Allen-Bradley controllogix 1756-L55M12 User Manual
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Allen-Bradley controllogix 1756-L55M12 User Manual

Allen-Bradley controllogix 1756-L55M12 User Manual

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ControlLogix
Controllers
1756-L55M12, 1756-L55M13,
1756-L55M14, 1756-L55M16,
1756-L55M22, 1756-L55M23,
1756-L55M24, 1756-L61, 1756-L62,
1756-L63, 1756-L64,
1756-L60M03SE
Firmware Revision 16
User Manual
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Summary of Contents for Allen-Bradley controllogix 1756-L55M12

  • Page 1 ControlLogix Controllers 1756-L55M12, 1756-L55M13, 1756-L55M14, 1756-L55M16, 1756-L55M22, 1756-L55M23, 1756-L55M24, 1756-L61, 1756-L62, 1756-L63, 1756-L64, 1756-L60M03SE Firmware Revision 16 User Manual...
  • Page 2 Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell Automation sales office or online at http://literature.rockwellautomation.com) describes some important differences between solid state equipment and hard-wired electromechanical devices.
  • Page 3 Summary of Changes Introduction The release of this document contains new and updated information. To find new and updated information, look for change bars, as shown next to this paragraph. Updated Information The document contains these changes. Topic Page 1756-L64 ControlLogix Controller Throughout manual Add-On Instructions Select a System Overhead Percentage...
  • Page 4 Summary of Changes Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 5: Table Of Contents

    Table of Contents Preface About this Publication ......9 Who Should Use This Publication ..... 9 Additional Resources.
  • Page 6 Table of Contents Produce and Consume (Interlock) Data ....48 Additional Resources ......48 Send and Receive Messages.
  • Page 7 Table of Contents Additional Resources ......75 Monitor Controller Status ......75 Additional Resources .
  • Page 8 Table of Contents Chapter 9 Configure Redundancy Introduction ........111 Additional Resources .

  • Page 9: About This Publication

    Preface About this Publication Use this manual to become familiar with the ControlLogix controller and its features. This version of the manual corresponds to controller firmware revision 15. Who Should Use This This manual describes the necessary tasks to install, configure, program, and operate a ControlLogix system.
  • Page 10 Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 11: Chapter 1 Introduction

    Chapter ControlLogix System Overview Introduction This chapter provides an overview of the ControlLogix system. The ControlLogix system provides sequential, process, motion, and drive control together with communication and I/O in a chassis-based system. A simple ControlLogix system consists of a stand-alone controller and I/O modules in a single chassis.
  • Page 12 ControlLogix System Overview The ControlLogix controller is part of the Logix5000 family of controllers. A ControlLogix system includes: • the ControlLogix controller is available in different combinations of user memory. Controller Memory for Data Nonvolatile and Logic Backup Memory 1756-L55M12 750 KB 208 KB 1756-L55M13...

  • Page 13: Design

    ControlLogix System Overview The ControlLogix controller divides resources between a Logix CPU and a backplane CPU. Logix CPU and Backplane CPU Logic and Data Memory I/O Memory I/O Data Program Source Code Logix Backplane Tag Data I/O Force Tables RSLinx Tag Group Lists Message Buffers Produced/consumed Tags •...
  • Page 14 ControlLogix System Overview • make serial connections. See the chapter Directly Connect to the Controller via the Serial Port. • load controller firmware. • make additional network connections. See the chapter Communicate over Networks. Publication 1756-UM001G-EN-P - January 2007...

  • Page 15: Chapter 2 Introduction

    Chapter Directly Connect to the Controller via the Serial Port Introduction This chapter explains how to connect the controller to the serial port and how to upload and download a project to the controller. Topic Page Connect the Controller to via the Serial Port Configure the Serial Driver Select the Controller Path Connect the Controller to...
  • Page 16 Directly Connect to the Controller via the Serial Port If you make your own serial cable: • Limit the length to 15.2m (50 ft). • Wire the connectors this way. Workstation Controller 1 CD 1 CD 2 RDX 2 RDX 3 TXD 3 TXD 4 DTR...

  • Page 17: Configure The Serial Driver

    Directly Connect to the Controller via the Serial Port Configure the Serial Driver Use RSLinx software to configure the RS-232 DF1 Device driver for serial communication. To configure the driver, perform this procedure. 1. From the Communications pull-down menu in RSLinx software, choose Configure Drivers.
  • Page 18 Directly Connect to the Controller via the Serial Port 5. Specify the serial port settings. a. From the Comm Port pull-down menu, choose the serial port on the workstation to which the cable is connected. b. From the Device pull-down menu, choose Logix 5550-Serial Port.

  • Page 19: Select The Controller Path

    Directly Connect to the Controller via the Serial Port Select the Controller Path In RSLogix 5000 programming software, to select the controller path, perform this procedure. 1. Open an RSLogix 5000 project for the controller. 2. From the Communications pull-down menu, choose Who Active.
  • Page 20 Directly Connect to the Controller via the Serial Port Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 21: Chapter 3 Introduction

    Chapter Communicate over Networks Introduction This chapter explains over what networks you can communicate. Network Support Example Control distributed (remote) I/O ControlLogix Controller • EtherNet/IP network • ControlNet network • DeviceNet network Control Network • Universal remote I/O network • Foundation Fieldbus network Distributed (remote •...

  • Page 22: Ethernet/Ip Network Communication

    Communicate over Networks Topic Page Serial Network Communication DH-485 Network Communication DH+ Network Communication Universal Remote I/O Communication Foundation Fieldbus HART EtherNet/IP Network The EtherNet/IP network offers a full suite of control, configuration, and data collection services by layering the Common Industrial Communication Protocol (CIP) over the standard Internet protocols, such as TCP/IP and UDP.
  • Page 23 Communicate over Networks Required Software for EtherNet/IP Communication Software Functions Requirement • Configure ControlLogix projects. RSLogix 5000 • Define EtherNet/IP communication. RSLogix 5000 Assign IP addresses to devices on an BOOTP/DHCP Utility EtherNet/IP network. • Configure EtherNet/IP devices by IP RSNetWorx for EtherNet/IP addresses and/or host names.

  • Page 24: Connections Over An Ethernet/Ip Network

    Communicate over Networks EtherNet/IP Network Overview FlexLogix Controller with 1788-ENBT Module Distributed I/O ControlLogix LINK NE T OK LINK NE T OK 1756-ENBT Module Controller with (as an adapter) with 1756 1756-ENBT I/O Modules Module CompactLogix Controller with Integrated EtherNet/IP Port 1794-AENT Adapter with 1794 I/O Modules Switch...

  • Page 25: Additional Resources

    Communicate over Networks Additional Resources For additional information, consult these publications: • EtherNet/IP Modules in Logix5000 Control Systems User Manual, publication ENET-UM001 • Logix5000 Controllers Design Considerations Reference Manual, publication 1756-RM094 ControlNet Network The ControlNet network is a real-time control network that provides high-speed transport of both time-critical I/O and interlocking data Communication and messaging data, including uploading and downloading of...
  • Page 26 Communicate over Networks Required Software for ControlNet Communication Software Functions Requirement • Configure ControlLogix projects. RSLogix 5000 • Define ControlNet communication. • Configure ControlNet devices by IP addresses RSNetWorx for ControlNet and/or host names. • Schedule a network. • Configure communication devices. RSLinx •...

  • Page 27: Connections Over A Controlnet Network

    Communicate over Networks ControlNet Network Overview Workstation Distributed I/O PowerFlex 700S AC CompactLogix Controller Drive with DriveLogix 1756-CNB Module (as an adapter) with 1756 I/O Modules ControlNet Network 1794-ACN15 Adapter FlexLogix Controller with with 1794 I/O Modules 1788-CNC Card PanelView Terminal 1734-ACNR Adapter with 1734 I/O Modules PLC-5/40C Controller...

  • Page 28: Additional Resources

    Communicate over Networks The 1756-CNB and 1756-CNBR communication modules support 64 CIP connections over a ControlNet network. However, for optimal performance, only configure 48 connections for each module. Additional Resources For additional information, consult these publications: • ControlNet Modules in Logix5000 Control Systems User Manual, publication CNET-UM001 •...
  • Page 29 Communicate over Networks Required Software for DeviceNet Communication Software Functions Requirement • Configure ControlLogix projects. RSLogix 5000 • Define EtherNet/IP communication. • Configure DeviceNet devices. RSNetWorx for DeviceNet • Define the scan list for those devices. • Configure communication devices. RSLinx •...

  • Page 30: Connections Over Devicenet

    Communicate over Networks Connections over DeviceNet The ControlLogix controller requires two connections for each 1756-DNB module. One connection is for module status and configuration. The other connection is a rack-optimized connection for the device data. The 1756-DNB module has fixed sections of memory for the input and output data of the DeviceNet devices on the network.

  • Page 31: Serial Network Communication

    Communicate over Networks Serial Network The ControlLogix controller has one built-in RS-232 port. Communication Functions Required • Communicates between a controller and other Built-in serial port DF1-compatible devices using DF1 protocols. • Uses modems. • Controls SCADA applications. • Controls ASCII devices. •...

  • Page 32: Communicate With Df1 Devices

    Communicate over Networks Communicate with DF1 Devices You can configure the controller as a master or slave on a serial communication network. Use serial communication to get information to and from remote controllers (stations) when: • the system contains three or more stations. •...
  • Page 33 Communicate over Networks To configure the controller for DF1 communication, perform this procedure. 1. In the Controller Organizer of RSLogix 5000 programming software, right-click your controller and select Properties. The Controller Properties dialog appears. 2. Click the Serial Port tab. 3.

  • Page 34: Communicate With Ascii Devices

    Communicate over Networks 6. From the Protocol pull-down menu, choose DF1 Point-to-Point. 7. Specify DF1 system protocol settings. 8. Click OK. Additional Resources For additional information, consult these publications: • Logix5000 Controllers General Instructions Reference Manual, publication 1756-RM003 • SCADA System Application Guide, publication AG-UM008. Communicate with ASCII Devices When you configure the serial port for user mode, you can use it to: •...
  • Page 35 Communicate over Networks The Controller Properties dialog appears. 2. Click the Serial Port tab. 3. From the Mode pull-down menu, choose User. 4. Specify ASCII communication settings. 5. Click the User Protocol tab. 6. Specify ASCII user protocol settings. 7. Click OK. Publication 1756-UM001G-EN-P - January 2007...
  • Page 36 Communicate over Networks The controller supports several ladder diagram (LD) and structured text (ST) instructions to manipulate ASCII characters. Read and Write ASCII Characters Instruction Code Command Determine when the buffer contains termination characters Count the characters in the buffer Clear the buffer Clear out ASCII Serial Port instructions that are currently executing or are in the queue...

  • Page 37: Modbus Support

    Communicate over Networks Additional Resources For additional information, consult these publications: • Logix5000 Controllers General Instructions Reference Manual, publication 1756-RM003 • Logix5000 Controllers Common Procedures Programming Manual, publication 1756-PM001 Modbus Support To use Logix5000 controllers on the Modbus protocol, establish a serial port connection and execute a specific ladder-logic routine.
  • Page 38 Communicate over Networks ControlLogix DH-485 Network Communication Overview ControlLogix Controller Connection from ControlLogix Controller to Port 1 or Port 2 1761-NET-AIC+ Converter 1747-AIC Programmable DH-485 Network Controller Isolated Link Coupler SLC 5/03 Controller On the DH-485 network, the ControlLogix controller can send and receive messages to and from other controllers.
  • Page 39 Communicate over Networks To communicate with DH-485 devices, perform this procedure. 1. In the Controller Organizer of RSLogix 5000 programming software, right-click your controller and select Properties. The Controller Properties dialog appears. 2. Click the Serial Port tab. 3. From the Mode pull-down menu, choose System. 4.
  • Page 40 Communicate over Networks Click the System Protocol tab. 5. Specify system protocol settings. The station address specifies the node address of the controller on the DH-485 network. a. From the Station Address pull-down menu, choose a station address number from 1...31, decimal. To optimize network performance, assign station addresses in sequential order.

  • Page 41: Additional Resources

    Communicate over Networks c. In the Token Hold Factor box, enter a token hold factor value from 1...4. The default is 1. 6. Click OK. Additional Resources For more information, consult Data Highway/Data Highway Plus/Data Highway II/Data Highway-485 Cable Installation Manual, publication 1770-6.2.2.

  • Page 42: Communicate Over A Dh+ Network

    Communicate over Networks ControlLogix DH+ Network Communication Overview Data Collection and Workstation Recipe Management EtherNet/IP Network ControlLogix ControlLogix Controller Controller DH+ Network DH+ Network PLC-5 Processor SLC 500 Controller RSView Station PLC-5 Controller SLC 500 Controller RSView Station Communicate over a DH+ Network For the controller to communicate to a workstation or other device over a DH+ network, use RSLinx software to: •...

  • Page 43: Universal Remote I/O Communication

    Communicate over Networks Universal Remote I/O For universal remote I/O communication, use a 1756-DHRIO module. Communication Functions Required Module 1756-DHRIO • Establish connections between controllers and I/O adapters. • Send data regularly. • Distribute control so that each controller has its own I/O. •...

  • Page 44: Communicate Over A Universal Remote I/O Network

    Communicate over Networks Communicate Over a Universal Remote I/O Network For the controller to control I/O over a universal remote I/O network, you must perform this procedure. 1. Configure the remote I/O adapter. 2. Lay out the remote I/O network cable. 3.

  • Page 45: Foundation Fieldbus

    Communicate over Networks Foundation Fieldbus Foundation Fieldbus is an open interoperable fieldbus designed for process control instrumentation. Application Required Linking Device • Bridge an EtherNet/IP network to Foundation Fieldbus. 1757-FFLD • Connect via a low-speed serial (H1) and high-speed Ethernet (HSE) network connections. •...

  • Page 46: Hart (Highway Addressable Remote Transducer) Protocol

    Communicate over Networks HART (Highway HART is an open protocol designed for process control instrumentation. Addressable Remote Transducer) Protocol Functions Required Device • Acquire data or control application with slow update Prosoft interface requirements, such as a tank farm. MVI56-HART •...

  • Page 47: Chapter 4 Introduction

    Chapter Manage Controller Communication Introduction This chapter explains how to manage controller communication. Topic Page Connection Overview Produce and Consume (Interlock) Data Send and Receive Messages Calculate Connection Use Connection Overview A Logix5000 system uses a connection to establish a communication link between two devices.

  • Page 48: Produce And Consume (Interlock) Data

    Manage Controller Communication Produce and Consume The controller supports the ability to produce (broadcast) and consume (receive) system-shared tags over ControlNet or EtherNet/IP (Interlock) Data networks. Produced and consumed tags each require connections. Over a ControlNet network, produced and consumed tags are scheduled connections.

  • Page 49: Send And Receive Messages

    Manage Controller Communication Send and Receive Messages transfer data to other devices, such as other controllers or operator interfaces. Some messages use unscheduled connections to Messages send or receive data. These connected messages can leave the connection open (cache) or close the connection when the message is done transmitting.

  • Page 50: Calculate Connection Use

    Manage Controller Communication Additional Resources For additional information, consult these publications: • Logix5000 Controllers General Instructions Reference Manual, publication 1756-RM003 • Logix5000 Controllers Common Procedures Programming Manual, publication 1756-PM001 Calculate Connection Use The total connection requirements of a ControlLogix system include both local and remote connections.
  • Page 51 Manage Controller Communication The number of connections the module itself supports determines how many remote connections the controller can access through that module. Remote Connections Remote Connection Type Device Connections Total Quantity per Device Connections Remote ControlNet communication module I/O configured as direct connection (none) 0 or I/O configured as rack-optimized connection Remote I/O module over a ControlNet network (direct connection)

  • Page 52: Connections Example

    Manage Controller Communication Connections Example In this example system, the 1756 ControlLogix controller: • controls local digital I/O modules in the same chassis. • controls remote I/O devices on a DeviceNet network. • sends and receives messages to and from a CompactLogix controller on an EtherNet/IP network.

  • Page 53: Place, Configure, And Monitor I/O Modules

    Chapter Place, Configure, and Monitor I/O Modules Introduction This chapter explains how to place, configure, and monitor I/O modules. Topic Page Select I/O Modules Place Local I/O Modules Configure I/O Configure Distributed I/O on an EtherNet/IP Network Configure Distributed I/O on a ControlNet Network Configure Distributed I/O on a DeviceNet Network Address I/O Data Add 1756 I/O at Runtime...

  • Page 54: Place Local I/O Modules

    Place, Configure, and Monitor I/O Modules Place Local I/O Modules Your choice of 1756 chassis determines how many local I/O modules you can use. You can fill your chassis’ slots with any combination of controllers, communication modules, and I/O modules. Available Chassis Slots Chassis Available Slots...

  • Page 55: Configure I/O

    Place, Configure, and Monitor I/O Modules Configure I/O To communicate with an I/O module in your system, add the module to the I/O Configuration folder of the controller in RSLogix 5000 programming software. Addition of I/O Modules Add I/O modules to the 1756 backplane.

  • Page 56: I/O Connections

    Place, Configure, and Monitor I/O Modules I/O Connections A Logix5000 system uses connections to transmit I/O data. Connection Type Description Direct A direct connection is a real-time, data-transfer link between the controller and an I/O module. The controller maintains and monitors the connection between the controller and the I/O module. Any break in the connection, such as a module fault or the removal of a module while under power, causes the controller to set fault status bits in the data area associated with the module.

  • Page 57: Configure Distributed I/O On An Ethernet/Ip Network

    Place, Configure, and Monitor I/O Modules Configure Distributed I/O on To communicate with distributed I/O modules over an EtherNet/IP network, add an EtherNet/IP adapter and I/O modules to the I/O an EtherNet/IP Network Configuration folder of the controller. Within the I/O Configuration folder, organize the modules into a hierarchy of tree/branch and parent/child.

  • Page 58: Configure Distributed I/O On A Controlnet Network

    Place, Configure, and Monitor I/O Modules Configure Distributed I/O on To communicate with the I/O modules over a ControlNet network, add a ControlNet bridge, ControlNet adapter, and I/O modules to the a ControlNet Network I/O Configuration folder of the controller. Within the I/O Configuration folder, organize the modules into a hierarchy of tree/branch and parent/child.

  • Page 59: Configure Distributed I/O On A Devicenet Network

    Place, Configure, and Monitor I/O Modules Configure Distributed I/O on To communicate with the I/O modules over a DeviceNet network, add the DeviceNet bridge to the I/O Configuration folder of the a DeviceNet Network controller. You define a scanlist within the DeviceNet scanner to communicate data between devices and the controller.

  • Page 60: Address I/O Data

    Place, Configure, and Monitor I/O Modules Address I/O Data I/O information is presented as a set of tags. • Each tag uses a structure of data. The structure depends on the specific features of the I/O module. • The name of the tags is based on the location of the I/O module in the system.

  • Page 61: Add 1756 I/O At Runtime

    Place, Configure, and Monitor I/O Modules Add 1756 I/O at Runtime With RSLogix 5000 programming software, version 16, you: • can only add 1756 I/O modules to the Controller Organizer at runtime. • can remotely add the 1756 I/O modules to the local chassis via the unscheduled portion of a ControlNet network.

  • Page 62: Ethernet/Ip I/O Considerations

    Place, Configure, and Monitor I/O Modules EtherNet/IP I/O Considerations When you add EtherNet/IP I/O at runtime: • the EtherNet/IP I/O modules you add at runtime use can be: – added to existing rack-optimized connections. – added to new rack-optimized connections. –...

  • Page 63: Determine When Data Is Updated

    Place, Configure, and Monitor I/O Modules Determine When Data Is ControlLogix controllers update date asynchronously with the execution of logic. Use this flowchart to determine when a producer, Updated such as a controller, input module, or bridge module, will send data. Overview - Updating Data Output Digital...

  • Page 64: Reconfigure An I/O Module

    Place, Configure, and Monitor I/O Modules Reconfigure an I/O Module If an I/O module supports reconfiguration, you can reconfigure the module via: • RSLogix 5000 programming software. • a MSG instruction in program logic. Use care when changing the configuration of an I/O module. WARNING You could inadvertently cause the I/O module to operate incorrectly.

  • Page 65: Reconfigure An I/O Module Via A Msg Instruction

    Place, Configure, and Monitor I/O Modules Reconfigure an I/O Module via a MSG Instruction Use a MSG instruction of type Module Reconfigure to send new configuration information to an I/O module. During the reconfiguration: • input modules continue to send input data to the controller. •...
  • Page 66 Place, Configure, and Monitor I/O Modules Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 67: Develop Applications

    Chapter Develop Applications Introduction This chapter explains how to develop applications. Topic Page Manage Tasks DevelopPrograms Organize Tags Select a Programming Language Monitor Controller Status Monitor Connections Select a System Overhead Percentage Additional Resources For additional general information, consult these publications: •...

  • Page 68: Developprograms

    Develop Applications DevelopPrograms The controller operating system is a preemptive multitasking system that is IEC 1131-3 compliant. This environment provides: • tasks to configure controller execution. • programs to group data and logic. • routines to encapsulate executable code written in a single programming language.

  • Page 69: Define Tasks

    Develop Applications Define Tasks A task provides scheduling and priority information for a set of one or more programs. You can configure tasks as continuous, periodic, or event. Types of ControlLogix Controller Tasks Task Execution Task Type Description All of the time Continuous The continuous task runs in the background.

  • Page 70: Define Programs

    Develop Applications Define Programs Each program contains program tags, a main executable routine, other routines, and an optional fault routine. Each task can schedule as many as 100 programs. The scheduled programs within a task execute to completion from first to last. Programs that aren’t attached to any task show up as unscheduled programs.

  • Page 71: Sample Controller Projects

    Develop Applications Sample Controller Projects RSLogix 5000 Enterprise programming software includes sample projects that you can copy and then modify to fit your application. To obtain a list of sample projects, perform this procedure. 1. In RSlogix 5000 programming software, from the Help menu, choose Vendor Sample Projects.

  • Page 72: Organize Tags

    Develop Applications Organize Tags With a Logix5000 controller, you use a tag (alphanumeric name) to address data (variables). In Logix5000 controllers, there is no fixed, numeric format. The tag name itself identifies the data. This lets you: • organize your data to mirror your machinery. •...

  • Page 73: Select A Programming Language

    Develop Applications Select a Programming The ControlLogix controller supports these programming languages, both online and offline. Language Logix5000 Programming Languages Required Language Programs Ladder diagram (LD) Continuous or parallel execution of multiple operations (not sequenced) Boolean or bit-based operations Complex logical operations Message and communication processing Machine interlocking Operations that service or maintenance personnel may have to interpret in order to...

  • Page 74: Publication 1756-Um001G-En-P - January

    Develop Applications Once defined in a project, Add-On Instructions behave similarly to the built-in instructions in Logix5000 controllers. They appear on the instruction tool bar for easy access, as do internal RSLogix 5000 software instructions. Save Time With Add-On Instructions, you can combine your most commonly used logic into sets of reusable instructions.

  • Page 75: Additional Resources

    Develop Applications Apply Source Protection As the creator of Add-On Instructions, you can limit users of your instructions to read-only access, or you can bar access to the internal logic or local parameters used by the instructions. This source protection lets you prevent unwanted changes to your instructions and protects your intellectual property.

  • Page 76: Additional Resources

    Develop Applications Additional Resources For additional information, consult the Logix5000 Controllers General Instructions Reference Manual, publication 1756-RM003. Monitor Connections If communication with a device in the I/O configuration of the controller does not occur for 100 ms or 4 times the RPI, whichever is less, the communication times out and the controller produces these warnings.

  • Page 77: Determine If Communication Has Timed Out With A Specific I/O Module

    Develop Applications Determine if Communication Has Timed Out with a Specific I/O Module If communication times out with a device (module) in the I/O configuration of the controller, the controller produces a fault code for the module. • The GSV instruction gets the fault code for Io_Module and stores it in the Module_Status tag.

  • Page 78: Interrupt The Execution Of Logic And Execute The Fault Handler

    Develop Applications Interrupt the Execution of Logic and Execute the Fault Handler To interrupt the execution of logic and execute the fault handler, perform this procedure. 1. In the Controller Organizer of RSLogix 5000 programming software, right-click the module and select Properties. The Module Properties dialog appears.

  • Page 79: Select A System Overhead Percentage

    Develop Applications Select a System The Controller Properties dialog lets you specify a percentage for the system overhead, or time slice. The system overhead time slice Overhead Percentage specifies the percentage of controller time, excluding the time for periodic and event tasks, devoted to communication and background functions.
  • Page 80 Develop Applications 4. Click OK. The controller performs system overhead functions for up to 1 ms at a time. If the controller completes the overhead functions in less than 1 ms, it resumes the continuous task. As the system overhead percentage increases, time allocated to executing the continuous task decreases.
  • Page 81 Develop Applications The interruption of a periodic task increases the elapsed time (clock time) between the execution of system overhead functions. 1 ms 1 ms 1 ms 1 ms 1 ms Periodic Task 1 ms 1 ms System Overhead 9 ms of Continuous Task Time 9 ms of Continuous Task Time Continuous Task Elapsed Time (ms)
  • Page 82 Develop Applications Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 83: Chapter7

    Chapter Configure PhaseManager Introduction This chapter explains how to configure PhaseManager. Within RSLogix 5000 programming software, PhaseManager provides a state model for your equipment. Topic Page PhaseManager Overview State Model Overview Compare PhaseManager to Other State Models Minimum System Requirements Equipment Phase Instructions Additional Resources For more information consult, PhaseManager User Manual,...
  • Page 84 Configure PhaseManager PhaseManager Overview A PHASE tag gives you the status of an equipment phase. Controller Controller Tags Tasks MainTask An equipment phase directs one activity of your equipment. A state model divides the activity into a series of states. Add Water Phase Mix Phase Running State Routine...

  • Page 85: State Model Overview

    Configure PhaseManager State Model Overview A state model defines what your equipment does under different conditions, such as run, hold, and stop. PhaseManager States State Description Acting Does something or several things for a certain time or until certain conditions are met.

  • Page 86: How Equipment Changes States

    Configure PhaseManager How Equipment Changes States The state model’s arrows show the states through which your equipment progresses. • Each arrow is called a transition. • A state model lets the equipment make only certain transitions. This restriction standardizes the equipment’s behavior so that other equipment using the same model will behave the same way.

  • Page 87: Manually Change States

    Configure PhaseManager Manually Change States With RSLogix 5000 programming software, you can manually change an equipment phase. To manually change a PhaseManager state, perform this procedure. Current Equipment Phase 1. Take ownership of the equipment phase. 2. Give a command. Compare PhaseManager to You can compare PhaseManager state models to other state models.

  • Page 88: Minimum System Requirements

    Configure PhaseManager Minimum System To develop PhaseManager programs, you need: • a ControlLogix controller, firmware revision 16.0 or later. Requirements • a communication path to the controller. • RSLogix 5000 software, version 16.0 or later. To enable PhaseManager support, you need the full or professional editions of RSLogix 5000 programming software or RSLogix 5000 with PhaseManager software (9324-RLDPMENE).

  • Page 89: Develop Motion Applications

    Chapter Develop Motion Applications Introduction This chapter explains how to configure a motion control program. Topic Page Make the Controller the CST Master Add the Motion Modules Add SERCOS Interface Drives Set Up Each SERCOS Interface Module Add the Motion Group Add Your Axes Set Up Each Axis Check the Wiring of Each Drive...

  • Page 90: Make The Controller The Cst Master

    Develop Motion Applications Make the Controller the You must make one module in the chassis the master clock for motion control. This module is called the coordinated system time (CST) CST Master master. Motion modules set their clocks to the master. In most cases, make the controller the CST master.

  • Page 91: Add The Motion Modules

    Develop Motion Applications Add the Motion Modules Each ControlLogix controller controls up to 16 motion modules. For your motion modules, use the firmware revision that IMPORTANT matches that of your controller. See the release notes for your controller’s firmware revision. Required Motion Modules Used with Equipment Feedback Type...

  • Page 92: Additional Information

    Develop Motion Applications 4. Click OK. The New Module dialog appears. 5. In the Name box, type the name of the new module 6. In the Slot box, enter the slot the new module will occupy. 7. Leave Open Module Properties unchecked. 8.

  • Page 93: Add Sercos Interface Drives

    Develop Motion Applications Add SERCOS Interface With the addition of SERCOS interface modules to a controller’s I/O configuration, you can use RSLogix 5000 programming software to set Drives up the modules. To add SERCOS interface modules, perform this procedure. 1. In the I/O configuration tree in RSLogix 5000 programming software, right-click the SERCOS network and select New Module.

  • Page 94: Additional Resources

    Develop Motion Applications The New Module dialog appears. 5. In the Name box, type the name of the new drive. 6. In the Node box, select the node number of the drive in the SERCOS ring. 7. Click OK. Additional Resources For additional information, consult these publications: •...

  • Page 95: Set Up Each Sercos Interface Module

    Develop Motion Applications Set Up Each SERCOS To set the data rate and cycle time for each SERCOS interface module in your project, perform this procedure. Interface Module 1. In the I/O configuration tree in RSLogix 5000 programming software, right-click your module and select Properties. The Module Properties dialog appears.
  • Page 96 Develop Motion Applications 4. From the Cycle Time pull-down menu, choose the cycle time. Baud Rate Number of Drives Type of Drive Cycle Time of Drive on Ring 4 MB 1 or 2 Kinetix 6000 0.5 ms 3 or 4 1 ms 5…8 2 ms...

  • Page 97: Add The Motion Group

    Develop Motion Applications Add the Motion Group You can add a motion group to set up the motion planner. Motion Planner Part of the controller that takes care of position and velocity information for your axes Coarse Update Period How often the motion planner runs. When the motion planner runs, it interrupts all other tasks regardless of their priority.
  • Page 98 Develop Motion Applications The New Tag dialog appears. 3. In the Name box, enter the tag name. 4. From the Data Type pull-down menu, choose MOTION_GROUP. 5. Click OK. The Motion Group Wizard dialog appears. 6. Click Next. Publication 1756-UM001G-EN-P - January 2007...
  • Page 99 Develop Motion Applications The Motion Group Wizard Attributes dialog appears. 7. In the Coarse Update Period box, enter the intervals at which you want to run your motion planner. 8. Click Finish. Publication 1756-UM001G-EN-P - January 2007...

  • Page 100: Add Your Axes

    Develop Motion Applications Add Your Axes To add an axis for each of your drives, perform this procedure. 1. Decide which data type to use. Motion Module Data Type • 1756-M03SE AXIS_SERVO_DRIVE • 1756-M08SE • 1756-M16SE • 1756-L60M03SE 1756-M08SEG AXIS_GENERIC_DRIVE 2.

  • Page 101: Set Up Each Axis

    Develop Motion Applications Set Up Each Axis To set up the axis of a SERCOS interface drive, perform this procedure. 1. In Motion Groups within RSLogix 5000 programming software, click motion_group, and then right-click an axis and select Properties. The Axis Properties Dialog appears. 2.
  • Page 102 Develop Motion Applications 5. Click the Drive/Motor tab. 6. From the Amplifier Catalog Number pull-down menu, choose the catalog number of your drive. 7. To select your motor’s catalog number, click Change Catalog. 8. Click the Conversion tab. 9. From the Positioning Mode pull-down menu, choose rotary or linear.
  • Page 103 Develop Motion Applications 12. Click the Homing tab. 13. From the Sequence pull-down menu, choose one of these types of homing sequences: • Immediate • Switch • Marker • Switch-Marker 14. Within Active Home Sequence Group, in the Speed and Return Speed boxes, type the homing speeds.

  • Page 104: Check The Wiring Of Each Drive

    Develop Motion Applications Check the Wiring of Each Use these tests to check a drive’s wiring. Drive Test Function Notes Test marker Verify that the encoder A, B, and Z You must manually move the channels are connected and phased axis for this test.

  • Page 105: Additional Resources

    Develop Motion Applications The Axis Properties Dialog appears. 2. Click the Hookup tab. 3. In the Test Increment box, type the number of revolutions you want the axis to turn during each test. 4. Click Test Marker to check the channels for proper connection and phasing.

  • Page 106: Tune Each Axis

    Develop Motion Applications Tune Each Axis You need to tune each axis. When you tune an axis, it moves even with the controller in ATTENTION Remote Program mode. In that mode, your code is not in control of the axis. Before you tune an axis, make sure no one is in its path.

  • Page 107: Additional Resources

    Develop Motion Applications 2. Click the Tune tab. 3. In the Travel Limit box, type the number of revolutions to which you want to limit your axis during its tuning. 4. In the Speed box, type the number of revolutions per second to which you want to limit your axis during its tuning.

  • Page 108: Obtain Axis Information

    Develop Motion Applications Obtain Axis Information You can obtain axis information through any one of several methods. To obtain axis information, take any one, or all, of these steps. Obtaining Axis Information Use the Axis Properties dialog window to configure the axis. Use a Get System Value (GSV) instruction or Set System Value (SSV) Use the Quick View pane to see the state instruction to read or change the configuration at run-time.

  • Page 109: Program Motion Control

    Develop Motion Applications Program Motion Control The controller gives you a set of motion control instructions for your axes and: • uses these instructions just like the rest of the Logix5000 instructions. You can program motion control in these programming languages: –...

  • Page 110: Additional Resources

    Develop Motion Applications If Jog_Pushbutton = on and the axis = on (My_Axis_X.ServoActionStatus = on) then The MAJ instruction jogs the axis forward at 8 units/second. If Jog_Pushbutton = off then The MAS instruction stops the axis at 100 units/second Make sure that Change Decel is Yes.

  • Page 111: Introduction

    Chapter Configure Redundancy Introduction This chapter explains how the ControlLogix redundancy system uses an identical pair of ControlLogix chassis to keep your machine or process running if a problem occurs with any equipment in a redundant chassis. Topic Page ControlLogix Redundancy Overview Build a Redundant System ControlNet Considerations in Redundant Systems EtherNet/IP Considerations in Redundant Systems...
  • Page 112 Configure Redundancy ControlLogix Redundancy System Overview Network 1 - EtherNet/IP or Network 2 - ControlNet Network for I/O ControlNet network for Communication HMI Communication Identical Pair of At Least Two Other ControlLogix Chassis that ControlNet Nodes Control Your Machine or Process Computer That Is Connected to the Network Access Port of a Remote Node...

  • Page 113: Build A Redundant System

    Configure Redundancy Build a Redundant System To build a typical redundant system, perform this procedure. 1. Start with any ControlLogix chassis. 2. Add a 1756-L55, 1756-L61, 1756-L62, 1756-L63, or 1756-L64 controller. 3. Add one or more ControlNet (1756-CNB, 1756-CNBR) or EtherNet/IP (1756-ENBT) communication modules.

  • Page 114: System Considerations

    Configure Redundancy System Considerations Items in Primary and Consideration Secondary Chassis ControlLogix controller As of firmware revision 13, you can use these combinations of ControlLogix controllers in a redundant chassis: • one 1756-L55 controller • two 1756-L55 controllers • one 1756-L6x controller When configured for redundancy, the secondary controller automatically receives and buffers data.

  • Page 115: Ethernet/Ip Considerations In Redundant Systems

    Configure Redundancy EtherNet/IP Considerations You can have as many as two EtherNet/IP modules in the redundant chassis. You can use 1756-ENBT EtherNet/IP and 1756-EWEB in Redundant Systems EtherNet/IP Web Server modules. In a redundant system, use EtherNet/IP for HMI communication or inter-controller messaging only.

  • Page 116: Redundancy And Scan Time

    Configure Redundancy Redundancy and Scan Time The primary controller stops at the end of every program to crossload fresh data to the secondary controller. This keeps the secondary controller up-to-date and ready to take over. It also increases the scan time when compared to a nonredundant system.

  • Page 117: Chapter 10 Introduction

    Chapter SIL 2 Certification Introduction This chapter explains how ControlLogix system components are type-approved and certified for use in SIL 2 applications, according to IEC 61508 and AK4 applications in line with DIN V19250. SIL requirements are based on the standards current at the time of certification.

  • Page 118: Sil 2 Application

    SIL 2 Certification SIL 2 Application In obtaining SIL 2 certification for a ControlLogix system, Rockwell Automation did not need to create a special line of products to meet stringent SIL 2 requirements. Sophisticated diagnostics and high levels of reliability are standard in ControlLogix processors, I/O modules, and communication products.

  • Page 119: Chapter 11 Introduction

    Chapter Maintain Nonvolatile Memory Introduction This chapter explains how to maintain nonvolatile memory. The 1756-L6x controllers support the 1784-CF64 CompactFlash card for nonvolatile memory. The 1756-L55M22, 1756-M23, and 1756-M24 controllers have built-in nonvolatile memory. Nonvolatile memory lets you keep a copy of your project on the controller.

  • Page 120: Choose A Controller That Has Nonvolatile Memory

    Maintain Nonvolatile Memory Choose a Controller That These ControlLogix controllers have nonvolatile memory. Has Nonvolatile Memory ControlLogix Controllers and Nonvolatile Memory Controller Cat. Number Firmware Revision Requires a 1784-CF64 Industrial CompactFlash memory card ControlLogix5555 1756-L55M22 10.x or later 1756-L55M23 8.x or later 1756-L55M24 8.x or later ControlLogix5560M03SE...

  • Page 121: Use A Compactflash Reader

    Maintain Nonvolatile Memory Use a CompactFlash If the revision of the project or projects on your CompactFlash card are ≥ 12, then the card is formatted using the FAT16 file system. Reader You do not have to manage the files on a CompactFlash card. The card automatically loads the project that you most recently stored.
  • Page 122 Maintain Nonvolatile Memory Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 123: Chapter 12 Introduction

    Chapter Maintain the Battery Introduction This chapter explains how to maintain the batteries supported by ControlLogix controllers. Controller Series Supported Battery ⇒ ControlLogix5550 1756-BA1 ControlLogix5555 ControlLogix5560M03SE ControlLogix5561 1756-BA1 ControlLogix5562 ControlLogix5563 ControlLogix5561 1756-BA2 ControlLogix5562 ControlLogix5563 ControlLogix5564 Topic Page Check If the Battery Is Low Estimate 1756-BA1 Battery Life Estimate 1756-BA2 Battery Life (1756-L6x series B controllers only)

  • Page 124: Check If The Battery Is Low

    Maintain the Battery Check If the Battery Is Low When the battery is about 95% discharged, the controller gives these low-battery warnings: • Solid red BAT LED. • Minor fault (type 10, code 10). BAT LED To prevent possible battery leakage, even if the BAT LED is off, ATTENTION replace a battery according to this schedule.
  • Page 125 Maintain the Battery Do not decrease the time after the BAT LED turns on. If the BAT LED turns on when you apply power to the controller, the remaining IMPORTANT battery life may be less than this table indicates. Some of the battery life may have been used up while the controller was off and unable to turn on the BAT LED.

  • Page 126: Estimate 1756-Ba2 Battery Life

    Maintain the Battery Worst-case Estimates of 1756-BATM Battery Life Controller Temperature Time Before BAT LED Turns On Time after BAT LED turns on and Power Is Cut Off Power off 100% Power off 50% Yearly decrease 1756-L55M12 60 °C (140 °F) 190 days 396 days 190 days...

  • Page 127: Estimate Warning Time

    Maintain the Battery Estimate Warning Time Use this table to estimate the battery life after the low-battery warning (BAT LED = solid red). Use these times whether or not the controller has power. There is always a small drain on the battery. When you power up the controller, see if there is a low-battery warning.

  • Page 128: Maintain A 1756-Batm Battery Module

    Maintain the Battery Maintain a 1756-BATM Use the 1756-BATM battery module with any 1756-L55Mx or 1756-L6x, series A controller. The battery module is highly recommended for the Battery Module higher-memory controllers. Controller Project 1756-BATM Battery Module 1756-L55M12 Permitted 1756-L55M13 Permitted 1756-L55M14 Highly recommended 1756-L55M16...

  • Page 129: Store Batteries

    Maintain the Battery 2. Is the BAT LED off? Then The battery module is correctly installed. Go to step 3. 3. Check that the battery module is correctly connected to the controller. 4. Check that the battery assembly is correctly connected to the battery module.
  • Page 130 Maintain the Battery Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 131: Appendix A Introduction

    Appendix LED Indicators Introduction This appendix explains the LED indicators for ControlLogix controllers. Topic Page RUN LED Indicator I/O LED Indicator FORCE LED Indicator RS232 LED Indicator BAT LED Indicator OK LED Indicator RUN LED Indicator Condition Indicates Recommended Action The controller is in Program or Test mode.
  • Page 132 LED Indicators FORCE LED Indicator Color Description Recommended Action • No tags contain I/O force values. None • I/O forces are inactive (disabled). • I/O forces are active (enabled). Solid amber Use caution if you install (add) a force. If you install (add) a force, it immediately takes effect.
  • Page 133 LED Indicators OK LED Indicator Color Description Recommended Action No power is applied. When ready, turn on power to the controller. Flashing red If the controller is Then a new controller The controller requires a Update the controller with the correct firmware. (just out of the box) firmware update.
  • Page 134 LED Indicators Notes: Publication 1756-UM001G-EN-P - January 2007...

  • Page 135: Index

    Index Numerics change equipment phase 87 1756-HYD02 change of state 55 add to controller 91 chassis 54 1756-M02AE coarse update period add to controller 91 set 97 1756-M02AS communication add to controller 91 ControlNet network 25 1756-M03SE determine timeout with any device 76 add to controller 91 determine timeout with I/O module 77 set up 95...
  • Page 136 Index connections develop example 52 applications 67 consume data motion applications 89 programs 68 connection use 48 develop application overview 21 control distributed I/O fault handler 78 monitor connection 76 overview 21 monitor status 75 controller overview 67 battery module 128 programming language 73 catalog number 12 tag 72...
  • Page 137 Index message cache 49 GSV instruction 75 overview 21 reconfigure I/O module 65 Modbus support 37 monitor HART 46 connections 76 Highway Addressable Remote controller status 75 Transducer, see HART 46 motion applications 89 motion control choose a motion module 91 coarse update period 97 execution 97 address data 60...
  • Page 138 Index programming language 73 communicate with ASCII device ASCII device 34 communicate with DF1 device 32 controller communication 31 rack-optimized connection 56 controller connection 15 receive DH-485 network configuration 37 driver 17 messages 49 Modbus support 37 reconfigure I/O module 64 select controller path 19 redundancy set up...
  • Page 139 ___No, there is no need to contact me ___Yes, please call me ___Yes, please email me at _______________________ ___Yes, please contact me via _____________________ Return this form to: Rockwell Automation Technical Communications, 1 Allen-Bradley Dr., Mayfield Hts., OH 44124-9705 Fax: 440-646-3525 Email: [email protected] Publication CIG-CO521C-EN-P- May 2003...
  • Page 140 PLEASE FASTEN HERE (DO NOT STAPLE) Other Comments PLEASE FOLD HERE NO POSTAGE NECESSARY IF MAILED IN THE UNITED 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...
  • Page 141 ASCII Character Codes Character Character Character Character [ctrl-@] NUL 0 SPACE ‘ [ctrl-A] SOH [ctrl-B] STX “ [ctrl-C] ETX [ctrl-D] EOT [ctrl-E] ENQ [ctrl-F] ACK & [ctrl-G] BEL ‘ [ctrl-H] BS [ctrl-I] HT [ctrl-J] LF $l ($0A) [ctrl-K] VT [ctrl-L] FF [ctrl-M] CR $r ($0D) [ctrl-N] SO...
  • Page 142 Rockwell Automation Rockwell Automation provides technical information on the web to assist you in using our products. At http://support.rockwellautomation.com, you can Support find technical manuals, a knowledge base of FAQs, technical and application notes, sample code and links to software service packs, and a MySupport feature that you can customize to make the best use of these tools.

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