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Publication 1766-RM001A-EN-P - October 2008

Process Control Instruction

339

Tuning Parameters

The table below shows the tuning parameter addresses, data formats, and
types of user program access. See the indicated pages for descriptions of
each parameter.

Table 1:

Tuning Parameter
Descriptions

Address

Data Format Range

Type

User
Program
Access

For More
Information

KC - Controller Gain - K

c

PD10:0.KC

word (INT)

0…32,767

control

read/write

TI - Reset Term - T

i

PD10:0.Ti

word (INT)

0…32,767

control

read/write

TD - Rate Term - T

d

PD 10:0.TD

word (INT)

0…32,767

control

read/write

TM - Time Mode

PD10:0.TM

binary

0 or 1

control

read/write

LUT - Loop Update Time

PD10:0.LUT

word (INT)

1…1024

control

read/write

ZCD - Zero Crossing Deadband

PD10:0.ZCD

word (INT)

0…32,767

control

read/write

FF - Feed Forward Bias

PD10:0.FF

word (INT)

-16,383…+16,383

control

read/write

SE - Scaled Error

PD10:0.SE

word (INT)

-32,768…+32,767

status

read only

AM - Automatic/Manual

PD10:0/AM

binary (bit)

0 or 1

control

read/write

CM - Control Mode

PD10:0/CM

binary (bit)

0 or 1

control

read/write

DB - PV in Deadband

PD10:0/DB

binary (bit)

0 or 1

status

read/write

RG - PLC 5 Gain Range

PD10:0/RG

binary (bit)

0 or 1

control

read/write

SC - Setpoint Scaling

PD10:0/SC

binary (bit)

0 or 1

control

read/write

TF - Loop Update Too Fast

PD10:0/TF

binary (bit)

0 or 1

status

read/write

DA - Derivative Action Bit

PD10:0/DA

binary (bit)

0 or 1

control

read/write

UL - CV Upper Limit Alarm

PD10:0/UL

binary (bit)

0 or 1

status

read/write

LL - CV Lower Limit Alarm

PD10:0/LL

binary (bit)

0 or 1

status

read/write

SP - Setpoint Out of Range

PD10:0/SP

binary (bit)

0 or 1

status

read/write

PV - PV Out of Range

PD10:0/PV

binary (bit)

0 or 1

status

read/write

DN - Done

PD10:0/DN

binary (bit)

0 or 1

status

read only

EN - Enable

PD10:0/EN

binary (bit)

0 or 1

status

read only

IS - Integral Sum

PD10:0.IS

long word
(32-bit INT)

-2,147,483,648…2,1
47,483,647

status

read/write

AD - Altered Derivative Term

PD10:0.AD

long word
(32-bit INT)

-2,147,483,648…2,1
47,483,647

status

read only

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Summary of Contents for MicroLogix 1400

Page 1: ...MicroLogix 1400 Programmable Controllers Bulletins 1766 Instruction Set Reference Manual efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 2: ...use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is proh...

Page 3: ...corrected anomalies To use the newest features be sure your controller s firmware is at the following level To upgrade the firmware for a MicroLogix controller visit the MicroLogix web site at http w...

Page 4: ...Publication 1766 RM001A EN P October 2008 4 Summary of Changes Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 5: ...3 Configure Expansion I O Using RSLogix 500 37 Chapter 2 Controller Memory and File Types Controller Memory 40 Data Files 45 Protecting Data Files During Download 47 Static File Protection 49 Password...

Page 6: ...ion 139 Pulse Train Outputs PTOX Function File 143 Pulse Train Output Function File Sub Elements Summary 144 PWM Pulse Width Modulation 158 PWM Function 159 Pulse Width Modulation PWMX Function File 1...

Page 7: ...6 CLR Clear 206 ABS Absolute Value 206 SCL Scale 208 SCP Scale with Parameters 209 SQR Square Root 211 SIN Sine 211 COS Cosine 214 TAN Tangent 216 ASN Arc Sine 218 ACS Arc Cosine 220 ATN Arc Tangent 2...

Page 8: ...opy Word 268 COP Copy File 269 FLL Fill File 271 BSL Bit Shift Left 272 BSR Bit Shift Right 274 FFL First In First Out FIFO Load 277 FFU First In First Out FIFO Unload 279 LFL Last In First Out LIFO L...

Page 9: ...ss Control Instruction The PID Concept 329 The PID Equation 330 PD Data File 331 PID Proportional Integral Derivative 332 Input Parameters 333 Output Parameters 337 Tuning Parameters 339 Runtime Error...

Page 10: ...413 Configuring a Local Message 414 Local Messaging Examples 423 Remote Messages 439 Configuring a Remote Message 442 Configuring a Multi hop Remote Message on EtherNet IP Communication Channel 445 Co...

Page 11: ...ile Status File Overview 552 Status File Details 553 Appendix C Fault Messages and Error Codes Identifying Controller Faults 577 Contacting Rockwell Automation for Assistance 585 Appendix D Protocol C...

Page 12: ...nchronization Between Controllers 647 18498 Quick Start Data Logging DLG 650 Appendix 26 Number Systems Binary Numbers 661 Hexadecimal Numbers 663 Hex Mask 665 Glossary Index MicroLogix 1400 List of I...

Page 13: ...urpose of this Manual This manual is a reference guide for MicroLogix 1400 controller It describes the procedures you use to program and troubleshoot your controller This manual gives you an overview...

Page 14: ...rk wiring Advanced Interface Converter AIC User Manual 1761 UM004 Information on how to install configure and commission a DNI DeviceNet Interface User Manual 1761 UM005 Information on DF1 open protoc...

Page 15: ...I O which is physically located on the controller The controller also allows for adding expansion I O This section discusses the following I O functions Embedded I O on page 16 MicroLogix 1400 Expans...

Page 16: ...ption Input Power User Power Embedded Discrete I O Embedded Analog I O Comm Ports 1766 L32BWA 100 240V AC 24V DC 12 Fast 24V DC Inputs 8 Normal 24V DC Inputs 12 Relay Outputs None 1 RS232 RS485 1 1 Et...

Page 17: ...attach up to seven expansion I O modules in any combination Addressing Expansion I O Slots The figure below shows the addressing for the MicroLogix 1400 and its I O The expansion I O is addressed as s...

Page 18: ...Q8OW6 Output Image For each output module the output data file contains the controller directed state of the discrete output points Bit positions 0 5 correspond to output terminals 0 5 r w read and wr...

Page 19: ...oller directed state of the discrete output points Bit positions 0 15 correspond to output terminals 0 15 r w read and write Word Bit Position 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 r...

Page 20: ...ata file for each configuration is shown below Valid Input Output Data Word Formats Ranges Normal Operating Range Full Scale Range Raw Proportional Data Scaled for PI D 0 10V dc 10 5V dc 32 760 16 380...

Page 21: ...on 1762 IF2OF2 Output Data File For each module slot x words 0 and 1 contain the channel output data Scaled for PID Format Word Bit Position 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 Channel 0 Data...

Page 22: ...the maximum full range value during an over range condition The bits reset when the over range condition clears UIx Under range flag bits for input channels 0 3 These bits are set when the input sign...

Page 23: ...l program for error detection The module continues to convert analog data to the minimum full range value while these bits are set 1 The bits are reset 0 when the error clears 1762 OF4 Output Data Fil...

Page 24: ...s one the module sets the output value to 0V or 0 mA If bit 15 equals zero and bit 14 equals one the module sets the output value to 10 5V DC or 21 mA Scaled for PID Format Word Bit Position 15 14 13...

Page 25: ...details OCx Open circuit indication for channels 0 3 using either RTD or resistance inputs Short circuit detection for RTD inputs only Short circuit detection for resistance inputs is not indicated be...

Page 26: ...User Manual publication 1762 UM002 for additional details OCx Open circuit indication for channels 0 3 OC0 OC3 and the CJC sensor OC4 Ox Over range flag bits for channels 0 3 O0 O3 and the CJC sensor...

Page 27: ...imiter optional not required for Data Files 2 255 s Slot number decimal Embedded I O slot 0 Expansion I O slots 1 7 for MicroLogix 1400 See page 17 for an illustration Word delimiter Required only if...

Page 28: ...O Word 0 I 7 3 Input slot 7 expansion I O Word 3 I 3 1 Input slot 3 expansion I O Word 1 1 The optional Data File Number is not shown in these examples 2 A word delimiter and number are not shown Ther...

Page 29: ...am However the state of the physical output and the output LCD indicator will be set to the forced state Input Filtering The MicroLogix 1400 controllers allow users to configure groups of DC inputs fo...

Page 30: ...e times associated with each input filter setting can be found in your controller s User Manual Analog Inputs The MicroLogix 1400 L32BWAA L32AWAA and L32BXBA support 4 channel 12 bit resolution analog...

Page 31: ...omponents of the input signal at the filter frequency are rejected Frequency components below the filter bandwidth 3 dB frequency are passed with under 3 dB of attenuation This pass band allows the no...

Page 32: ...inputs convert voltage signals into 12 bit values To determine an approximate voltage that an input value represents use the equation shown For example if an input value of 1200 is in the input image...

Page 33: ...this feature using RSLogix 500 RSLogix Micro With an open project 1 Open the Controller folder 2 Open the I O Configuration folder 3 Open slot 0 controller 4 Select the Embedded I O Configuration tab...

Page 34: ...configured for latching behavior When configured for rising edge behavior the input file value is normally off on for 1 scan when a rising edge pulse is detected Scan Number X Scan Number X 1 Scan Nu...

Page 35: ...ilter delay Scan Number X Scan Number X 1 Scan Number X 2 External Input Latched Status Input File Value Input Scan Ladder Scan Output Scan Scan Number X 3 Input Scan Ladder Scan Output Scan Input Sca...

Page 36: ...le value does not represent the external input when the input is configured for latching behavior When configured for falling edge behavior the input file value is normally on off for 1 scan when a fa...

Page 37: ...onfiguration drag the Compact I O module to the slot For automatic configuration you must have the controller connected online to the computer either directly or over a network Click the Read I O Conf...

Page 38: ...Publication 1766 RM001A EN P October 2008 38 I O Configuration Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 39: ...troller The chapter is organized as follows Controller Memory on page 40 Data Files on page 45 Protecting Data Files During Download on page 47 Static File Protection on page 49 Password Protection on...

Page 40: ...cannot be changed Data files 9 255 can be added to your program to operate as bit timer counter or other files shown below Controller User Memory File Types Data Files Function Files Program Files Sp...

Page 41: ...g Point File 9 255 B Bit T Timer C Counter R Control N Integer F Floating Point ST String A ASCII L Long Word MG Message PD PID PLS Programmable Limit Switch RI Routing Information RIX ExtendedRouting...

Page 42: ...data file element 1 user word 1 long word file element 2 user words 1 timer data file element 3 user words For program files a word is the equivalent of a ladder instruction with one operand For examp...

Page 43: ...ogix 1400 controller also supports 128K bytes of battery backed memory for data logging or recipe operations See Chapter 24 for Data Logging and Recipe information To find the memory usage for specifi...

Page 44: ...ile Types Viewing Controller Memory Usage 1 Highlight and open Controller Properties 2 The amount of Memory Used and Memory Left will appear in the Controller Properties window once the program has be...

Page 45: ...Control Data File on page 366 for more information Integer File N 7 9 255 1 The Integer File is a general purpose file consisting of 16 bit signed integer data words Floating Point File F 8 9 255 2 T...

Page 46: ...ssociated with the MSG instruction See Communications Instructions on page 393 for information on the MSG instruction 1 File Number in BOLD is the default Additional data files of tha type can be conf...

Page 47: ...o remain intact This capability is referred to as Data File Download Protection The protection feature operates when A User Program is downloaded via programming software A User Program is downloaded...

Page 48: ...e conditions are not met the entire User Program is transferred to the controller Additionally if the program in the controller contains protected files the Data Protection Lost indicator S 36 10 is s...

Page 49: ...d in combination with MicroLogix 1400 Controller Series A and higher Setting Static File Protection Static File Protection can be applied to the following data file types Output O Input I Status S Bin...

Page 50: ...roller passwords consist of up to 10 digits 0 9 Each controller program may contain two passwords the Password and the Master Password Passwords restrict access to the controller The Master Password t...

Page 51: ...r you can clear the controller memory and download a new User Program You can clear the memory when the programming software prompts you for a System or Master Password to go on line with the controll...

Page 52: ...ller Properties window as shown below When Allow Future Access is deselected the controller requires that the User Program in the controller is the same as the one in the programming device If the pro...

Page 53: ...er you can disable individual data files from being viewed via any web browser by selecting the data file s properties page and checking the Web View Disable check box as shown below Any data file pro...

Page 54: ...ion of individual Data Files on the LCD Using RSLogix 500 RSLogix Micro V8 10 and higher select the data file s properties page and check the LCD Edit Disable check box as shown below Any data file pr...

Page 55: ...Publication 1766 RM001A EN P October 2008 Controller Memory and File Types 55 Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 56: ...Publication 1766 RM001A EN P October 2008 56 Controller Memory and File Types efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 57: ...ollows Overview on page 56 Real Time Clock Function File on page 57 Memory Module Information Function File on page 60 Base Hardware Information Function File on page 62 Communications Status File on...

Page 58: ...Selectable Timed Interrupt function See Using the Selectable Timed Interrupt STI Function File on page 318 for more information Event Input Interrupt EII This file type is associated with the Event I...

Page 59: ...click on Set Date Time in the RTC Function File screen to set the RTC time to the current time on your PC Real Time Clock Function File Feature Address Data Format Range Type User Program Access YR R...

Page 60: ...attery may be ready to fail in the next two weeks In the latter case the replacement battery needs to be replaced with a new one When the battery low indicator bit is clear 0 the battery level is acce...

Page 61: ...gress when the RTA instruction is executed External communications to the RTC takes precedence over the RTA instruction To re activate the RTA instruction the RTA rung must become false and then true...

Page 62: ...d their valid ranges are shown in the table below FT Functionality Type The LSB of this word identifies the type of module installed 1 Memory Module MM1 MMI Function File Parameters Feature Address Da...

Page 63: ...Override bit represents the status of the fault override setting of the program stored in the memory module It enables you to determine the value of the FO bit without actually loading the program fro...

Page 64: ...ing the user program from the memory module See Load Memory Module Always on page 557 for more information MB Mode Behavior The MB Mode Behavior bit represents the status of the mode behavior setting...

Page 65: ...s File Communications Status File Size Controller Number of Word Elements MicroLogix 1400 71 1 word elements TIP You can use the Communications Status File information as a troubleshooting tool for co...

Page 66: ...SVC or REF this bit is cleared 0 2 MCP Outgoing Message Command Pending Bit This bit is set 1 when the controller has one or more MSG instructions enabled and in the communication queue This bit is c...

Page 67: ...ile monitoring them online with the programming software Diagnostic Counter Blocks are shown for DH 485 on page 66 DF1 Full Duplex on page 67 DF1 Half Duplex Slave on page 68 DF1 Half Duplex Master on...

Page 68: ...ys 2 7 Length always 30 8 Format Code always 0 9 Total Message Packets Received 10 Total Message Packets Sent 11 0 7 Message Packet Retries 8 15 Retry Limit Exceeded Non Delivery 12 0 7 NAK No Memorie...

Page 69: ...always 1 9 0 CTS 1 RTS 2 Reserved 3 Reserved 4 15 Reserved 10 Total Message Packets Sent 11 Total Message Packets Received 12 Undelivered Message Packets 13 ENQuiry Packets Sent 14 NAK Packets Receive...

Page 70: ...30 8 Format Code always 2 9 0 CTS 1 RTS 2 Reserved 3 Reserved 4 15 Reserved 10 Total Message Packets Sent 11 Total Message Packets Received 12 Undelivered Message Packets 13 Message Packets Retried 14...

Page 71: ...rved 4 15 Reserved 10 Total Message Packets Sent 11 Total Message Packets Received 12 Undelivered Message Packets 13 Message Packets Retried 14 Reserved 15 Polls Sent 16 Bad Message Packets Received 1...

Page 72: ...ngth always 30 8 Format Code always 1 9 0 CTS 1 RTS 2 Reserved 3 Reserved 4 15 Reserved 10 Total Message Packets Sent 11 Total Message Packets Received 12 Undelivered Message Packets 13 15 Reserved 16...

Page 73: ...tic Counters Block Presentation Layer Word Bit Description 43 Diagnostic Counters Category Identifier Code always 10 44 Length always 14 45 Format Code always 0 46 Pre Send Time Delay 47 0 7 Node Addr...

Page 74: ...ction Code 15 Message Counter 69 Function Code 16 Message Counter Modbus RTU Master Diagnostic Counters Block Data Link Layer Word Bit Description 6 Diagnostic Counters Category Identifier Code always...

Page 75: ...st Device Reporting ERR 1 57 ERR 2 Illegal Data Address 58 Last Device Reporting ERR 2 59 ERR 3 Illegal Data Value 60 Last Device Reporting ERR 3 61 ERR 4 Slave Device Failure 62 ERR 5 Acknowledge 63...

Page 76: ...Publication 1766 RM001A EN P October 2008 74 Function Files efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 77: ...s Category Identifier code always 2 7 Length always 30 8 Format Code always 5 9 0 CTS 1 RTS 2 Reserved 3 Reserved 4 15 Reserved 10 0 Software Handshaking Status 1 15 Reserved 11 Echo Character Count 1...

Page 78: ...Channel 2 DCD 2 Reserved Modem Control Line States Always zero 1 RTS 0 CTS 10 0 RO RO RO Total Message Packets Sent 11 RO RO RO Total Message Packets Received for this node 12 RO RO RO Total Packets...

Page 79: ...Layer Error Count 57 RO RO RO Function Code that caused the last error 58 RO RO RO Last Transmitted IIN in the response 59 RO RO RO Data File Number of Error Request 60 RO RO RO Element Number of Erro...

Page 80: ...485 always 255 for DF1 Half Duplex Master always 0 for DF1 Full Duplex DF1 Half Duplex Slave Modbus RTU Slave Modbus RTU Master ASCII and DNP3 Slave 27 Active Node Table DH 485 and DF1 Half Duplex Ma...

Page 81: ...Publication 1766 RM001A EN P October 2008 Function Files 79 efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 82: ...General Status Block of Ethernet Communications Status File TIP You can use the Ethernet Communications Status File information as a troubleshooting tool for Ethernet communications issues Communicati...

Page 83: ...2 MCP Outgoing Message Command Pending Bit This bit is set 1 when the controller has one or more MSG instructions enabled and in the communication queue This bit is cleared 0 when the queue is empty 3...

Page 84: ...Mode Status This bit set 1 when the Auto Negotiation function is disabled and the Ethernet port s duplex mode is Full Duplex 7 Reserved Always zero 8 BOOTP Valid Flag Default 0 False This bit is set...

Page 85: ...rnet Hardware Address 6 byte string A unique Ethernet hardware address assigned to this processor 9 10 IP Address in network byte order Internet address that is specified for this processor 11 12 Subn...

Page 86: ...t has a range of 250 ms 65 500 ms 118 Message Reply Timeout The amount of time in ms that the MicroLogix 1400 processor waits for a reply to a command that it has initiated via a MSG instruction The M...

Page 87: ...MACERR High word 141 142 Low word Frames transmitted with Tx FIFO Under run IEEE_T_MACERR High word 143 144 Low word Frames Transmitted with Single Collision IEEE_T_1COL High word 145 146 Low word Fra...

Page 88: ...ontinued Word Bit Description 155 156 Low word Total Commands Sent High word 157 158 Low word Total Commands Received High word Ethernet Diagnostic Counters Block continued Word Bit Description 159 16...

Page 89: ...igh word 163 164 Low word Total Replies Sent with Error High word 165 166 Low word Total Replies Received with Error High word 167 168 Low word Total Replies Timed Out High word Ethernet Diagnostic Co...

Page 90: ...Communications Status File Ethernet Diagnostic Counters Block continued Word Bit Description 169 170 Low word Total Message Connections High word 171 172 Low word Incoming Message Connections High wo...

Page 91: ...status of the embedded and local expansion I O The data file is structured as Input Output Status File Word Description 0 Embedded Module Error Code Always zero 1 4 Expansion Module Error Code The wo...

Page 92: ...Publication 1766 RM001A EN P October 2008 90 Function Files Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 93: ...d perform conversions between binary and decimal values 243 Logical AND OR XOR NOT The logical instructions perform bit wise logical operations on words 255 Move MOV MVM The move instructions modify a...

Page 94: ...CS See Communications Status File on page 63 IOS See Input Output Status File on page 89 DLS See Data Log Status File on page 526 Address Mode See Addressing Modes on page 93 Addressing Level Address...

Page 95: ...ressing is primarily used to assign numeric constants within instructions For example You require a 10 second timer so you program a timer with a 1 second time base and a preset value of 10 The number...

Page 96: ...addressing Indirect Addressing of a Word Address N7 N10 1 In this example the element number to be used for source A in the ADD instruction is defined by the number located in N10 1 If the value of lo...

Page 97: ...0 to N27 24 to N7 0 N7 0 to N7 14 TIP If a number larger than 255 is placed in N50 100 in this example a controller fault occurs This is because the controller has a maximum of 255 data files In addit...

Page 98: ...ctions may or may not allow indirection Please review the compatibility table for each instruction to determine which elements within an instruction support indirection TIP If a number larger than 409...

Page 99: ...comparison purposes Indexed Addressing Example The following ADD instruction uses an indexed address in the Source A and Destination addresses If the indexed offset value is 20 stored in S 24 the cont...

Page 100: ...ses an indirect address in the Source A and Destination addresses If the indirect offset value is 20 stored in N7 3 the controller uses the data stored at the base address plus the indirect offset to...

Page 101: ...n some cases a sub counter will be disabled by master counter mode See the section HSC Mode MOD on page 116 This chapter describes how to use the HSC function and also contains sections on the HSL and...

Page 102: ...gram access to all information pertaining to the High Speed Counter The HSC function along with the PTO and PWM instructions are different than most other controller instructions Their operation is pe...

Page 103: ...nhanced capabilities of the High Speed Counters are 100 kHz operation High speed direct control of outputs 32 bit signed integer data count range of 2 147 483 647 Programmable High and Low presets and...

Page 104: ...te 108 HPM High Preset Mask HSC 0 HPM bit 0 9 control read write 110 UFM Underflow Mask HSC 0 UFM bit 2 9 control read write 111 OFM Overflow Mask HSC 0 OFM bit 0 9 control read write 114 LPI Low Pres...

Page 105: ...ns see HSC Mode MOD on page 116 Type User Program Access PFN Program File Number HSC 0 PFN word INT 0 9 control read only Description Address Data Format HSC Modes 1 1 For Mode descriptions see HSC Mo...

Page 106: ...cted ED The ED Error Detected flag is a status bit that can be used in the control program to detect if an error is present in the HSC sub system The most common type of error that this bit represents...

Page 107: ...ruction with the address of HSC 0 SP is solved true off to on rung transition all configuration variables currently stored in the HSC function are checked and loaded into the HSC sub system The HSC su...

Page 108: ...UIX User Interrupt Executing bit is set 1 whenever the HSC sub system begins processing the HSC subroutine due to any of the following conditions Low preset reached High preset reached Overflow condit...

Page 109: ...uted immediately This bit is maintained by the controller and is set and cleared automatically User Interrupt Lost UIL The UIL User Interrupt Lost is a status flag that represents an interrupt has bee...

Page 110: ...the control program to identify that the low preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the low preset this bit would be use...

Page 111: ...ted value HSC 0 ACC is less than or equal to the low preset variable HSC 0 LOP This bit is updated continuously by the HSC sub system whenever the controller is in an executing mode Description Addres...

Page 112: ...in the control program to identify that the high preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the high preset this bit is use...

Page 113: ...nal and is set by the HSC sub system It is up to the control program to utilize track if necessary and clear 0 the underflow condition Underflow conditions do not generate a controller fault Underflow...

Page 114: ...pt If the control program needs to perform any specific control action based on the underflow this bit is used as conditional logic This bit can be cleared 0 by the control program and is also cleared...

Page 115: ...e Limit Switch 113 This bit is transitional and is set by the HSC sub system It is up to the control program to utilize track if necessary and clear 0 the overflow condition Overflow conditions do not...

Page 116: ...in the control program to identify that the overflow variable caused the HSC interrupt If the control program needs to perform any specific control action based on the overflow this bit is used as con...

Page 117: ...the HSC is configured for Mode 0 or Mode 1 behavior and the accumulator counts up to the High Preset Count Down CD The CD Count Down bit is used with the bidirectional counters modes 2 9 If the CE bi...

Page 118: ...ter is HSC4 and HSC2 s sub counter is HSC5 Each set of counters share the input The following table shows the dedicated inputs for the HSCs depending on the mode Description Address Data Format HSC Mo...

Page 119: ...d down with external reset and hold 6 Quadrature counter phased inputs A and B 7 Quadrature counter phased inputs A and B with external reset and hold 8 Quadrature X4 counter phased inputs A and B 9 Q...

Page 120: ...r mode 5a 1 A Type Input B Type Input Not Used Not Used 8 Quadrature X4 Counter with External Reset and Hold 2 A Type Input B Type Input Z Type Reset Hold 9 1 HSC 3 HSC 4 and HSC 5 support mode 1a 2a...

Page 121: ...mulator value TIP Inputs I1 0 0 0 through I1 0 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 1 Examples Input Terminals I1 0 0 0 HSC0 I1 0 0 1 HSC0...

Page 122: ...umulator value TIP Inputs I1 0 0 0 through I1 0 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 3 Examples Input Terminals I1 0 0 0 HSC0 I1 0 0 1 HSC0...

Page 123: ...old accumulator value TIP Inputs I1 0 0 0 through I1 0 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 5 Examples Input Terminals I1 0 0 0 HSC0 I1 0 0...

Page 124: ...e encoders typically provide one pulse per revolution HSC Mode 6 Quadrature Counter phased inputs A and B Quadrature Encoder Input 0 Input 1 Input 2 A B Z Reset input Reverse Rotation Forward Rotation...

Page 125: ...ple 2 2 off 0 off 0 off 0 on 1 HSC Accumulator 1 count Example3 off 0 off 0 on 1 Reset accumulator to zero Example 4 on 1 Hold accumulator value Example 5 on 1 Hold accumulator value Example 6 off 0 o...

Page 126: ...ction HSC Mode 9 Examples I1 0 0 0 HSC0 A I1 0 0 1 HSC0 B I1 0 0 2 HSC0 Reset I1 0 0 3 HSC0 Hold Value of CE Bit Accumulator and Counter Action OFF X TRUE Count Up Acc Value ON X TRUE Count Down Acc V...

Page 127: ...See HSL High Speed Counter Load on page 130 The data loaded into the high preset must be less than or equal to the data resident in the overflow HSC 0 OVF parameter or an HSC error is generated Low Pr...

Page 128: ...he overflow position provided it is greater than the underflow value and falls between 2 147 483 648 and 2 147 483 647 To load data into the overflow variable the control program must toggle low to hi...

Page 129: ...ccumulator reaching the High or Low presets The bit pattern stored in the OMB variable defines which outputs are controlled by the HSC and which outputs are not controlled by the HSC The bit pattern o...

Page 130: ...that the high or low preset output is written through the output mask with the output mask acting like a filter The bits in the gray boxes are unused The first 6 bits of the mask word are used and the...

Page 131: ...Low Preset Output LPO The LPO Low Preset Output defines the state 1 on 0 off of the outputs on the controller when the low preset is reached See Output Mask Bits OMB on page 127 for more information...

Page 132: ...t register The data range for the output high source is from 0 65 535 Output Low Source Specifies the value in the LPO low preset output register The data range for the output low source is from 0 65...

Page 133: ...accumulator The data range is from 2 147 483 648 2 147 483 647 Valid Addressing Modes and File Types are shown below RAC Reset Accumulated Value Counter HSC0 Source 0 RAC Controller Execution Time Whe...

Page 134: ...ata File Data files 9 255 can be used for PLS operations Each PLS data file can be up to 256 elements long Each element within a PLS file consumes 6 user words of memory The PLS data file is shown bel...

Page 135: ...d and the next parameter will be loaded for execution provided it is valid You can use the PLS in Up high Down low or both directions If your application only counts in one direction simply ignore the...

Page 136: ...s and select New Table 1 Format Explanation PLSf e s PLS Programmable Limit Switch file f File number The valid file number range is from 9 255 Element delimiter e Element number The valid element num...

Page 137: ...Publication 1766 RM001A EN P October 2008 Using the High Speed Counter and Programmable Limit Switch 135 efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 138: ...not required 4 Elements refers to the number of PLS steps For this example enter a value of 4 If more steps are required at a later time simply go to the properties for the PLS data file and increase...

Page 139: ...rst runs HSC ACC equals 0 therefore PLS10 0 OLD s data is sent through the HSC OMB mask and sets all the outputs off When HSC ACC equals 250 the PLS10 0 OHD is sent through the HSC OMB mask and energi...

Page 140: ...Publication 1766 RM001A EN P October 2008 138 Using the High Speed Counter and Programmable Limit Switch Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 141: ...ulse profile to be generated directly from the controller The pulse profile has three primary components Total number of pulses to be generated Instruction Used To Page PTO Pulse Train Output Generate...

Page 142: ...the PTOX function file there are PTOX element s An element can be set to control either output 2 O0 0 2 on 1766 L32BXB or 1766 L32BXBA output 3 O0 0 3 on 1766 L32BXB or 1766 L32BXBA or output 4 O0 0...

Page 143: ...avior all of the following conditions must be met Jog Pulse JP bit must be off Jog Continuous JC bit must be off Enable Hard Stop EH bit must be off Normal Operation NS bit must be off The output cann...

Page 144: ...is a maintained type of input This means that it enables the PTO instruction Normal Operation NO and maintains its logic state until after the PTO instruction completes its operation With this type of...

Page 145: ...the RSLogix 500 RSLogix Micro Function File Folder you see a PTOX Function File with three elements These elements provide access to PTO configuration data and also allow the control program access t...

Page 146: ...fields may be changing Pulse Train Output Function File PTOX 0 Sub Element Description Address Data Format Range Type User Program Access For More Information OUT Output PTOX 0 OUT word INT 2 4 contr...

Page 147: ...read write 155 JC Jog Continuous PTOX 0 JC bit 0 or 1 control read write 156 EH Enable Hard Stop PTOX 0 EH bit 0 or 1 control read write 149 EN Enable Status follows rung state PTOX 0 EN bit 0 or 1 s...

Page 148: ...rolled by the PTOX sub system It can be used by an input instruction on any rung within the control program The DS bit operates as follows Set 1 Whenever a PTO instruction is within the deceleration p...

Page 149: ...of the output profile Cleared 0 Whenever a PTO instruction is not within the acceleration phase of the output profile PTOX Ramp Profile RP The PTOX RP Ramp Profile bit controls how the output pulses g...

Page 150: ...idle state it is running PTOX Error Detected ED The PTOX ED Error Detected Status bit is controlled by the PTO sub system It can be used by an input instruction on any rung within the control program...

Page 151: ...any PTO sub system operation idle normal jog continuous or jog pulse and generates a PTO sub system error The EH bit operates as follows Set 1 Instructs the PTO sub system to stop generating pulses i...

Page 152: ...OX Operating Frequency Status OFS The PTOX OFS Output Frequency Status is generated by the PTO sub system and can be used in the control program to monitor the actual frequency being produced by the P...

Page 153: ...it is clear 0 the PTO will operate with the deceleration profile as a mirror of the acceleration profile If separate acceleration and deceleration profiles are desired you must choose a long integer f...

Page 154: ...to the PTOX Output Frequency OF The PTOX Output Frequency OF defines the operating frequency in pulses second during the run portion of the profile In the example below when ADI 0 TOP total output pul...

Page 155: ...eed to determine the ramp period accelerate decelerate ramp duration 2 x ADP OF duration in seconds OF output frequency The following formulas can be used to calculate the maximum value that could be...

Page 156: ...letes without an error or fault condition If the CS bit is set during the accel phase the accel phase completes and the PTO immediately enters the decel phase Normal Ramp Function without CS Accel Run...

Page 157: ...le Jog continuous not active Enable not active The JP bit operates as follows Set 1 Instructs the PTO sub system to generate a single Jog Pulse Cleared 0 Arms the PTOX Jog Pulse sub system PTOX Jog Pu...

Page 158: ...sub system does not generate Jog Pulses When the Jog Continuous bit is cleared the current output pulse is truncated PTOX Jog Continuous Status JCS The PTOX JCS Jog Continuous Status bit is controlled...

Page 159: ...The controller faults and the User Fault Routine does not execute Example PTO0 and PTO1 are both attempting to use a single output 1 Yes No No Output Error An invalid output has been specified Output...

Page 160: ...is less than 0 or greater than 100 000 This error faults the controller It can be cleared by logic within the User Fault Routine 7 No Yes No Length Error The total output pulses to be generated TOP i...

Page 161: ...aveform at the specified frequency with the specified duty cycle is output 4 The rung that the PWM is on is solved false 5 The PWM instruction is IDLE While the PWM instruction is being executed statu...

Page 162: ...ect PWMX 0 PP bit 0 or 1 control read write 162 IS PWM Idle Status PWMX 0 IS bit 0 or 1 status read only 163 ED PWM Error Detection PWMX 0 ED bit 0 or 1 status read only 163 NS PWM Normal Operation PW...

Page 163: ...truction on any rung within the control program The DS bit operates as follows Set 1 Whenever a PWM output is within the deceleration phase of the output profile Cleared 0 Whenever a PWM output is not...

Page 164: ...Cleared 0 Whenever a PWM output is not within the acceleration phase of the output profile PWMX Profile Parameter Select PP The PWMX PP Profile Parameter Select selects which component of the waveform...

Page 165: ...tate Cleared 0 Whenever a PWM instruction is not in an error state PWMX Normal Operation NS The PWMX NS Normal Operation bit is controlled by the PWM sub system It can be used by an input instruction...

Page 166: ...s reset 0 immediately Set 1 PWM is enabled Cleared 0 PWM has completed or the rung preceding the PWM is false PWMX Output Frequency OF The PWMX OF Output Frequency variable defines the frequency of th...

Page 167: ...25 Output ON 75 output OFF DC 0 0 Output OFF constant no waveform PWMX Duty Cycle Status DCS The PWMX DCS Duty Cycle Status provides feedback from the PWM sub system The Duty Cycle Status variable ca...

Page 168: ...configuration error The controller faults and the User Fault Routine does not execute Example PWM0 and PWM1 are both attempting to use a single output 1 Yes No No Output Error An invalid output has b...

Page 169: ...Use the XIO instruction to determine if the addressed bit is off Instruction Used To Page XIC Examine if Closed Examine a bit for an ON condition 167 XIO Examine if Open Examine a bit for an OFF condi...

Page 170: ...t XIC Instruction XIO Instruction True Off Returns a False Returns a True True On Returns a True Returns a False False Instruction is not evaluated Instruction is not evaluated XIC and XIO Instruction...

Page 171: ...or false Master Control Reset MCR zone B3 0 1 Execution Time for the OTE Instructions Controller When Rung Is True False MicroLogix 1400 0 2685 s 0 2629 s TIP A bit that is set within a subroutine us...

Page 172: ...I O DLS Data Log Address Mode 2 Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Bit Word Long Word Element Destination Bit 1 PTOX...

Page 173: ...ile Types For definitions of the terms used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files Function Files 1 CS Comms IOS I O DLS Data Log Address Mode 2 Address L...

Page 174: ...e TIP The ONS instruction for the MicroLogix 1400 provides the same functionality as the OSR instruction for the MicroLogix 1000 and SLC 500 controllers ONS Instruction Operation Rung Transition Stora...

Page 175: ...he Output Bit is set for one program scan To re activate the OSR the rung must become false To re activate the OSF the rung must become true OSR One Shot Rising Storage Bit B3 0 0 Output Bit B3 0 1 OS...

Page 176: ...false to true and true to true bit is set bit is reset OSR and OSF Instructions Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Instruction Descrip...

Page 177: ...value that the timer must reach before the timer times out When the accumulator reaches this value the DN status bit is set TON and RTO only The preset data range is from 0 32767 The minimum required...

Page 178: ...Timer File Word Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Word 0 EN TT DN Internal Use Word 1 Preset Value Word 2 Accumulated Value ATTENTION Do not copy timer elements while the timer enable bit EN i...

Page 179: ...this table see Using the Instruction Descriptions on page 92 Parameter Data Files 1 Function Files CS Comms IOS I O DLS Data Log Address Mode Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC...

Page 180: ...a timer is an easy way to repeat its complex conditional logic at another rung in your ladder program Timer Accuracy Time Base Accuracy 0 001 seconds 0 001 0 00 0 01 seconds 0 01 0 00 1 00 seconds 1...

Page 181: ...changes Timer instructions use the following control and status bits EN DN TON Timer On Delay Timer T4 0 Time Base 1 0 Preset 0 Accum 0 TON Execution Time for the TON Instructions Controller When Run...

Page 182: ...lse MicroLogix 1400 0 5203 s 1 0962 s DN 0 0 5322 s DN 1 Timer Control and Status Bits Timer Word 0 Data File 4 is configured as a timer file for this example Bit Is Set When And Remains Set Until One...

Page 183: ...etained through power cycles and mode changes Timer instructions use the following control and status bits To reset the accumulator of a retentive timer use an RES instruction See RES Reset on page 18...

Page 184: ...et and Word 2 contains the Accumulated Value CU Count Up Enable Bit CD Count Down Enable Bit DN Count Done Bit OV Count Overflow Bit UN Count Underflow Bit Preset When the accumulator reaches this val...

Page 185: ...ress Mode Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Bit Word Long Word Element Counter Preset Accumulator 1 Valid for Counte...

Page 186: ...ted value wraps from 32 768 32 767 and continues to count down a RES instruction with the same address as the CTD instruction is enabled bit 13 C5 0 DN DN done indicator accumulated value preset value...

Page 187: ...p Counter C5 0 Preset 0 Accum 0 CTU CU DN CTU Count Down Counter C5 0 Preset 0 Accum 0 CTD Execution Time for the CTU and CTD Instructions Controller CTU When Rung Is CTD When Rung Is True False True...

Page 188: ...ng Is True False MicroLogix 1400 0 6320 s 0 4305 s RES Instruction Operation When using a RES instruction with a Timer Element Counter Element Control Element The controller resets the ACC value to 0...

Page 189: ...used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files Function Files CS Comms IOS I O DLS Data Log Address Mode Address Level O I S B T C R N F ST L MG PD RI RIX PL...

Page 190: ...Publication 1766 RM001A EN P October 2008 188 Timer and Counter Instructions Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 191: ...is less than a second value 191 LEQ Less Than or Equal To Test whether one value is less than or equal to a second value 192 GRT Greater Than Test whether one value is greater than a second value 191...

Page 192: ...ot a number NAN then rung state remains true EQU NEQ GRT LES GEQ and LEQ Instructions Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Instruction De...

Page 193: ...Controller Instruction Data Size When Rung Is True False MicroLogix 1400 EQU word 1 0814 s 1 0854 s long word 1 0674 s 1 0828 s NEQ word 1 5056 s 0 1880 s long word 1 3892 s 0 2070 s EQU and NEQ Instr...

Page 194: ...Relationship of Source Values Resulting Rung State GEQ Grtr Than or Eql A B Source A N7 0 0 Source B N7 1 0 GEQ LEQ Less Than or Eql A B Source A N7 0 0 Source B N7 1 0 LEQ Execution Time for the GEQ...

Page 195: ...n the following table MEQ Masked Equal Source N7 0 0 Mask N7 1 0000h Compare N7 2 0 MEQ Execution Time for the MEQ Instructions Controller Data Size When Rung Is True False MicroLogix 1400 word 6 2730...

Page 196: ...see Using the Instruction Descriptions on page 92 Parameter Data Files Function Files 1 CS Comms IOS I O DLS Data Log Address Mode 2 Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX...

Page 197: ...own in the following table LIM Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files...

Page 198: ...Publication 1766 RM001A EN P October 2008 196 Compare Instructions Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 199: ...s Use these output instructions to perform computations using an expression or a specific arithmetic instruction Math Instructions Instruction Used To Page ADD Add Add two values 205 SUB Subtract Subt...

Page 200: ...the result in the destination 216 ASN Take the arc sine of a number and store the result in radians in the destination 218 ACS Take the arc cosine of a number and store the result in radians in the de...

Page 201: ...648 2 147 483 647 long word Long File Type Address Constant and Float File Type Address cannot be used together in Source A Source B and Destination Addressing Modes and File Types can be used as sho...

Page 202: ...tch OTU instruction with address S 5 0 in your program The rung must be between the overflow point and the END or TND statement The following illustration shows the rung you can use to unlatch the ove...

Page 203: ...Bits 0 22 are the mantissa The value represented by a 32 bit floating point number not one of the exception values defined on page 202 is given by the following expression Note the restoration of the...

Page 204: ...nt of 255 and a mantissa part of zero Both positive and negative infinity are generated when operations overflow Infinity is propagated through calculations NAN not a number is represented by an expon...

Page 205: ...point data Table 2 Format Explanation Ff e F Floating Point file f File number The valid file number range is from 8 default to 255 Element delimiter e Element number The valid element number range is...

Page 206: ...unding a saturated result is stored in Destination and the Math Overflow Selection Bit is ignored The saturated results are If Destination is an integer and the result is positive overflow Destination...

Page 207: ...sed to S 13 math register then the quotient is stored in S 14 and the remainder is stored in S 13 If long words are used then the results are rounded ADD Add Source A N7 0 0 Source B N7 1 0 Dest N7 2...

Page 208: ...range for this instruction is 2 147 483 648 2 147 483 647 or IEEE 754 floating point value NEG Negate Source N7 0 0 Dest N7 1 0 NEG Execution Time for the NEG Instruction Controller Data Size When Run...

Page 209: ...n integer the rounded result is stored If an overflow occurs after rounding a saturated result 32767 for word or 2 147 836 647 for long word is stored in Destination and the Math Overflow Selection Bi...

Page 210: ...7 Addressing Modes and File Types can be used as shown in the following table ABS Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Instru...

Page 211: ...I O DLS Data Log Address 1 Mode Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Bit Word Long Word Element Source Rate Offset Dest...

Page 212: ...Types For definitions of the terms used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files Function Files 1 CS Comms IOS I O DLS Data Log Address Mode 2 Address Leve...

Page 213: ...True False MicroLogix 1400 word 54 8140 s 0 3561 s long word 45 1450 s 0 3732 s SQR Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Inst...

Page 214: ...of the terms used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files Function Files 1 CS Comms IOS I O DLS Data Log 2 Address Mode 3 Address Level O I S B T C R N F S...

Page 215: ...nstruction Operation Inputs Conditions Output Source Type Destination Type S 2 14 S 0 3 0 S Z V C S 5 0 Destination W DW F F X Sin Source 0 0 0 0 0 L Sin Source 1 DNRM X X X 0 1 0 0 L 0 W DW F F X Sin...

Page 216: ...ng Is True False MicroLogix 1400 word 112 7110 s 0 7686 s long word 19 8070 s 0 7694 s COS Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using t...

Page 217: ...struction Operation Inputs Conditions Output Source Type Destination Type S 2 14 S 0 3 0 S Z V C S 5 0 Destination W DW F F X Cos Source 0 0 0 0 0 L Cos Source 1 DNRM X X X 0 1 0 0 L 1 W DW F F X Cos...

Page 218: ...Rung Is True False MicroLogix 1400 word 122 6760 s 0 3915 s long word 126 9135 s 0 4234 s TAN Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Usin...

Page 219: ...DW X 0 5 Tan Source 0 5 0 1 0 0 L 0 W DW F W DW X Tan Source 0 5 no overflow 1 0 0 0 L Rnd Tan Source 2 W DW F W X Tan Source 32767 5 0 0 1 0 1 32767 2 W DW F W X Tan Source 32768 5 1 0 1 0 1 32768 2...

Page 220: ...e calculation of the source in float is then performed and the result is then cast to the data type of Destination ABS Arc Sine Source N7 0 0 Dest N7 1 0 ASN Execution Time for the ASN Instruction Con...

Page 221: ...0 1 0 0 0 L Asin Source W DW F W DW X Source 1 Asin Source 0 5 0 0 0 0 L Rnd Asin Source W DW F W DW X 0 5 Asin Source 0 5 0 1 0 0 L 0 W DW F W DW X Source 1 Asin Source 0 5 1 0 0 0 L Rnd Asin Source...

Page 222: ...of Destination ABS Arc Cosine Source N7 0 0 Dest N7 1 0 ACS Execution Time for the ACS Instruction Controller Data Size When Rung Is True False MicroLogix 1400 word 18 0150 s 0 3750 s long word 18 30...

Page 223: ...F W DW X Acos Source 0 5 0 1 0 0 L 0 2 X F X Source 1 or Source 1 0 0 1 0 1 0x7FFFFFFF 2 X F X Source is NAN or INF 0 0 1 0 1 0x7FFFFFFF X W X Source 1 or Source 1 0 0 1 0 1 32767 X DW X Source 1 or S...

Page 224: ...ource and place the result in Destination Valid input range is from and produced output range is from 2 2 If the Destination is floating point the result shall always be rounded using the round to eve...

Page 225: ...DW X Atan Source 0 5 1 0 0 0 L Rnd Atan Source X F X Source INF 0 0 0 0 1 2 X F X Source INF 1 0 0 0 1 2 2 X F X Source is NAN 0 0 1 0 1 0x7FFFFFFF 3 X W X Source is NAN 0 0 1 0 1 32767 3 X DW X Sourc...

Page 226: ...lt shall always be rounded using the round to even rule DEG Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Instruction Descriptions on...

Page 227: ...648 5 1 0 1 0 1 2147483648 3 X F X Source is NAN or INF 0 0 1 0 1 0x7FFFFFFF 4 X W X Source is NAN or INF 0 0 1 0 1 32767 4 X DW X Source is NAN or INF 0 0 1 0 1 2147483647 1 All denormalized inputs s...

Page 228: ...d place the result in Destination If the Destination is floating point the result shall always be rounded using the round to even rule RAD Instruction Valid Addressing Modes and File Types For definit...

Page 229: ...48 5 1 0 1 0 1 2147483648 3 X F X Source is NAN or INF 0 0 1 0 1 0x7FFFFFFF 4 X W X Source is NAN or INF 0 0 1 0 1 32767 4 X DW X Source is NAN or INF 0 0 1 0 1 2147483647 1 All denormalized inputs sh...

Page 230: ...and place the result in Destination If the Destination is floating point the result shall always be rounded using the round to even rule LN Instruction Valid Addressing Modes and File Types For defini...

Page 231: ...0 0 1 0 1 INF 3 X F X Source is NAN or INF 0 0 1 0 1 0x7FFFFFFF 4 X W X Source is NAN or INF 0 0 1 0 1 32767 4 X DW X Source is NAN or INF 0 0 1 0 1 2147483647 1 All denormalized inputs shall be trea...

Page 232: ...Source and place the result in Destination If the Destination is floating point the result shall always be rounded using the round to even rule LN Instruction Valid Addressing Modes and File Types For...

Page 233: ...INF 3 X F X Source is NAN or INF 0 0 1 0 1 0x7FFFFFFF 4 X W 0 Source is NAN or INF 0 0 1 0 1 32767 4 X DW 0 Source is NAN or INF 0 0 1 0 1 2147483647 1 All denormalized inputs shall be treated as plu...

Page 234: ...ration When the rung is true this instruction shall compute the Source A to power Source B and place the result in Destination If the Destination is floating point the result shall always be rounded u...

Page 235: ...B is even integer 0 0 0 0 L A B W DW F W DW F F X Source A 0 Source B is odd integer 1 0 0 0 L A B W DW F W DW F F X Source A 0 A B floating point overflow 0 0 1 0 1 INF W DW F W DW F F X Source A 0 S...

Page 236: ...ction Expression is zero or more lines with up to 28 characters per line up to 255 characters Destination is a word address or the address of a floating point data element IMPORTANT The XPY instructio...

Page 237: ...I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Direct Indirect Immediate Int16 Immediate Int32 Immediate Float Bit Word Double Word Element Float Destination 1 PTOX and P...

Page 238: ...ro handles negative zero otherwise reset Sign shall be set if the most significant bit of Destination is set bit 31 for float otherwise reset The Math Overflow Trap Bit shall ONLY be set if the Overfl...

Page 239: ...ons in each of these groups we suggest that you read the overview that precedes each section This chapter contains the following overviews RHC Read High Speed Clock Instruction Type Output Application...

Page 240: ...into a float and is moved the relative address After the free running clock reaches 0xFFFFFFFF 42949 67295 seconds value it wraps around to 0 and continues incrementing The RESET signal or Power Cycle...

Page 241: ...nstruction Controller When Instructions Is True False MicroLogix 1400 4 2844 s 0 2028 s RPC Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using...

Page 242: ...ime Difference Instruction Type Output The Compute Time Difference Instruction TDF is used to calculate the number of 10 s ticks between any two time stamps captured using the RHC instruction This let...

Page 243: ...s the positive time difference between the START and END timestamps It calculates an invalid result if more than 327 67 ms have elapsed between the start and stop timestamps TDF Instruction Valid Addr...

Page 244: ...he time difference between 2 timestamps captured within 42949 67295 seconds of each other 4294967295 10 sec ticks It calculates an invalid result if more than 42949 67295 seconds have elapsed between...

Page 245: ...teger 245 FRD Convert From Binary Coded Decimal Converts the BCD source value to an integer and stores it in the destination 246 TOD Convert to Binary Coded Decimal Converts the integer source value t...

Page 246: ...0 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 x 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 x 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 x 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 x 0 0 1 1 0 0 0 0 0 0 0...

Page 247: ...x x 1 0 0 0 0 0 1 0 x x x x x x x x x x x x 1 0 0 0 0 0 0 1 1 x x x x x x x x x x x 1 0 0 0 0 0 0 1 0 0 x x x x x x x x x x 1 0 0 0 0 0 0 0 1 0 1 x x x x x x x x x 1 0 0 0 0 0 0 0 0 1 1 0 x x x x x x...

Page 248: ...oller FRD From BCD Source S 0 0000h Dest N7 0 0 FRD Execution Time for the FRD Instructions Controller When Rung Is True False MicroLogix 1400 5 4790 s 0 5151 s FRD Instruction Valid Addressing Modes...

Page 249: ...lue change Math Status Bits With this Bit The Controller S 0 0 Carry always resets S 0 1 Overflow sets if non BCD value is contained at the source or the value to be converted is greater than 32 767 o...

Page 250: ...ust reset the Minor Error Bit S 5 0 to prevent an error FRD From BCD Source S 13 00032760 Dest N7 0 32760 FRD S 14 S 13 0000 0000 0000 0011 0010 0111 0110 0000 15 0 15 0 5 digit BCD 0 0 0 3 2 7 6 0 3...

Page 251: ...or example is moved from word N7 2 into the math register Status word S 14 is then cleared to make certain that unwanted data is not present when the FRD instruction is executed CLR CLEAR Dest S 14 0...

Page 252: ...ed in S 13 and the high order digit in S 14 TOD To BCD Source N7 0 0 Dest N7 1 0000h TOD Execution Time for the TOD Instructions Controller When Rung Is True False MicroLogix 1400 5 9198 s 0 3916 s TO...

Page 253: ...nverted to BCD and the BCD equivalent is stored in N7 0 The maximum BCD value is 9999 Math Status Bits With this Bit The Controller S 0 0 Carry always resets S 0 1 Overflow sets if BCD result is large...

Page 254: ...structions TOD To BCD Source N7 3 9760 Dest N10 0 9760 TOD 9 7 6 0 N7 3 Decimal 0010 0110 0010 0000 9 7 6 0 N7 0 4 digit BCD 1001 0111 0110 0000 MSB LSB The destination value is displayed in BCD forma...

Page 255: ...CD Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Instruction Descriptions on page 4 2 Parameter Data Files Function Files CS Comms IOS...

Page 256: ...Publication 1766 RM001A EN P October 2008 254 Conversion Instructions Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 257: ...can be a constant or an address but both cannot be constants Valid constants are 32768 32767 word and 2 147 483 648 2 147 483 647 long word Instruction Used To Page AND Bit Wise AND Perform an AND ope...

Page 258: ...e 2 Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Bit Word Long Word Element Source A Source B 3 Destination 1 PTOX and PWMX fil...

Page 259: ...Source B N7 1 0000h Dest N7 2 0000h AND Execution Time for the AND Instruction Controller Data Size When Rung Is True False MicroLogix 1400 word 1 7894 s 0 3781 s long word 1 8185 s 0 3967 s Truth Ta...

Page 260: ...for the OR Instruction Controller Data Size When Rung Is True False MicroLogix 1400 word 1 8278 s 0 3962 s long word 1 8374 s 0 3956 s Truth Table for the OR Instruction Destination A OR B Source A 1...

Page 261: ...000h Source B N7 1 0000h Dest N7 2 0000h XOR Execution Time for the XOR Instruction Controller Data Size When Rung Is True False MicroLogix 1400 word 4 9480 s 0 3671 s long word 4 8454 s 0 3646 s Trut...

Page 262: ...ogical Instructions on page 255 and Updates to Math Status Bits on page 256 NOT NOT Source N7 0 0 Dest N7 1 0 NOT Execution Time for the NOT Instruction Controller Data Size When Rung Is True False Mi...

Page 263: ...ndled as follows If the Math Overflow Selection Bit is clear a saturated result is stored in the Destination If the Source is positive the Destination is 32767 word If the result is negative the Desti...

Page 264: ...C HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Bit Word Long Word Element Source Destination 3 3 3 3 1 PTOX and PWMX files are valid for MicroLogix 1400 BXB or BXBA unit 2 See Important...

Page 265: ...008 Move Instructions 263 TIP If you want to move one word of data without affecting the math flags use a copy COP instruction with a length of 1 word instead of the MOV instruction efesotomasyon com...

Page 266: ...he following Source Mask and Destination must be of the same data size i e all words or all long words To mask data set the mask bit to zero to pass data set the mask bit to one The mask can be a cons...

Page 267: ...1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Mask F0F0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 Value in Destination After Move 5F5F 0 1 0 1 1 1 1 1 0 1 0 1 1 1 1 1 MVM Instruction Valid Addressing Modes and File Types For d...

Page 268: ...01A EN P October 2008 266 Move Instructions S 0 3 Sign Bit sets if the MSB of the destination is set otherwise resets Math Status Bits With this Bit The Controller efesotomasyon com Allen Bradley Rock...

Page 269: ...m an element address 271 BSL Bit Shift Left Load and unload data into a bit array one bit at a time 272 BSR Bit Shift Right 274 FFL First In First Out FIFO Load Load words into a file and unload them...

Page 270: ...S file or a function file addressing must be specified to the sub element level You can reference a sub element of bits in a function file containing a combination of read only and read write bits You...

Page 271: ...on Length 1 See Important note about indirect addressing IMPORTANT You cannot use indirect addressing with S MG PD RTC HSC PTOX PWMX STI EII BHI MMI CS IOS and DLS files COP Copy File Source N7 0 Dest...

Page 272: ...to be copied as shown in the following table IMPORTANT You cannot use indirect addressing with S MG PD RTC HSC PTOX PWMX STI EII BHI MMI CS IOS and DLS files Maximum Lengths for the COP Instruction S...

Page 273: ...tant used to fill the destination The data range for the source is from 32768 32767 word or 2 147 483 648 2 147 483 647 long word or any IEEE 754 32 bit value Destination The starting destination addr...

Page 274: ...nd File Types For definitions of the terms used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files Function Files CS Comms IOS I O DLS Data Log Address Mode 1 Address...

Page 275: ...he following table 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Word 0 EN 1 1 EN Enable Bit is set on false to true transition of the rung and indicates the instruction is enabled DN 2 2 DN Done Bit when set...

Page 276: ...s table see Using the Instruction Descriptions on page 92 Parameter Data Files Function Files CS Comms IOS I O DLS Data Log Address Mode 1 Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC...

Page 277: ...ted one bit at a time from bit 69 32 Source Bit I 23 06 38 Bit Array B3 2 Unload Bit R6 0 10 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 INVALID 69...

Page 278: ...S Data Log Address Mode 1 Address Level O I S B T C R N F L ST MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Bit Word Long Word Element File Control 2 Length Source...

Page 279: ...g word value or constant The data range for the source is from 32768 32767 word or 2 147 483 648 2 147 483 647 long word FIFO The FIFO operand is the starting address of the stack EN DN EM FFL FIFO Lo...

Page 280: ...1 EN Enable Bit is set on false to true transition of the rung and indicates the instruction is enabled DN 2 2 DN Done Bit when set indicates that the stack is full EM 3 3 EM Empty Bit when set indica...

Page 281: ...U DN EM FFU FIFO Unload FIFO N7 0 Dest N7 1 Control R6 0 Length 1 Position 0 FFU Execution Time for the FFU Instruction Controller Data Size When Rung Is True False MicroLogix 1400 word 8 7180 s 6 649...

Page 282: ...cremented after each unload Data is unloaded at position zero Addressing Modes and File Types can be used as shown in the following table 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Word 0 EU 1 1 EU Enable...

Page 283: ...RM001A EN P October 2008 File Instructions 281 IMPORTANT You cannot use indirect addressing with S MG PD RTC HSC PTOX PWMX STI EII BHI MMI CS IOS and DLS files efesotomasyon com Allen Bradley Rockwell...

Page 284: ...ord value or constant The data range for the source is from 32768 32767 word or 2 147 483 648 2 147 483 647 long word LIFO The LIFO operand is the starting address of the stack EN DN EM LFL LIFO Load...

Page 285: ...N Enable Bit is set on false to true transition of the rung and indicates the instruction is enabled DN 2 2 DN Done Bit when set indicates that the stack is full EM 3 3 EM Empty Bit when set indicates...

Page 286: ...destination must match the LIFO stack If LIFO is a word size file destination must be a word size file If LIFO is a long word size file destination must be a long word size file EU DN EM LFU LIFO Unl...

Page 287: ...N 2 2 DN Done Bit when set indicates that the stack is full EM 3 3 EM Empty Bit when set indicates LIFO is empty not used Word 1 Length maximum number of words or double words in the stack Word 2 Posi...

Page 288: ...tuvwxyzabcdefg Source Value before executing SWP instruction badcfehgjilknmporqtsvuxwzyabcdefg The underlined characters show the 13 words where the low byte was swapped with the high byte SWP Swap So...

Page 289: ...step Use the sequencer load instruction to load data into the sequencer file The primary advantage of sequencer instructions is to conserve program memory These instructions monitor and control 16 wo...

Page 290: ...de it is fixed If you enter an element address or a file address direct or indirect for changing the mask with each step it is variable When the rung goes from false to true the instruction increments...

Page 291: ...operand contains the mask constant word or file which is applied to both file and source When mask bits are set to 1 data is allowed to pass through for comparison When mask bits are reset to 0 the da...

Page 292: ...t by a false to true rung transition and indicates that the instruction is enabled DN 2 2 DN Done Bit is set after the instruction has operated on the last word in the sequencer file It is reset on th...

Page 293: ...rung is true or false on the first scan If the rung is true the instruction transfers the value in step zero If the rung is false the instruction waits for the first rung transition from false to tru...

Page 294: ...th each step The following figure indicates how the SQO instruction works Destination O 14 0 External Outputs O 14 at Step 2 15 8 7 0 00 0000 0101 0000 1010 01 ON 02 Mask Value 0F0F 03 ON 15 8 7 0 04...

Page 295: ...ll as Mask and or Destination if they are file data types It determines the next location in the stack to be masked and moved to the destination Position is a component of the control register The pos...

Page 296: ...OS I O DLS Data Log Address Mode 1 Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Element Bit Word Long Word File 2 Mask 2 Destin...

Page 297: ...gister The position can range from 0 255 Addressing Modes and File Types can be used as shown in the following table 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Word 0 EN 1 1 EN Enable Bit is set by a false...

Page 298: ...t note about indirect addressing 2 File Direct and File Indirect addressing also applies 3 Control file only IMPORTANT You cannot use indirect addressing with S MG PD RTC HSC PTOX PWMX STI EII BHI MMI...

Page 299: ...may cause execution to proceed to the same label The immediate data range for the label is from 0 999 The label is local to a program file Instruction Used To Page JMP Jump to Label Jump forward back...

Page 300: ...proceeds to the instruction following the JSR instruction The immediate data range for the JSR file is from 3 255 SBR Subroutine Label Instruction Type input The SBR instruction is a label which is no...

Page 301: ...a range for the suspend ID is from 32768 32767 TND Temporary End Instruction Type output The TND instruction is used to denote a premature end of ladder program execution The TND instruction cannot be...

Page 302: ...reset when the rung goes false This instruction defines the boundaries of an MCR Zone An MCR Zone is the set of ladder logic instructions bounded by an MCR instruction pair The start of an MCR zone is...

Page 303: ...R instructions 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 into it activ...

Page 304: ...Publication 1766 RM001A EN P October 2008 302 Program Control Instructions Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 305: ...input scan 303 IOM Immediate Output with Mask Update outputs prior to the normal output scan 305 REF I O Refresh Interrupt the program scan to execute the I O scan write outputs service communication...

Page 306: ...data file A 0 prohibits corresponding bit data in slot from being passed to the input data file The mask value can range from 0 0xFFFF Length This is the number of masked words to transfer to the inp...

Page 307: ...corresponding bit data from being passed to the outputs The mask value can range from 0 0xFFFF Length This is the number of masked words to transfer to the outputs IOM Immediate Output w Mask Slot O...

Page 308: ...r fault subroutine IOM Instruction Valid Addressing Modes and File Types For definitions of the terms used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files Function...

Page 309: ...nter and Programmable Limit Switch on page 99 Information About Using Interrupts The purpose of this section is to explain some fundamental properties of the User Interrupts including What is an inter...

Page 310: ...User Interrupt subroutine or set of subroutines if the specified subroutine calls a subsequent subroutine 5 completes the subroutine s 6 resumes normal execution from the point where the controller p...

Page 311: ...to lowest priority If an interrupt occurs while a lower priority interrupt is being serviced executed the currently executing interrupt routine is suspended and the higher priority interrupt is servic...

Page 312: ...non recoverable and non user faults A complete list of faults is shown in Fault Messages and Error Codes on page 577 The basic types of faults are described below User Fault Routine highest priority...

Page 313: ...executing mode The routine does not execute for non user faults Table 3 Recoverable Non Recoverable Non User Fault Recoverable Faults are caused by the user and may be recovered from by executing log...

Page 314: ...his should be the first instruction in your interrupt subroutine 312 STS Selectable Timed Start Use the STS Selectable Timed Interrupt Start instruction to the start the STI timer from the control pro...

Page 315: ...ting takes effect immediately and the STI continues to time until it reaches the new set point Note that if the new setting is less than the current accumulated time the STI times out immediately For...

Page 316: ...400 2 7470 s 0 1859 s Types of Interrupts Disabled by the UID Instruction Interrupt Element Decimal Value Corresponding Bit EII Event Input Interrupt Event 4 16384 bit 14 HSC High Speed Counter HSC2 8...

Page 317: ...UIE Instruction Controller When Rung Is True False MicroLogix 1400 3 4226 s 0 1968 s Types of Interrupts Disabled by the UIE Instruction Interrupt Element Decimal Value Corresponding Bit EII Event In...

Page 318: ...ows the types of interrupts with their corresponding flush bits EII Event Input Interrupt Event 3 4 bit 2 HSC High Speed Counter HSC1 2 bit 1 STI Selectable Timed Interrupt STI 1 bit 0 Note Bit 15 mus...

Page 319: ...Event Input Interrupt Event 4 16384 bit 14 HSC High Speed Counter HSC2 8192 bit 13 EII Event Input Interrupt Event 5 4096 bit 12 HSC High Speed Counter HSC3 2048 bit 11 EII Event Input Interrupt Even...

Page 320: ...at a specific rate to guarantee a consistent acceleration deceleration profile A block of logic that needs to be scanned more often How an STI is used is typically driven by the demands requirements o...

Page 321: ...ription Address Data Format Type User Program Access For More Information PFN Program File Number STI 0 PFN word INT control read only 319 ER Error Code STI 0 ER word INT status read only 319 UIX User...

Page 322: ...ar the UIE bit After the calculations are complete set the UIE bit and STI subroutine processing resumes STI User Interrupt Lost UIL The UIL User Interrupt Lost is a status flag that indicates an inte...

Page 323: ...the timer is running the accumulated value is cleared 0 If the bit is then set 1 timing starts This bit is controlled by the user program and retains its value through a power cycle STI Auto Start AS...

Page 324: ...he control program by using the STS instruction Using the Event Input Interrupt EII Function File The EII event input interrupt is a feature that allows the user to scan a specific program file subrou...

Page 325: ...PFN Program File Number EII 0 PFN word INT control read only 324 ER Error Code EII 0 ER word INT status read only 324 UIX User Interrupt Executing EII 0 UIX binary bit status read only 325 UIE User I...

Page 326: ...f the EII EII Error Code ER Any ER Error Code detected by the EII sub system is displayed in this register The table below explains the error codes Sub Element Description Address Data Format Type Use...

Page 327: ...ath calculations need to be processed without interruption Before the calculations take place clear the UIE bit After the calculations are complete set the UIE bit and EII subroutine processing resume...

Page 328: ...hen cleared 0 default the function is disabled This bit is controlled by the user program and retains its value through a power cycle EII Auto Start AS AS Auto Start is a control bit that can be used...

Page 329: ...selection is based on the type of field device that is connected to the controller The default condition is 1 which configures the EII for rising edge operation EII Input Select IS The IS Input Selec...

Page 330: ...Publication 1766 RM001A EN P October 2008 328 Using Interrupts Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 331: ...d mode the instruction updates its output periodically at a user selectable rate In the STI mode the instruction should be placed in an STI interrupt subroutine It then updates its output every time t...

Page 332: ...ve term rate provides smoothing by means of a low pass filter The cut off frequency of the filter is 16 times greater than the corner frequency of the derivative term Table 4 Term Range Low to High Re...

Page 333: ...le The Micrologix 1400 PID instruction utilizes a PD data file You can create a PD data file by creating a new data file and classifying it as a PD file type RSLogix automatically creates a new PD fil...

Page 334: ...0 RSLogix Micro programming software When programming the setup screen provides access to the PID instruction configuration parameters The illustration below shows the RSLogix 500 RSLogix Micro setup...

Page 335: ...te 334 MAXS Setpoint Maximum PD10 0 MAXS word INT 32 768 32 767 control read write 334 MINS Setpoint Minimum PD10 0 MINS word INT 32 768 32 767 control read write 335 OSP Old Setpoint Value PD10 0 OSP...

Page 336: ...ut Parameter Descriptions Address Data Format Range Type User Program Access SPS Setpoint PD10 0 SPS word INT 0 16383 1 1 The range listed in the table is for when scaling is not enabled With scaling...

Page 337: ...lue is substituted for the current setpoint if the current setpoint goes out of range of the setpoint scaling limiting parameters InputParameter Descriptions Address Data Format Range Type User Progra...

Page 338: ...CVH the CV is set overridden to the CVH value you entered and the upper limit alarm bit UL is set When the output limit bit PD10 0 OL is disabled 0 the CVH value you enter determines when the upper li...

Page 339: ...access See the indicated pages for descriptions of each parameter Control Variable CV The CV Control Variable is user defined See the ladder rung below Output Parameter Descriptions Address Data Forma...

Page 340: ...ile in manual mode the CVP will display the last value calculated by the PID equation Scaled Process Variable SPV The SPV Scaled Process Variable is the analog input variable If scaling is enabled the...

Page 341: ...D10 0 AM binary bit 0 or 1 control read write 344 CM Control Mode PD10 0 CM binary bit 0 or 1 control read write 344 DB PV in Deadband PD10 0 DB binary bit 0 or 1 status read write 344 RG PLC 5 Gain R...

Page 342: ...sured in the above gain calibration A value of 1 adds the maximum integral term into the PID equation Tuning Parameter Descriptions Address Data Format Range Type User Program Access KC Controller Gai...

Page 343: ...s Set this value to 1 8 of the integral gain Ti Tuning Parameter Descriptions Address Data Format Range Type User Program Access TD Rate Term Td PD 10 0 TD word INT 0 32 767 control read write TIP Thi...

Page 344: ...op Update Time LUT The loop update time word 13 is the time interval between PID calculations The entry is in 0 01 second intervals Enter a loop update time five to ten times faster than the natural p...

Page 345: ...y affect the CV output Scaled Error SE Scaled error is the difference between the process variable and the setpoint The format of the difference E SP PV or E PV SP is determined by the control mode CM...

Page 346: ...ariable is greater than the setpoint Reverse acting E SP PV causes the control variable to decrease when the process variable is greater than the setpoint PV in Deadband DB This bit is set 1 when the...

Page 347: ...lue KC of 1 indicates that the error is multiplied by 0 01 and applied to the PID algorithm Example with the RG bit clear The reset term TI of 1 indicates that the integral value of 0 1 minutes repeat...

Page 348: ...nstead of the process variable PV When clear 0 this bit allows the derivative rate calculation to be evaluated where the derivative is performed on the PV CV Upper Limit Alarm UL The control variable...

Page 349: ...puted It resets 0 whenever the instruction is scanned and the PID algorithm was not computed applies to timed mode only Tuning Parameter Descriptions Address Data Format Range Type User Program Access...

Page 350: ...e Tuning Parameter Descriptions Address Data Format Range Type User Program Access EN Enable PD10 0 EN binary bit 0 or 1 status read only Tuning Parameter Descriptions Address Data Format Range Type U...

Page 351: ...ou are using setpoint scaling and MinS setpoint SP MaxS or If you are not using setpoint scaling and 0 setpoint SP 16383 then during the initial execution of the PID loop this error occurs and bit 11...

Page 352: ...ramming required in the system and makes PID setup much easier The example shows a 1762 IF4 module The IF4 has 4 inputs which are individually configurable In this example analog input 0 is configured...

Page 353: ...Notes The following paragraphs discuss Input Output Ranges Scaling to Engineering Units Zero crossing Deadband Output Alarms Output Limiting with Anti reset Windup The Manual Mode Feed Forward ATTENT...

Page 354: ...n the control block If the process variable is greater than 16383 bit 14 set then a value of 16383 is used for PV and the Process var out of range bit is set The Control Variable calculated by the PID...

Page 355: ...me value for both parameters setpoint scaling is disabled For example if measuring a full scale temperature range of 73 C PV 0 1156 C PV 16383 enter a value of 73 for MinS and 1156 for MaxS Remember t...

Page 356: ...above and below the setpoint by the value you enter A value of zero inhibits this feature The deadband has the same scaled units as the setpoint if you choose scaling Output Alarms You may set an out...

Page 357: ...able bit enables limiting and alarms Anti reset windup is a feature that prevents the integral term from becoming excessive when the control variable reaches a limit When the sum of the PID and bias t...

Page 358: ...ou obtain training on the process control theory and methods used by your company There are a number of techniques that can be used to tune a PID loop The following PID tuning method is general and li...

Page 359: ...n place the processor in the RUN mode 6 While monitoring the PID display adjust the process manually by writing to the CO percent value 7 When you feel that you have the process under control manually...

Page 360: ...eset term For our example the value 4 is used to provide a rate term of 0 04 minutes per repeat 14 Place the process in the AUTO mode If you have an ideal process the PID tuning is complete 15 To make...

Page 361: ...fset progression of fifteen CO 20 PV 35 CO 40 PV 55 CO 60 PV 75 CO 80 PV 95 If the values you recorded are not offset by the same amount Either your scaling is incorrect or the process is not linear o...

Page 362: ...onds then 12 10 1 2 seconds Therefore the value 120 would be entered as the loop update time 120 x 10 ms 1 2 seconds 7 Enter the following values the initial setpoint SP value a reset Ti of 0 a rate T...

Page 363: ...Write a string with user configured characters appended 369 AWT ASCII Write Write a string 372 ABL Test Buffer for Line Determine the number of characters in the buffer up to and including the end of...

Page 364: ...munication channel for receiving or transmitting data All ASCII port control instructions support channel 2 as well as channel 0 The following table lists the ASCII port control instructions used by t...

Page 365: ...uction waits until the next program scan to determine if it can enter the ASCII queue The controller continues executing other instructions while the ASCII port control instruction is waiting to enter...

Page 366: ...II the AWA and AWT instructions will error out with an error code of 9 DF1 Full Duplex packets take precedence over ASCII strings so if an AWA or AWT instruction is triggered while a DF1 Full Duplex p...

Page 367: ...2 Format Explanation ST String file STf e s f File number The valid file number range is from 3 255 Element delimiter e Element number The valid element number range is from 0 255 Each element is 42 w...

Page 368: ...EM 4 4 EM Synchronous Done Bit not used ER 5 5 ER Error Bit when set indicates that an error occurred while executing the instruction UL 6 6 UL Unload Bit when this bit is set by the user the instruc...

Page 369: ...control file 18 Actual string length of element 1 control file 18 Table 3 Format Explanation ACL Ascii Clear Buffers Channel 0 Transmit Buffer Yes Receive Buffer No ACL Execution Time for the ACL Ins...

Page 370: ...essing Modes and File Types can be used as shown below Instruction Operation When Clear Receive Buffer and Clear Transmit Buffer are both set to Yes all Receive and Transmit instructions ARL ARD AWA a...

Page 371: ...e return and line feed appended to the end of the string AIC Integer to String Source N7 0 Dest ST14 1 AIC Execution Time for the AIC Instruction Controller Data Size When Instruction Is True False Mi...

Page 372: ...string element you want to write Control is the control data file See page 365 String Length LEN is the number of characters you want to write from the source string 0 82 If you enter a 0 the entire s...

Page 373: ...it EU is set The Running bit RN is set when the instruction is executing The DN bit is set on completion of the instruction The controller sends 25 characters from the start of string ST37 42 to the d...

Page 374: ...a true rung Once started if the rung goes false the instruction continues to completion If you want to repeat this instruction the rung must transition from false to true When using this instruction y...

Page 375: ...than String Length LEN if the length of the string sent is less than what was specified in the String Length LEN field Characters Sent POS can be greater than the String Length LEN if inserted values...

Page 376: ...on is used to determine the number of characters in the receive buffer of the specified communication channel up to and including the end of line characters termination This instruction looks for the...

Page 377: ...ruction is then executed outside of the program scan However if the queue is empty the instruction executes immediately Upon execution the Run bit RN is set The controller determines the number of cha...

Page 378: ...hexadecimal error code that indicates why the ER bit was set in the control data file See page 390 for error descriptions Addressing Modes and File Types can be used as shown below EN DN ER ACB Ascii...

Page 379: ...ring to Integer Instruction Type output Use the ACI instruction to convert a numeric ASCII string to an integer word or long word value Entering Parameters Enter the following parameters when programm...

Page 380: ...S Comms IOS I O DLS Data Log Address Mode Address Level O I S B T C R N F ST L MG PD RI RIX PLS RTC HSC PTOX PWMX STI EII BHI MMI LCD Immediate Direct Indirect Bit Word Long Word Element Source Destin...

Page 381: ...f Source A Source B or Destination is greater than 82 the ASCII String Manipulation Error bit S 5 15 is set and the Invalid String Length Error 1F39H is written to the Major Error Fault Code word S 6...

Page 382: ...o the end of the Source string Destination is the string element ST where you want the extracted string stored Addressing Modes and File Types can be used as shown below Instruction Operation This ins...

Page 383: ...Entering Parameters Enter the following parameters when programming this instruction Channel is the number of the RS 232 port Channel 0 AND Mask is the mask used to reset the RTS control line Bit 1 c...

Page 384: ...e to true rung transition is required to set the EN bit to repeat the instruction Table 21 3 Channel Status Bit 1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 Handshake Control Line Setting Reserved RT S...

Page 385: ...ller moved from the buffer to the string 0 82 This field is updated during the execution of the instruction and is read only This is word 2 in the control data file Error displays the hexadecimal erro...

Page 386: ...L instruction to read characters from the buffer up to and including the Termination characters and store them in a string The Termination characters are specified via the Channel Configuration screen...

Page 387: ...is executing The DN bit is set on completion of the instruction Once the requested number of characters are in the buffer all characters including the Termination characters are moved to the destinati...

Page 388: ...nd result is set equal to zero Addressing Modes and File Types can be used as shown below TIP For information on the timing of this instruction see the timing diagram on page 389 ASC String Search Sou...

Page 389: ...match in length and upper lower case characters If two strings are identical the rung is true if there are any differences the rung is false Entering Parameters Enter the following parameters when pr...

Page 390: ...id Addressing Modes and File Types For definitions of the terms used in this table see Using the Instruction Descriptions on page 92 Parameter Data Files 1 Function Files CS Comms IOS I O DLS Data Log...

Page 391: ...micolon Positive value symbol and leading zeros are not printed Negative values are printed with a leading minus sign Commas are not inserted where they would normally appear in numbers greater than o...

Page 392: ...d of 5 RPM Invalid in line indirection Input Current position is N5 1 at a speed of L9 1 RPM Output Current position is N5 1 at a speed of 5 RPM TIP Truncation occurs in the output string if the indir...

Page 393: ...n None required 11 0x0B The requested number of characters for the ASCII read was too large or negative Enter a valid string length and retry operation 12 0x0C The length of the Source string is inval...

Page 394: ...SO SI DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 20 21 22 23 24 25 26 27 28 29 2A 2B 2C...

Page 395: ...figuring a Remote Message on page 442 Configuring a Multi hop Remote Message on EtherNet IP Communication Channel on page 445 Configuring a MicroLogix 1400 CIP Generic Message via Ethernet on page 461...

Page 396: ...ssed the message request not the data is placed in the channel s communications queue The queue is a message storage area that keeps track of messages that have not been allocated a buffer The queue o...

Page 397: ...er 2008 Communications Instructions 395 DF1 Radio Modem Modbus RTU Master Ethernet For a description of valid communication protocols see Knowledgebase Quick Starts on page 629 efesotomasyon com Allen...

Page 398: ...gram You may not place an SVC instruction in a Fault DII STI or I O Event subroutine Channel Select When using the SVC instruction you must select the channel to be serviced The channel select variabl...

Page 399: ...enabled and put in the communications queue When CS0 4 MCP is set 1 the SVC instruction is evaluated as true and the program scan is interrupted to execute the service communication s portion of the...

Page 400: ...nditionally across the rungs This is the normal programming technique for the SVC instruction EN DN ER MSG Read Write Message MSG File MG9 0 Setup Screen MSG Execution Time for the MSG Instruction Con...

Page 401: ...read only 2 Messaging Type 0 for PCCC 1 for CIP 2 for Modbus Master Word read only 3 for PCCC Messaging bits 07 00 CMD code bits 15 08 FNC code for CIP bits 07 00 Service Code bits 15 08 Supplemental...

Page 402: ...e is displayed via MSG instruction When messaging through CIP communication and non zero Status Code was received the low byte is 0xE0 and the high byte of this sub element contains detailed Status Co...

Page 403: ...G11 0 TF N Target File Numb 1 1 The file number for RTC function files is set to 0 by the programming software Y Word read write 14 MG11 0 ELE Target File Element Number for B S N F T C R L ST and RTC...

Page 404: ...IP Send Data Count Y Word read write 15 Internal Physical Address of CIP Send Data Table Address operand Y Word read only Message File Sub Element 16 Control Bits Bit Address Description Parameter Siz...

Page 405: ...arget N bit read only 13 MG11 0 0 DN Done 1 MSG completed successfully 0 MSG not complete N bit read only 12 MG11 0 0 ER Error 1 error detected 0 no error detected N bit read only 11 Reserved N bit re...

Page 406: ...ion from processor control You can create your own timeout routine by monitoring the EW and ST bits to start a timer When the timer times out you can set the TO bit which removes the message from the...

Page 407: ...actually waiting for a reply from the target device Enable EN The Enable Bit EN is set when rung conditions go true and the MSG is enabled The MSG is enabled when the command packet is built and put...

Page 408: ...ments When the channel that the MSG instruction is being initiated on is configured for either of these two drivers the Start Bit ST is set when the message has been successfully transmitted Break Con...

Page 409: ...e order in which the message instructions were enabled When a buffer becomes available the first message in the queue is placed into the buffer and the EW bit is set 1 Once the EN bit is set 1 it rema...

Page 410: ...he MG file is set 1 and a code is placed in the MG file to inform you of an error When a valid message instruction is loaded into a message buffer the EN and EW bits for this message are set 1 The con...

Page 411: ...et node sends a reply packet The reply packet contains one of the following responses successful write request successful read request with data failure with error code At the next end of scan REF or...

Page 412: ...y If the check box is unchecked communication throughput and scan time will increase When Communications Servicing Selection is checked at the next execution of a Service Communications SVC instructio...

Page 413: ...ty If this is checked and the Communication Servicing Selection check box is not checked the MSG functionality throughput and scan time will increase When this check box is checked the controller serv...

Page 414: ...when messages are sent Whenever I 1 0 is set and message MG11 0 is not enabled the message instruction on rung 0001 is enabled 0000 EN DN ER MSG Read Write Message MSG File MG11 0 Setup Screen MSG 000...

Page 415: ...etworks Example 1 Local DH 485 Network Example 2 Local DeviceNet Network with DeviceNet Interface 1761 NET DNI A B PanelView TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B CO...

Page 416: ...etup Screen The RSLogix Message Setup Screen is shown below This screen is used to setup This Controller Target Device and Control Bits Descriptions of each of the elements follow RS 232 DF1 Half Dupl...

Page 417: ...2 RS 485 port and Channel 1 is the Ethernet port If Channel 0 is selected with that channel configured for Modbus RTU Master then the next line will display Modbus Command Otherwise the next line disp...

Page 418: ...et device is compatible with and supports the SLC 500 command set all MicroLogix controllers sending data 485CIF Read 1 1 See Important note below The target device is compatible with and supports the...

Page 419: ...device Supported Modbus commands include Modbus Command Types Modbus Command Used For 01 Read Coil Status reading bits 02 Read Input Status reading bits 03 Read Holding Registers reading words 04 Rea...

Page 420: ...Message Read Message Write Bit B Timer T Counter C Control R Integer N Floating Point F 1 Long Word L String ST 1 Message Type must be 500CPU or PLC5 The Local File Type and Target File Type must bot...

Page 421: ...er file The only exceptions to this rule are that long integer data can be read from or written to bit or integer files and RTC files can be written to integer files TIP Input output string and RTC fi...

Page 422: ...ds 1 and 2 are read only 15 is write only B N commands 3 4 and 16 multi register 120 Modbus register elements 120 words Commands 3 and 4 are read only 16 is write only 1 Message Type must be 500CPU or...

Page 423: ...n the Ethernet Message Setup dialog box It is assigned by the processor and is determined by adding the Channel 1 MSG Connection Timeout to the MSG Reply Timeout then adding 15 seconds This value can...

Page 424: ...1 65536 Modbus addressing is limited to 16 bits per memory group each with a range of 1 65 536 There are four memory groups one for each function coils generally addressed as 0xxxx contacts 1xxxx inp...

Page 425: ...io Modem For DH 485 use local if the target node is on the same DH 485 network as this controller or remote if the path to the target node goes through one or more communication bridges Local Messagin...

Page 426: ...485CIF message type PLC5 message type Modbus RTU Message type EtherNet IP Message type Write Message type with ST data file A summary of the message instruction configuration parameters is shown in th...

Page 427: ...Multiple Coils 16 Write Multiple Registers Data Table Address For a Read this is the starting address which receives data Valid file types are B T C R ST N and L for Modbus commands B and N only For a...

Page 428: ...U and PLC5 message types For a Read this is the address in the processor which is to return data Valid file types are S B T C R N L and ST For a Write this is the address in the processor which receiv...

Page 429: ...the target device s Local Node 2 CIF file starting at word 20 or byte 20 for non SLC 500 devices The five elements are placed in the controller s Local Data Types Communication Type Target Data Types...

Page 430: ...med out Valid File Type Combinations Valid transfers between file types are shown below for MicroLogix messaging Local Data Types Communication Type Target Data Types O 1 I 1 B N L 1 Output and input...

Page 431: ...word N7 0 If five seconds elapse before the message completes error bit MG11 0 ER is set indicating that the message timed out Valid File Type Combinations Valid transfers between file types are shown...

Page 432: ...e Channel Configuration screen and set the Driver to Modbus RTU Master For more information on Channel Configuration see Modbus RTU Master Configuration on page 612 Message Setup Screen Rung 0 shows a...

Page 433: ...equire a word address Size in Elements Size in elements defaults to 1 For coil input commands 1 2 5 and 15 elements are in bits For register commands 3 4 6 and 10 elements are in words Target Device M...

Page 434: ...Setup Screen Rung 0 shows a standard RSLogix 500 RSLogix Micro message MSG instruction preceded by conditional logic 1 Access the message setup screen by double clicking Setup Screen 2 The RSLogix 500...

Page 435: ...The controller supports seven different types of communication commands If the target device supports any of these command types the controller should be capable of exchange data with the device You...

Page 436: ...be modified by changing one or both of the timeout values in the channel configuration screen for channel 1 The modified message timeout applies to all Ethernet MSG instructions Routing Information F...

Page 437: ...ssage 16 0x10 for normal Multi Hop MSG 17 0x11 for Remote Multi Hop MSG for a DH Network 1 High word of 32 bit target IP address 1 1 IP address is stored in network byte order big endian order For exa...

Page 438: ...letes error bit MG11 0 ER is set indicating that the message timed out If the target device is another MicroLogix 1400 a SLC 5 05 a PLC 5E or a controller connected to Ethernet via a 1761 NET ENI then...

Page 439: ...shown below under the MultiHop tab If the target device is a ControlLogix controller with an ControlNet interface then enter in the interface s IP address of the 1756 ENET module in the first row of...

Page 440: ...g file data to target device SLC5 0x 1756 L1 The following message setup screen is used to send local PLC5 write to the 1756 L1 via 1756 ENBT module A message read will also work The rcv_string tag on...

Page 441: ...that are capable of remote messaging and are connected on either network can initiate read or write data exchanges with devices on the other network based on each device s capabilities In this example...

Page 442: ...L TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL AIC AI...

Page 443: ...Ethernet Networks A B PanelView TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX...

Page 444: ...ge configuration shown below is for the MicroLogix 1400 at node 12 on the DH 485 network This message reads five elements of data from the SLC 5 04 node 51 on the DH network starting at address N 50 0...

Page 445: ...SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE C...

Page 446: ...If the target device is not remote capable SLC 500 SLC 5 01 SLC 5 02 and MicroLogix 1000 Series A B and C the remote bridge address is required Remote Station Address This variable is the final desti...

Page 447: ...user defined number between 1 and 65 535 All devices that can initiate remote messages and are connected to the local network must have the same number for this variable Configuring a Multi hop Remot...

Page 448: ...module In order for the message to pass through the network a MultiHop MSG must be setup and a DHRIO Routing table must exist Belden 9463 Blue Hose cable is used to connect the DH devices on the netw...

Page 449: ...08 Communications Instructions 447 MicroLogix 1400 CH1 Configuration DHRIO Routing table creation To create a DHRIO Routing table open up RSLinx and under Communication select RSWho efesotomasyon com...

Page 450: ...ct a driver that will allow you to see and connect up to the DHRIO module Right Click your mouse on top of the DHRIO module and a drop down box will open Select Module Configuration by clicking with t...

Page 451: ...ure that CH A s Link ID is set for 7 and CH B s Link ID is set for 2 Select OK Channel B is actually not necessary Right click on the Backplane and left click on Add Module Left click on 1756 ENET Ent...

Page 452: ...nications Instructions The following is the logic necessary for the MicroLogix 1400 processor A MSG route must be configured in the MultiHop tab of the MSG Setup Screen Click on the MultiHop tab efeso...

Page 453: ...kplane to highlight it and press the Insert key on your computer s keyboard to add another hop Double click on the From Device under the ControlLogix Backplane and select the 1756 DHRIO Make sure that...

Page 454: ...elow for the configuration steps Adding 1785 KA5 bridge module Routing to a DHRIO module onto DH thru a 1785KA5 bridge to DH485 In order for the RSLinx RSWho window to browse the DH485 network you mus...

Page 455: ...onfiguration tab Right click on the DHRIO channel being used and select Add Module Select the DH Bridge Enter the DH node number of the KA5 37 in this example and the Link ID of the DH485 13 in this e...

Page 456: ...ions ML1400 Channel1 Configuration The following is the message setup screen for the MicroLogix 1400 controller A MSG route must be configured in the MultiHop tab of the MSG Setup Screen Click on the...

Page 457: ...e Insert key to add another hop Double click on the From Device and select Remote DH DH DH 485 Enter in the destination node address DH octal address of target processor under the To Address Note Make...

Page 458: ...n Address 63 dec Chan 1 Network Link ID 0 Source Station Address 0 always There are four steps required to send unsolicited message to RSLinx DDE OPC client applications via EtherNet IP Configure a ne...

Page 459: ...130 KA for the Bridge Device Select DH for the Remote Network Type and Local ID is set to 15 dec Local KA5 is set to 63 dec The Remote ID should match the Network Link ID of the initiating ML1400 and...

Page 460: ...Publication 1766 RM001A EN P October 2008 458 Communications Instructions 2 Add a new group 3 Add a new item efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 461: ...ssage is received 4 Configure the ML1400 MSG instruction ML1400 Channel 1 Network Link ID must be matched with the DDE OPC Topic Remote ID configured in step 2 0 in this example Also configure a Remot...

Page 462: ...Publication 1766 RM001A EN P October 2008 460 Communications Instructions efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 463: ...This section describes how to configure a CIP Generic message when you are use Ethernet communication channel 1 of the MicroLogix 1400 The Network Configuration is shown below The RSLogix Message Setu...

Page 464: ...Extended Routing Information File The CIP generic communication command requires an extended routing information file type RIX to store the longer path information for CIP generic message types Each...

Page 465: ...vice This value changes based on the Service type that has been selected When user select a Service type other than Custom this is a read only box If user select Custom in the Service type box then us...

Page 466: ...shall always refer to the instance associated with the interface over which the request was received The attribute ID 5 identifies TCP IP network interface configuration parameters consist of IP addre...

Page 467: ...ue to some reason or reply contains error code error code is shown via MSG instruction Error Code 0xE0 is stored in Word 18 of MG file Internal Fail Code is stored in Word 22 of MG file When messaging...

Page 468: ...rs 15H Local channel configuration parameter error exists 16H Target or Local Bridge address is higher than the maximum node address 17H Local service is not supported 18H Broadcast is not supported 2...

Page 469: ...al Address Format a field has an illegal value E2H PCCC Description Illegal Address format not enough fields specified E3H PCCC Description Illegal Address format too many fields specified E4H PCCC De...

Page 470: ...an invalid request of a DCM BT block transfer F7H PCCC Description The adapter is not able to communicate with a module F8H PCCC Description The 1771 module response was not valid size checksum etc F9...

Page 471: ...1A EN P October 2008 Communications Instructions 469 General MSG Setup Screen to change IP Address MultiHop Setup Screen to change IP Address Setup String Data File efesotomasyon com Allen Bradley Roc...

Page 472: ...File Power cycle is required 1 Ethernet Subnet Mask Writable by an element of String File Changes Subnet Mask in Ethernet Communication File Disables BOOTP DHCP flags in Ethernet Communication File Po...

Page 473: ...Ethernet Channel Configuration tab If this check box is checked SMTP configuration page will be appeared Otherwise SMTP configuration page will not be appeared You must set up SMTP configuration befo...

Page 474: ...tober 2008 472 Communications Instructions SMTP Client Enable Bit Setup Screen SMTP Configuration Setup Screen The following is an explanation of parameters to be configured efesotomasyon com Allen Br...

Page 475: ...SMTP server TO Address 0 email TO address 0 To Address must be written as an email style TO Address 1 email TO Address 1 To Address must be written as an email style TO Address 2 email TO Address 2 To...

Page 476: ...provides an example of how the MSG Instruction would be configured to be used to send SMTP message General MSG Setup Screen for SMTP messaging The picture below shows MultiHop setup screen and configu...

Page 477: ...imeout Cannot edit Data Table Offset Valid value is 100 to 109 for SMTP messaging Basically Data Table Offset in MSG configuration setup screen is used to direct the internal virtual offsets You can c...

Page 478: ...ugh SMTP communication and the low byte is 0xDD the high byte of this sub element contains detailed Fail Code returned by the SMTP sub system The element values of Fail Codes are shown below Inline In...

Page 479: ...MicroLogix 1400 supports only the login method Base64 encoding is used to login to SMTP server Sending email in User Fault Routine When the controller mode is changed to User Fault mode if users want...

Page 480: ...Publication 1766 RM001A EN P October 2008 478 Communications Instructions Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 481: ...cket Interface Architecture The socket interface is implemented via the Socket Object in the Ethernet Subsystem MicroLogix controller programs communicate with the Socket Object via MSG instructions M...

Page 482: ...to accept incoming connections Similarly if you accept connections on a socket instance you cannot then use the instance to open outgoing connections This behavior is consistent with standard socket...

Page 483: ...ons with the MicroLogix controller as a TCP server Typical Sequence of Transactions for a TCP Client MSG in Ladder Program Ethernet Subsystem 10 10 10 10 Remote Ethernet Device 10 10 10 11 CreateSocke...

Page 484: ...er sending data to a device and then the device sending a response This is a typical sequence of transactions Depending on the application protocol the device could instead initiate sending data to th...

Page 485: ...nsactions for UDP Without OpenConnection MSG in Ladder Program Ethernet Subsystem 10 10 10 10 Remote Ethernet Device 10 10 10 11 CreateSocket Port 49100 CreateSocket Response Instance 102 Write 10 10...

Page 486: ...returned to the controller as soon as the data is sent Read Timeout 10000 ms Send Data To 10 10 10 10 port 49100 Data xyz Read Response 10 10 10 11 Port 49200 Data xyz Typical Sequence of Transaction...

Page 487: ...on In MicroLogix controller programs you can use a CIP Generic MSG instruction to request socket services Configure the MSG with these values Message Parameters CIP Generic Msg Parameter Description C...

Page 488: ...g or setting an attribute not when using other services Data Table Address Send Specify N file Contains the request parameters for the socket service Create a user defined type for the request paramet...

Page 489: ...vices on page 508 Error Description See Possible Error Codes for Socket Services on page 508 To Address in MultiHop tab Always specify 127 0 0 1 The To Address must point to the controller s Local IP...

Page 490: ...Timeouts The default MSG instruction timeout is 33 seconds the maximum MSG timeout is approximately 146 seconds Specify the MSG instruction timeout by setting the appropriate configuration of the Ethe...

Page 491: ...error See Possible Error Codes for Socket Services on page 508 Depending on the application you might want to fault the controller try to re establish the connection in the case of a client connectio...

Page 492: ...essages can be fixed size or variable size If an application sends variable size messages a common strategy is to first send a fixed size header containing the size of the message followed by the mess...

Page 493: ...to send all the specified bytes Such a situation can occur if the Write service is called multiple times before the target application can receive the data If the Write service is not able to send al...

Page 494: ...f the application you are communicating with you may have to convert the byte order in RSLogix500 and or in the application The following is an example for Write service So N file should contain the d...

Page 495: ...ect class MSG Configuration Parameters To call this service click Setup Screen in the MSG instruction and enter the values displayed below Configure the MSG with these values Parameter Value Service T...

Page 496: ...ckInstance Contains Instance number of the socket Attribute 0 Data Table Address Send Specify N file Size in Bytes Send 12 bytes Data Table Address Receive Specify N file Size in Bytes Receive 4 bytes...

Page 497: ...number with the specified socket MSG Configuration Parameters To call this service click Setup Screen in the MSG instruction and enter the values displayed below Parameter Value Service Type OpenConn...

Page 498: ...e OpenConnection service can return before the timeout period without creating a TCP connection For example if the destination device is running but is not listening for connections on the specified p...

Page 499: ...a TCP connection request from a remote destination Before calling AcceptConnection call CreateSocket and specify the local port number that will accept the connection When AcceptConnection completes...

Page 500: ...iption Channel 1 Integral Communication Command CIP Generic Service Custom Service Code 50 hexadecimal Class 342 hexadecimal Instance 0 Use a relay ladder instruction to move the returned instance num...

Page 501: ...o wait for an incoming connection request You can accept connections on the same port number Each call to AcceptConnection returns a different instance number to use when subsequently reading and writ...

Page 502: ...pplication might need to issue multiple Read requests to receive an entire application message For UDP the Read service completes when a datagram is available MSG Configuration Parameters To call this...

Page 503: ...ter Description Channel 1 Integral Communication Command CIP Generic Service Custom Service Code 4D hexadecimal Class 342 hexadecimal Instance 0 Use a relay ladder instruction to move the returned ins...

Page 504: ...rvice attempts to send the requested number of bytes and returns the number of bytes sent N file for receiving contains 12 bytes n bytes Nx 0 Nx 1 Nx 2 Nx 3 Nx 4 Nx 5 Nx 6 FromAddr Family 2 bytes From...

Page 505: ...decimal Class 342 hexadecimal Instance 0 Use a relay ladder instruction to move the returned instance number from a CreateSocket service into the MGx y TFN element of a MSG instruction Attribute 0 Dat...

Page 506: ...f bytes of data to write Reserved Specify 0 Buf Specify the data to write BufLen the number of bytes that were written Reserved Contains 0 Inline Indirection functionality You can use Inline Indirecti...

Page 507: ...line Indirection characters NULL will be filled in at the end of the buffer as many as the difference between the numbers If the number of replaced characters is larger than the number of Inline Indir...

Page 508: ...Use a relay ladder instruction to move the returned instance number from a CreateSocket service into the MGx y TFN element of a MSG instruction Attribute 0 Data Table Address Send Not used Size in By...

Page 509: ...rrently created socket instances For TCP the DeleteAllSockets service also closes all connections prior to deleting the instances MSG Configuration Parameters To call this service click Setup Screen i...

Page 510: ...ruction sets internal fail code in Word 22 MGx y 22 of MG file Low byte is error code 0xDE Object Specific General Error and high byte of this sub element contains detailed extended error code CIP Gen...

Page 511: ...Invalid type code in the parameter of the service 15 INVALID_FAMILY Invalid family in the parameter of the service 16 INVALID_PORT Invalid port in the parameter of the service 17 INVALID_ADDRESS Inva...

Page 512: ...tion Reserved 30 OPEN_CONN_TIMEOUT Open connection operation timer was expired 31 ACCEPT_CONN_TIMEOUT Accept connection operation timer was expired 32 READ_TIMEOUT Read operation timer was expired 33...

Page 513: ...Maximum record of String data on page 522 Retrieval Tools on page 529 Information for Creating Your Own Application on page 530 The following reasons may help you choose which type of memory to use A...

Page 514: ...n executed on a True rung the RCP instruction transfers data between the recipe database and the specified data locations Addressing Modes and File Types are shown in the following table RCP Instructi...

Page 515: ...the number identifying the RCP file It is the Recipe File Number used in the RCP instruction in your ladder program and identifies the recipe database Number of Recipes This is the number of recipes c...

Page 516: ...log memory space max 64K bytes 3 Enter the RCP file parameters as shown below When finished click on OK 4 A new window will appear In this window enter the values as shown below 5 Change the Current...

Page 517: ...Publication 1766 RM001A EN P October 2008 Recipe and Data Logging 515 The Recipes are now configured 8 Create the following ladder logic efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 518: ...alues to create Purple paint N7 0 500 N7 1 0 N7 2 500 T4 0 PRE 500 When B3 0 2 is energized and B3 0 0 and B3 0 1 are de energized Recipe File 0 Recipe number 2 is executed loading the following value...

Page 519: ...example can be calculated by the following equation Consumed memory size for Recipe File 0 Data Field per a recipe Number of Recipes 10 3 bytes 30 bytes Data Field Memory Consumption N7 0 2 byte N7 1...

Page 520: ...ocessor has 128K bytes 128 x 1024 of additional memory for data logging purposes Within this memory you can define up to 256 0 255 data logging queues Each queue is configurable by size maximum number...

Page 521: ...21 00 00 2275 103455 225 8150 4335 Record 3 01 10 2000 21 30 00 2380 103455 223 8195 4360 Record 4 01 10 2000 22 00 00 2293 103456 218 8390 4375 Record 5 01 10 2000 22 30 00 2301 103455 231 8400 4405...

Page 522: ...e maximum formatted string does not exceed 109 characters The following table can be used to determine the formatted string length Record Field Memory Consumption Date 2 bytes Time 2 bytes N7 11 2 byt...

Page 523: ...s calculated by Maximum Number of Records Data Log File Size Record Size 128K bytes 10 bytes 128 1024 10 13107 records Data Memory Consumed Formatted String Size delimiter 0 bytes 1 character word 2 b...

Page 524: ...ord consumes Each record consumes 90 bytes So if only one queue was configured the maximum number of records that could be stored would be 1456 The maximum number of records is calculated by Maximum N...

Page 525: ...o configure the data log queue s Access to this function is provided via the RSLogix 500 RSLogix Micro Project tree 2 The Data Log Que window appears Double click on Data Log Configuration 3 The Data...

Page 526: ...disabled and Date Stamp and Time Stamp are selected enabled the date is recorded as 00 00 0000 and the time as 00 00 00 Time Stamp if selected the time is recorded in hh mm ss format 1 Address to Log...

Page 527: ...ueue Number Specifies which data log queue captures a record The DLG instruction only captures data on a false to true rung transition The DLG rung must be reset scanned false before it will capture d...

Page 528: ...and the DLG instruction records the defined data set To address this bit in ladder logic use the format DLS0 Q EN where Q is the queue number Data Logging Done DN The Data Logging Done DN bit is used...

Page 529: ...Z shows the number of records that are allocated for this queue The number of records is set when the data log queue is configured FSZ can be used with RST to determine how full the queue is To addres...

Page 530: ...tion of the value of the data NUL record string is null terminated If the Real Time Clock module is disabled in the controller date is formatted as 00 00 0000 and time is formatted as 00 00 00 The Com...

Page 531: ...lication Retrieval Tools There are a number of retrieval tools designed for use with Palm OS Windows CE Windows 9x and Windows NT You can download these free tools from our web site Visit http www ab...

Page 532: ...es to be read Formatted string length see equation below File Number Always set to zero 0 File Type Must be A5 hex Element Number Queue number Determines the queue to be read 0 255 Sub Element Number...

Page 533: ...gix Micro to controller Memory Module transfer to controller except for Memory Module autoload of the same program Full Queue when a queue is full new records are recorded over the existing records st...

Page 534: ...Publication 1766 RM001A EN P October 2008 532 Recipe and Data Logging efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 535: ...data in and out of the bit and integer files you now can monitor and modify the parameters that your controller uses Making use of the new MicroLogix 1400 LCD Instruction your controller can directly...

Page 536: ...y from the LCD menu The User Display screen will show the specified output data when the LCD Instruction is energized If DISPLAY WITH INPUT is set to YES the user can enter input using the LCD keypad...

Page 537: ...nt is provided in the following table LCD Function File Feature Address Data Format Type User Program Access CBL Customized Boot Logo ASCII file Address LCD 0 CBL word INT control read write SCD Start...

Page 538: ...efault mode and displaying the I O Status screen and interfaces with LCD instructions in the ladder TMAX Trimpot high value LCD 0 TMAX word INT control read only POT0 Trimpot 0 Data TMIN TMAX LCD 0 PO...

Page 539: ...cified timeout period in seconds LCD Instruction Job Done DN LCD Instruction Job Done DN is set 1 when an LCD instruction is completed If the Display With Input bit of the LCD instruction is clear 0 N...

Page 540: ...N LCD Module Operation Error Number ERN shows the error code when an error occurs in LCD configurations and operation Target User Defined File Number TUF Target User Defined File Number TUF specifies...

Page 541: ...using a ladder program Using the Advance Set and KeyIn Mode menus on the LCD Trimpot 0 Data TMIN TMAX POT0 Trimpot 1 Data TMIN TMAX POT1 The Data resident in POT0 represents the position of trim pot 0...

Page 542: ...cleared by manually This OK bit is very useful for LCD instruction You can use this bit as any input of ladder logic when you program with several LCD instructions ESC key in Customized Display ESC F...

Page 543: ...ys off LCD Backlight Time BACKTIME LCD Backlight Time BACKTIME specifies the backlight timer period When this bit is set to zero 0 the default backlight timer period of 30 seconds applies When set to...

Page 544: ...me for the LCD Instruction Controller When Rung Is True False MicroLogix 1400 2 1233 s 0 2191 s Line 2 Operand 1 Operand 2 display area on the LCD Line 3 Operand 3 Operand 4 Line 4 Operand 5 Operand 6...

Page 545: ...size of each line is 16 characters If there are more than 16 characters in the string file the remaining characters except the first sixteen are ignored Special characters such as carriage return and...

Page 546: ...ASCII 0x80 0xFF a question mark is displayed on the LCD Be careful that some special characters are substituted with the corresponding embedded characters in the LCD The table below shows the availab...

Page 547: ...one Absolute Value ABS 1 4410 0 3750 1 14 1 5390 0 3730 None ASCII Number of Characters in Buffer ACB 22 6154 3 5250 1 14 None None None ASCII String to Integer ACI 6 5719 0 2142 1 14 7 1146 0 1978 No...

Page 548: ...7 2150 None Fill File FLL 3 1531 0 5290 1 57 3 2470 0 3918 None Convert from BCD FRD 5 4790 0 5151 0 71 None None None Gray Code GCD 5 4970 0 5618 1 14 None None None Greater Than or Equal To GEQ 1 07...

Page 549: ...0 1882 0 57 None None None Output Unlatch OTU 0 2830 0 1732 0 57 None None None Proportional Integral Derivative PID 7 1750 7 0910 1 57 None None None Pulse Train Output PTO 11 0210 5 5115 0 71 None N...

Page 550: ...0 CH1 1 86 None None None Swap SWP 1 0728 0 1963 1 14 None None None Tangent TAN 122 6760 0 3915 1 14 126 9135 0 4234 None Compute Time Difference TDF 5 9770 0 2219 1 57 7 2150 0 2035 None Temporary E...

Page 551: ...n 1766 RM001A EN P October 2008 MicroLogix 1400 Memory Usage and Instruction Execution Time 549 Bit B Integer N Timer T Counter C and Control R String ST efesotomasyon com Allen Bradley Rockwell plc s...

Page 552: ...time system overhead 15 3 35 11 65 ms One Or More Communication Channels Active When any of the channels are active the following typical overheads should be taken into account Channel 0 overhead 0 8...

Page 553: ...work This is done by using the status file to set up control bits and monitor both hardware and programming device faults and other status information IMPORTANT Do not write to reserved words in the...

Page 554: ...15L Node Address 567 S 15H Baud Rate 568 S 22 Maximum Scan Time 568 S 29 User Fault Routine File Number 568 S 30 STI Set Point 569 S 31 STI File Number 569 S 33 Channel 0 Communications 569 S 35 Last...

Page 555: ...n Otherwise the bit remains cleared 0 Whenever this bit is set 1 the overflow trap bit S 5 0 is also set 1 When an STI High Speed Counter Event Interrupt or User Fault Routine interrupts normal execut...

Page 556: ...Format Range Type User Program Access S 1 0 to S 1 4 binary 0 1 1110 status read only S 1 0 to S 1 4 Mode ID Controller Mode Use by MicroLogix Controller 1 S 1 4 S 1 3 S 1 2 S 1 1 S 1 0 1400 0 0 0 0 0...

Page 557: ...set 1 by the controller to indicate that 1 or more inputs or outputs are forced When this bit is clear a force condition is not present within the controller Address Data Format Range Type User Progr...

Page 558: ...rogram the User Fault Routine logic accordingly Load Memory Module On Error Or Default Program For this option to work you must set 1 this bit in the control program before downloading the program to...

Page 559: ...A Load Always on page 62 Power Up Mode Behavior If Power Up Mode Behavior is clear 0 Last State the mode at power up is dependent upon the position of the mode switch state of the Major Error Halted f...

Page 560: ...nd the FAULT LED flashes Table 6 MicroLogix 1400 Mode Switch Position at Power Up Major Error Halted Power Up Mode Behavior Mode at Last Power Down Power Up Mode Program False Don t Care Don t Care Pr...

Page 561: ...n File on page 318 for more information ATTENTION If you clear the Major Error Halted bit S 1 13 when the controller mode switch is in the RUN position the controller immediately enters the RUN mode A...

Page 562: ...program or if the memory module is not present the controller faults with error code 0017H on any attempt to enter an executing mode See also LPC Load Program Compare on page 61 Address 1 1 This bit c...

Page 563: ...7 word or 2 147 483 647 long word if the result is positive or 32 768 word or 2 147 483 648 long word if the result is negative To provide protection from inadvertent alteration of your selection prog...

Page 564: ...croLogix 1500 100 s bit 0 0001 seconds bit The following table illustrates the differences Address Data Format Range Type User Program Access S 4 binary 0 FFFF status read write Free Running Clock Cyc...

Page 565: ...BSR SQO SQC and SQL instructions are capable of generating this error When bit S 5 2 is set 1 it indicates that the error bit of a control word used by the instruction has been set If this bit is ever...

Page 566: ...At power up if Load Always is set and the controller and memory module passwords do not match the Memory Module Password Mismatch bit is set 1 SeePassword Protection on page 50 for more information S...

Page 567: ...rror Fault Code word S 6 Major Error Code This register displays a value which can be used to determine what caused a fault to occur SeeIdentifying Controller Faults on page 577 to learn more about tr...

Page 568: ...the Suspend mode The controller does not clear this value Use the SUS instruction with startup troubleshooting or as runtime diagnostics for detection of system errors Active Nodes Nodes 0 to 15 This...

Page 569: ...x 0 5 0 through CSx 0 5 7 SeeGeneral Channel Status Block on page 64 for more information Address 1 1 This bit can only be accessed via ladder logic It cannot be accessed via communications such as a...

Page 570: ...ongest program cycle of the controller Resolution is 100 s to 0 s For example the value 9 indicates that 800 to 900 us was observed as the longest program cycle User Fault Routine File Number This reg...

Page 571: ...cessed via ladder logic It cannot be accessed via communications such as a Message instruction from another device Data Format Range Type User Program Access S 30 word 0 65535 status read only Address...

Page 572: ...gram cycle of the controller in 100 s increments Address 1 1 This bit can only be accessed via ladder logic It cannot be accessed via communications such as a Message instruction from another device D...

Page 573: ...RSLogix Micro Monitor address in function file to see online values RTC Month This address is duplicated in the Real Time Clock Function File at RTC 0 MON SeeReal Time Clock Function File on page 57 f...

Page 574: ...SeeReal Time Clock Function File on page 57 for more information Note This value will not update while viewing online in RSLogix 500 RSLogix Micro Monitor address in function file to see online value...

Page 575: ...ix 500 RSLogix Micro Monitor address in function file to see online values OS Catalog Number This register identifies the Catalog Number for the Operating System in the controller Address 1 1 This wor...

Page 576: ...of the processor Processor Revision This register identifies the revision Boot FRN of the processor Address Data Format Range Type User Program Access S 58 ASCII A Z status read only Address Data For...

Page 577: ...ed the program in the controller Compiler Revision Release This register identifies the Release of the compiler which created the program in the controller Address Data Format Range Type User Program...

Page 578: ...Publication 1766 RM001A EN P October 2008 576 System Status File Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 579: ...Power Up bit S 1 8 is set in the status file You can also configure the controller to clear faults and go to RUN every time the controller is power cycled This is a feature that OEMs can build into t...

Page 580: ...rom the memory module RAM integrity test failed Non User Re download or transfer the program Verify battery is connected Contact your local Rockwell Automation representative if the error persists 000...

Page 581: ...Contact your local Rockwell Automation representative if the error persists 000A OS MISSING OR CORRUPT The operating system required for the user program is corrupt or missing Non User Download a new...

Page 582: ...operating systems your controller 001A USER PROGRAM INCOMPATIBLE WITH OS AT POWER UP The user program is incompatible with the OS Non User Upgrade the OS using ControlFlash Contact your local Rockwell...

Page 583: ...the program to ensure that the length and position parameters do not point outside of the data space Re compile reload the program and enter the Run mode 0034 NEGATIVE VALUE IN TIMER PRESET OR ACCUMUL...

Page 584: ...LLER TYPE MISMATCH A particular controller type was selected in the user program configuration but did not match the actual controller type Non User Connect to the hardware that is specified in the us...

Page 585: ...ration and Re compile reload the program and enter the Run mode or Replace the module Cycle power xx87 1 I O CONFIGURATION MISMATCH The expansion I O configuration in the user program did not match th...

Page 586: ...d add the missing power supply xx8C 1 2 EXPANSION I O OBJECT TYPE MISMATCH An expansion I O object i e cable power supply or module in the user program I O configuration is not the same object type as...

Page 587: ...of the base unit series letter revision letter and firmware FRN number of the processor on bottom side of processor unit controller LED status controller error codes found in S2 6 of status file or LC...

Page 588: ...Publication 1766 RM001A EN P October 2008 586 Fault Messages and Error Codes Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 589: ...following sections DH 485 Communication Protocol on page 588 DF1 Full Duplex Protocol on page 592 DF1 Half Duplex Protocol on page 593 DF1 Radio Modem Protocol on page 604 Modbus RTU Protocol on page...

Page 590: ...ability token passing access control the ability to add or remove nodes without disrupting the network maximum network length of 1219 m 4000 ft The DH 485 protocol supports two classes of devices init...

Page 591: ...s include the configuration of the network and the parameters that can be set to the specific requirements of the network The following are major configuration factors that have a significant effect o...

Page 592: ...er of nodes on the network directly affects the data transfer time between nodes Unnecessary nodes such as a second programming terminal that is not being used slow the data transfer rate The maximum...

Page 593: ...baud rate for a MicroLogix devices on the DH 485 network All devices must be at the same baud rate This rate is stored in the controller Communications Status file CS0 5 8 CS0 5 15 Configure the baud...

Page 594: ...o point communication is required This type of protocol supports simultaneous transmissions between two devices in both directions DF1 protocol controls message flow detects and signals errors and ret...

Page 595: ...fter polling a DF1 half duplex slave is received acknowledged and re broadcast without being executed by the DF1 half duplex master It is treated like any other slave to slave command except that no a...

Page 596: ...all the other queued up messages The minimum time to message to every responding slave station increases linearly with the number of slave stations that cannot respond If the Message based selection i...

Page 597: ...er of completion will be based upon which slave station address comes up next in the poll list not the order in which the MSG instructions were executed and transmitted When a slave station receives a...

Page 598: ...ine if any slave input or data changes have occurred Instead through user programming the slave station monitors its own inputs for a change of state or data which triggers a block of data to be writt...

Page 599: ...polls all of the priority slave addresses each poll scan priority low to priority high and a subset of the normal slave address range The number of normal slave addresses to poll each poll scan is de...

Page 600: ...tion to that slave is triggered in ladder logic Once the read or write command has been transmitted the master waits the Reply MSG Timeout period and then polls that slave for a reply to its command T...

Page 601: ...g Half Duplex Modem RTS CTS Handshaking Full Duplex Modem RTS on No Handshaking 485 Network No Handshaking Error Detection CRC BCC CRC Duplicate Packet Detect enabled disabled Detects and eliminates d...

Page 602: ...knowledgement to a message it has transmitted before it retries the message or errors out the message instruction This timeout value is also used for the poll response timeout 50 Reply MSG Timeout x 2...

Page 603: ...ements of last scan through Priority Poll List Message Retry CSx 13 The number of message retries sent by the processor Undelivered Messages CSx 12 The number of messages that were sent by the process...

Page 604: ...d Normal and or Priority Poll Ranges are defined if a slave responded the last time it was polled by the master the bit corresponding to its address is set 1 active if a slave didn t respond the last...

Page 605: ...tects and eliminates duplicate responses to a message Duplicate packets may be sent under noisy communication conditions if the sender s Message Retries are set greater than 0 enabled Poll Timeout x20...

Page 606: ...king for the CTS response For use with modems that are not ready to respond with CTS immediately upon receipt of RTS 0 Message Retries 0 255 Specifies the number of times the master device attempts to...

Page 607: ...ode is executed by all of the other DF1 radio modem nodes that receive it No acknowledgement or reply is returned Unlike either DF1 Full Duplex or DF1 Half Duplex protocols DF1 Radio Modem protocol do...

Page 608: ...m Channel 0 Configuration Parameters Parameter Options Programming Software Default Channel Channel 0 0 Driver DF1 Radio Modem Baud Rate 300 600 1200 2400 4800 9600 19 2K 38 4K 19 2K Parity none even...

Page 609: ...corresponding to the addresses of those two other nodes must be set For instance if node 2 is used to Store Forward message packets between nodes 1 and 3 then both bits Bx 1 and Bx 3 where x is the co...

Page 610: ...ved that originate from the receiving node should never be re transmitted Note 2 To prevent Node 2 from re transmitting a duplicate packet the link layer of Node 2 updates the duplicate packet table w...

Page 611: ...use it did not have available memory Undelivered Messages CSx 12 The number of messages that could not be sent by the processor due to bad modem handshake signals Duplicate Messages Received CSx 18 Th...

Page 612: ...onfigured for DF1 Radio Modem protocol 2 Does each node receive the radio transmissions of every other node being both within radio transmission reception range and on a common receiving frequency eit...

Page 613: ...ve driver maps the four Modbus data types coils contacts input registers and holding registers into four binary and or integer data table files created by the user Modbus RTU Master Message instructio...

Page 614: ...nfigured for a maximum size of 256 words With the Expanded box checked the controllers can be specifically configured to use up to six 256 word data table files for a total of 1536 Modbus Holding regi...

Page 615: ...aking 485 Network The Protocol Control defaults are No Handshaking InterChar Timeout 0 Pre Transmit Delay 0 When the system driver is Modbus RTU Master the following communication port parameters can...

Page 616: ...rial character is sent to the modem and when RTS is deactivated Gives the modem extra time to transmit the last character of a packet 0 RTS Send Delay x20 ms 0 65535 can be set in 20 ms increments Spe...

Page 617: ...data files 4 Enter the data table size and type for each required file The data table file s not including the five additional tables if Expanded is checked will be created automatically NOTE The cont...

Page 618: ...rs Read Only Modbus addresses 30001 30256 range 3 255 0 no file 0 Holding Registers Read Write Modbus addresses 40001 40256 range 3 255 0 no file 0 RTS Off Delay x20 ms 0 65535 can be set in 20 ms inc...

Page 619: ...3 255 words 0 255 30501 30532 Modbus Communication Parameters Communication Status File 31501 31566 Read Only System Status File space Status S 2 words 0 65 40001 40256 Read Write Modbus Holding Regis...

Page 620: ...ile Number of Error Request 4 30517 Element Number of Error Request 4 30518 Function Code 1 Message Counter Read Single Output Coil 4 30519 Function Code 2 Message Counter Read Discrete Input Image 4...

Page 621: ...Modbus Holding Register space 6th Holding Register file 3 6 16 Modbus Slave to MicroLogix Memory Map Detail Modbus Addressing Modbus Address Reference Modbus Function Code decimal Supported Modbus Com...

Page 622: ...il 1 5 Write Single Holding Register 1 6 Write Multiple Coils 1 15 Write Multiple Holding Registers 1 16 1 Broadcast is supported for this command Supported Modbus Commands as a Modbus RTU Master Comm...

Page 623: ...unction attempted to write to a read only file 3 10 File Access Denied Access to this file is not granted 2 11 File Already Owned Data file is already owned by another process 2 1 See on page 617 for...

Page 624: ...7 88 Memory Parity Error The slave attempted to read extended memory but detected a parity error in the memory 8 89 Non standard Error Code An error code greater than 8 was returned by the slave 8 Mod...

Page 625: ...ructions on page 361 for information on using the ASCII instructions You can also send ASCII string data to most attached devices that accept ASCII data characters The channel configuration screen is...

Page 626: ...en Delete Mode is enabled the previous character is removed from the receive buffer In CRT mode when a delete character is encountered the controller echos three characters to the device backspace spa...

Page 627: ...hannel 1 The configuration can be done via a BOOTP or DHCP request at processor power up or by manually setting the configuration parameters using RSLogix 500 RSLogix Micro Programming Software refer...

Page 628: ...his is the IP address of the computer acting as the local Ethernet network Primary Domain Name System DNS server 0 0 0 0 Secondary Name Server This is the IP address of the computer acting as the loca...

Page 629: ...enable HTTP Hyper Text Transfer Protocol Disable HTTP to guarantee better security since it prevents access to the processor using a web browser Note that disabling HTTP will prevent you from viewing...

Page 630: ...f Duplex Msg Connection Timeout x 1ms 250 65 500 ms The number of milliseconds allowed for a MSG instruction to establish a connection with the destination node 15000 Msg Reply Timeout x ms 250 65 500...

Page 631: ...ge 642 17503 Quick Start Real Time Clock RTC on page 644 17558 Quick Start User Interrupt Disable UID on page 646 18465 Quick Start RTC Synchronization Between Controllers on page 647 18498 Quick Star...

Page 632: ...ting and 100 pulses will be used for Decelerating PTOX 0 OUT Select Destination Output for pulses Output O 0 2 O 0 3 or O 0 4 PTOX 0 OF Output Frequency Frequency of pulses 0 100 000 Hz Data less then...

Page 633: ...p bit has been activated Once the EH bit is set the instruction will generate a PTO error of 1 hard stop detected In order to clear this error the PTO instruction must be scanned on a false rung of lo...

Page 634: ...the following parameters as the Minimum Configuration required for the PWM to generate a waveform at the specified frequency PWMX 0 OUT Select Destination Output for pulses Output O 0 2 O 0 3 or O 0 4...

Page 635: ...equency of 250Hz and a 50 Duty Cycle The following ladder logic will need to be entered into File 2 By toggling Bit B3 0 the PWM can be activated Note Once activated the PWM will continue to generate...

Page 636: ...6 Input device connection depends on the counter mode selected The MicroLogix 1400 uses a 32 bit signed integer for the HSC this allows for a count range of 2 147 483 647 Getting Started Locate the Fu...

Page 637: ...counting again Important It is assumed that the user has connected a device to I 0 0 to generate pulses Note The following ladder logic does not need to be entered into File 2 however this allows for...

Page 638: ...guring HSC MOD for Mode 6 Quadrature Counter The following diagram illustrates connecting an encoder to the MicroLogix 1400 The minimum configuration required for Mode 6 operation is to enter a file n...

Page 639: ...Configuration 2 Highlight the MicroLogix 1400 3 Select Adv Config 4 Select the Embedded I O Configuration Tab 5 Adjust Input filters as needed Problem 2 The HSC instruction does not accumulate counts...

Page 640: ...ons The MicroLogix 1400 processors contain a total of 12 Message Buffers The Outgoing queue also supports unlimited queuing This means that even if a buffer is not available the MSG will simply wait u...

Page 641: ...e bit MG11 0 DN Continuous Message Example The following example illustrates how by using the MSG Done DN and Error ER bits to unlatch the Enable EN bit the MSG instruction can be configured for conti...

Page 642: ...dder Logic No ladder logic is required in the destination processor however the communications channel must be configured to match the source processor Since the default settings for the ML1400 commun...

Page 643: ...is a ML1000 the address would be O 0 0 This will display in binary on the output LEDS what ever number that was entered into N7 0 of the ML1400 IMPORTANT NOTE By addressing O 0 0 the outputs of the d...

Page 644: ...ng perform a different task and then return to the suspend task at the point where it suspended STI Definition The STI provides a mechanism to solve time critical control requirements The STI is a tri...

Page 645: ...to work If the subroutine is not created the CPU will fault due to a STI Error Code 1 Invalid File Number for PFN has been entered STI 0 PFN Program File Number defines which subroutine is executed w...

Page 646: ...der logic in order for the interrupt to execute The User Interrupt Enable bit UIE determines if the interrupt executes or not 17503 Quick Start Real Time Clock RTC General Information The RTC provides...

Page 647: ...t the ML1400 clock to the same Date Time as the PC connected online Pressing will disable the RTC from functioning and decrease the drain on the battery during storage RTC 0 BL The Battery Low bit wil...

Page 648: ...errupt was selected 4 Enter the sum into the UID instruction For example to disable EII Event 1 and EII Event 3 EII Event 1 32 EII Event 3 04 32 04 36 Enter this value in the UID instruction Interrupt...

Page 649: ...mple illustrates a message write from an SLC 5 03 or higher processor to a Micrologix 1400 processor with RTC that has been enabled This example can also be applied for messaging between MicroLogix 11...

Page 650: ...protocol 2 Enter the following ladder logic into the SLC processor TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL TERM A B COM SHLD CHS GND TX TX PWR TX DC SOURCE CABLE EXTERNAL Addit...

Page 651: ...each time the SLC processor is powered up and placed into the RUN mode or each time the Time Synchronization Bit B3 0 0 is enabled ATTENTION Valid years for the Micrologix 1400 begin with 1998 Any da...

Page 652: ...eue The size of memory where queues are stored is 128K bytes this is independent of the rest of the processor memory The Data logging feature allows the capture or storage of application data as a rec...

Page 653: ...o delete queues simply select the queue with the mouse and press the delete key on the keyboard 4 Double Click on Data Log configuration to open the Configuration window 5 Complete the Data Log Queue...

Page 654: ...e Date and Time stamp are to be used If an RTC module is disabled the data for these fields will contain zeros 6 Click OK when completed 7 Click OK and accept the Data Log Queue window 8 Once the N10...

Page 655: ...MicroLogix 1400 communications are configured for 19200 baud If using defaults select 19200 above otherwise select the baud rate configured in the MicroLogix Channel Configuration Screen If a correct...

Page 656: ...see 5 records verify your Data Logging Enable bit was toggled 5 times causing the 5 entries to be recorded in the Queue 6 Select Read Log This will retrieve the data from the ML1400 controller FYI Da...

Page 657: ...note of the filename about to be created and the directory it is being saved to for later reference 9 Using Microsoft Excel open the data file that was created FYI If you are unable to locate your fil...

Page 658: ...ate your own software application for retrieving the data stored in the processors Data Logging queue is shown Q2 Can the MicroLogix 1400 controller automatically send the information stored in the Da...

Page 659: ...HyperTerminal for direct connection to the PC COMM port the modem is connected to Make sure the HyperTerminal connection is configured for 9600 baud 4 Save configuration as DataLog 5 Send the followi...

Page 660: ...s been shutdown 2 2 Start HyperTerminal Do not re connect 3 3 Open the previously configured Datalog 4 Type to place modem in command mode Do not press the ENTER KEY Your modem will respond OK 5 Type...

Page 661: ...Publication 1766 RM001A EN P October 2008 Knowledgebase Quick Starts 659 Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 662: ...Publication 1766 RM001A EN P October 2008 660 Knowledgebase Quick Starts efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 663: ...215 Each position can be 0 or 1 in the processor memory A 0 indicates a value of 0 a 1 indicates the decimal value of the position The equivalent decimal value of the binary number is the sum of the p...

Page 664: ...000 0010 0011 214 213 212 211 25 21 20 215 16384 8192 4096 2048 32 2 1 32768 30755 32768 2013 An often easier way to calculate a value is to locate the last 1 in the string of 1s beginning at the left...

Page 665: ...ht Example Hexadecimal number 218A has a decimal equivalent value of 8586 1x214 16384 1x213 8192 1x212 4096 1x211 2048 1x210 1024 1x29 512 1x28 256 1x27 128 1x26 64 1x25 32 1x24 16 1x23 8 1x22 4 1x21...

Page 666: ...tive number because it exceeds the maximum positive value of 32767 To calculate its value subtract 164 the next higher power of 16 from 56950 56950 65536 8586 2x163 8192 1x162 256 8x161 128 10x160 10...

Page 667: ...set 1 will pass data from a source to a destination Reset bits 0 will not In the example below data in bits 0 7 of the source word is passed to the destination word Data in bits 8 15 of the source wor...

Page 668: ...Publication 1766 RM001A EN P October 2008 666 Number Systems Notes efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 669: ...terchange A standard for defining codes for information exchange between equipment produced by different manufacturers The basis of character sets used in most microcomputers a string of 7 binary digi...

Page 670: ...ontrol profile The means by which a controller determines which outputs turn on under what conditions counter A device that counts the occurrence of some event CPU Central Processing Unit The decision...

Page 671: ...1500 controllers use Bulletin 1769 expansion I O For MicroLogix controllers embedded I O is all I O residing at slot 1 and higher encoder A device that detects position and transmits a signal represe...

Page 672: ...as a push button or a switch that supplies an electrical signal to the controller input scan The controller reads all input devices connected to the input terminals inrush current The temporary surge...

Page 673: ...that carries the smallest value of weight LED Light Emitting Diode Used as status indicator for processor functions and inputs and outputs LIFO Last In First Out The order that data is stored and retr...

Page 674: ...normally closed Contacts on a relay or switch that are closed when the relay is de energized or deactivated They are open when the relay is energized or the switch is activated normally open Contacts...

Page 675: ...ON delay time is a measure of the time required for the controller logic to recognize that a signal has been presented at the input terminal of the controller one shot A programming technique that se...

Page 676: ...ler s operating cycle During the program scan the logic program is processed and the Output Image is updated programming device Programming package used to develop ladder logic diagrams protocol The r...

Page 677: ...output instructions During Run mode the inputs on a rung are evaluated to be true or false If a path of true logic exists the outputs are made true energized If all paths are false the outputs are ma...

Page 678: ...ff Throughput consists of input delays program scan output delays and overhead true The status of an instruction that provides a continuous logical path on a ladder rung upload Data is transferred fro...

Page 679: ...64 365 timing diagram 389 ASCII integer to string instruction 368 ASCII number of characters in buffer instruction 375 ASCII protocol parameters 363 ASCII read characters instruction 383 ASCII read li...

Page 680: ...opy file instruction 269 copy word instruction 268 count down instruction 185 count up instruction 185 counters counter file 182 counter file and status bits 183 definition 668 how counters work 182 C...

Page 681: ...Start 650 HSC Quick Start 634 MSG Quick Start 638 PTO Quick Start 629 PWM Quick Start 632 RTC Quick Start 644 RTC Synchronization Quick Start 647 STI Quick Start 642 user interrupt disable UID Quick S...

Page 682: ...577 IIM instruction 303 immediate input with mask instruction 303 immediate output with mask instruction 305 in line indirection 389 input and output instructions 303 input device 670 input filter sel...

Page 683: ...ion 193 masked move instruction 264 master control relay MCR 671 master control reset instruction 300 math instructions 197 237 math overflow selection bit 561 math register status 567 maximum scan ti...

Page 684: ...tatus 574 series letter status 573 operating voltage 673 OR instruction 258 OSF instruction 172 OSR instruction 172 OTE instruction 169 OTL instruction 170 OTU instruction 170 outgoing message command...

Page 685: ...clock accuracy 58 battery low indicator bit 58 disabling 58 function file 57 real time clock Quick Start example 644 real time clock adjust instruction 60 recipe 511 recipe instruction 511 REF instruc...

Page 686: ...569 function file 318 lost status bit 564 mode status 559 pending status bit 559 Quick Start example 642 set point status 569 string data file 364 STS instruction 313 SUB instruction 205 subroutine l...

Page 687: ...tus bit 563 recoverable and non recoverable faults 310 user interrupt disable instruction 314 user interrupt enable instruction 315 user interrupt flush instruction 316 user memory 42 user program fun...

Page 688: ...Publication 1766 RM001A EN P October 2008 686 Index efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 689: ...th Mask 303 INT Interrupt Subroutine 312 IOM Immediate Output with Mask 305 JMP Jump to Label 297 JSR Jump to Subroutine 298 LBL Label 298 LCD LCD instruction 542 LEQ Less Than or Equal To 192 LES Les...

Page 690: ...put Interrupt 322 ES Ethernet Status 80 HSC High Speed Counter 100 IOS I O Status 89 LCD LCD Information 533 MCR Master Control Reset 300 MEQ Mask Compare for Equal 193 MMI Memory Module Information 6...

Page 691: ...1 2 3 Can we add more information to help you procedure step illustration feature example guideline other explanation definition Technical Accuracy all provided information is correct 1 2 3 Can we be...

Page 692: ...NITED STATES BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 PLEASE FASTEN HERE DO NOT STAPLE...

Page 693: ...efesotomasyon com Allen Bradley Rockwell plc servo drive...

Page 694: ...e If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Sup...

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