting Restarting None Stopping Stopped Stopping Stopped Stopping Stopped Aborting Aborted Aborting Aborted Aborting Aborted Table 45 Instructions for Use with Ph...

Page 175: ...dule in the primary chassis A major fault in the user program on the primary controller Loss of communication between the primary chassis and remote ControlNet or EtherNet IP modules Disconnection of...

Page 176: ...uts can experience a change in state bump during a switchover During the switchover outputs that are controlled by the highest priority task experience a bumpless switchover For example outputs do not...

Page 177: ...entical in firmware revision in series slot placement and module type 2 ControlLogix EtherNet IP communication modules Use the 1756 EN2T 1756 EN2TXT or 1756 EN2TR modules Must be identical in firmware...

Page 178: ...ser Manual publication 1756 UM535 provides detailed information about minimizing the scan time impact You do not need a redundancy specific version of Logix Designer software but it must match your En...

Page 179: ...to design and build an enhanced redundant system see the ControlLogix Enhanced Redundancy System User Manual publication 1756 UM535 Table 47 Comparison of Enhanced Redundancy to Standard Redundancy Fe...

Page 180: ...the primary controller Producing and consuming data For information on EtherNet IP considerations for enhanced redundant systems see the ControlLogix Enhanced Redundancy System User Manual publicatio...

Page 181: ...struction wrote a value even the same value since the last crossload Crossloading also requires a small amount of overhead time 1 ms per crossload to tell the secondary controller which program the pr...

Page 182: ...182 Rockwell Automation Publication 1756 UM001O EN P October 2014 Chapter 12 Redundant Systems Notes...

Page 183: ...tions in the following ways Warning signal on the main screen next to the module This occurs when the connection to the module is broken The controller state also indicates Faulted and the Controller...

Page 184: ...a screen On the Module Info tab in the Status section the Major and Minor Faults are listed along with the Internal State of the module Notification in the Tag Editor General module faults are also re...

Page 185: ...nformation in the Major Faults tab of the Module Properties screen you must check the Major Fault on Controller option in the Connection tab When you are monitoring the configuration properties of a m...

Page 186: ...e OK indicator to determine if the controller is powered and determine the state of the controller TEST The controller is conducting power up tests PASS Power up tests have been successfully completed...

Page 187: ...lure with the ESM has occurred and the controller is incapable of saving of the program in the event of a powerdown Replace the ESM before removing power to the controller so the controller program is...

Page 188: ...ontreeofLogixDesignerapplication Inaddition thefaultcodeisindicatedwithabriefdescriptionofthe fault For example I O Fault My_CNet 3 0107 Connection Not Found indicates that a connection to a module in...

Page 189: ...able 50 Major Fault Status Messages Type Code Message 1 1 Run Mode Powerup 1 60 Nonrecoverable 1 61 Nonrecoverable Diagnostics Saved on CF Card 1 62 Nonrecoverable Diagnostics and Program Saved on SD...

Page 190: ...1 13 Sercos Communications Fault 11 14 Inactive Drive Enable Input Detected 11 15 Drive Phase Loss Detected 11 16 Drive Guard Fault 11 32 Motion Task Overlap Fault 11 33 CST Reference Loss Detected 12...

Page 191: ...tential corrective actions For details about each I O fault code see the Logix5000 Major Minor and I O Fault Codes Programming Manual publication 1756 PM014 18 3 CIP Motion Axis Fault 18 4 CIP Motion...

Page 192: ...Not Configured 0111 RPI Out of Range 0113 Out of Connections 0114 Wrong Module 0115 Wrong Device Type 0116 Wrong Revision 0117 Invalid Connection Point 0118 Invalid Configuration Format 0119 Module No...

Page 193: ...fety I O FD20 No Safety Task FE01 Invalid Connection Type FE02 Invalid Update Rate FE03 Invalid Input Connection FE04 Invalid Input Data Pointer FE05 Invalid Input Data Size FE06 Invalid Input ForcePo...

Page 194: ...ober 2014 Appendix A Troubleshoot the Module FE23 Invalid Unicast Allowed FF00 No Connection Instance FF01 Path Too Long FF04 Invalid State FF08 Invalid Path FF0B Invalid Config FF0E No Connection All...

Page 195: ...Test mode Steady green The controller is in Run mode Table 53 FORCE Indicator State Description Off No tags contain I O force values Solid amber I O forces are active enabled though I O force values a...

Page 196: ...t requires a firmware upgrade If a firmware upgrade is required the status display indicates Firmware Installation Required To upgrade firmware seeUpgrade Controller Firmware on page 52 It is a previo...

Page 197: ...ng green One or more devices in the I O configuration of the controller are not responding For more information go online with the Logix Designer application to check the I O configuration of the cont...

Page 198: ...solid red before a power down the indicator remains red while the controller is completing a program save to internal nonvolatile memory Table 61 OK Indicator State Description Off No power is applied...

Page 199: ...your hardware or software that is based on information added with previous revisions of this manual Topic Page 1756 UM001N EN P November 2012 200 1756 UM001M EN P February 2012 200 1756 UM001L EN P No...

Page 200: ...ion information for 1756 L72 1756 L73 1756 L74 and 1756 L75 controllers Added upgrade restrictions Added information about mode switch operation on the controller Controller mode can be changed inthe...

Page 201: ...anddevices that can be added while online withthe Logix Designer application updated ControlNet network considerations that must be made when adding modulesor devices while online and updated EtherNe...

Page 202: ...nicate with a PanelView Terminal over a EtherNet IP Network section Added the Communicate with an RSView 32 Project over an EtherNet IP Network section Added the Add I O Modules section Added the Crea...

Page 203: ...6 EN2TSC uses 87 1756 EN2TXT uses 87 1756 EN3TR uses 87 1756 ENBT uses 87 1756 ESMCAP controller parts 21 ESM 30 1756 ESMCAPXT ESM 30 1756 ESMNRM 30 controller parts 22 ESM 30 1756 ESMNRMXT ESM 30 175...

Page 204: ...use 122 change equipment phase 173 chassis ControlLogix list 128 insert controller 23 42 communication Data Highway Plus 95 96 DH 485 network 110 Foundation Fieldbus 98 HART 99 network options 82 pat...

Page 205: ...C RSP 119350 22 serial cable 35 USB cable 22 ControlLogix chassis list 128 design system 81 I O remote 129 selection 127 redundancy about 175 remote I O local 127 slot filler 128 ControlLogix XT chass...

Page 206: ...197 1756 L7x 195 Foundation Fieldbus 98 G general status messages 186 GSV fault code 163 monitor connection 163 H HART See Highway Addressable Remote Transducer Highway Addressable Remote Transducer 9...

Page 207: ...y Plus 96 Data Highway Plus DH See Data Highway Plus DeviceNet 92 EtherNet IP 86 EtherNet IP redundancy 180 Foundation Fieldbus 98 HART 99 universal remote I O 97 nonvolatile memory 83 O obtain axis i...

Page 208: ...ice driver 50 indicator 1756 L6x 197 RSWho set path 58 S SAMTEC RSP 119350 controller parts 22 scan time redundancy and 181 scheduled program 153 script file error 55 SD card 1784 SD1 21 install 25 lo...

Page 209: ...sume 119 in project 155 produce 119 task continuous 150 event 150 in project 148 periodic 150 priority 151 time slice 165 transistion PhaseManager 172 type USB 46 U uninstall 1756 L6x battery 39 1756...

Page 210: ...210 Rockwell Automation Publication 1756 UM001O EN P October 2014 Index Notes...

Page 211: ......

Page 212: ...Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not fu...

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