Page 1 User Manual ControlLogix System User Manual Catalog Numbers 1756-L61, 1756-L62, 1756-L63, 1756-L63XT, 1756-L64, 1756-L65, 1756-L71, 1756-L72, 1756-L73, 1756-L73XT, 1756-L74, 1756-L75...
Page 2 Identifies information that is critical for successful application and understanding of the product. Allen-Bradley, CompactLogix, ControlLogix, DriveLogix, FLEX, Kinetix, MessageView, MicroLogix, POINT I/O, PhaseManager, PowerFlex, RSFieldbus, RSLinx, RSLogix, RSNetWorx, Rockwell Software, Rockwell Automation, Compact I/O, RediSTATION, Series 9000, FlexLogix, PanelView, FactoryTalk, ArmorPOINT, Stratix 8000, SLC, ControlFLASH, DH+, Data Highway Plus, Integrated Architecture, Logix5000, ControlLogix-XT, GuardLogix, RSView, Encompass, 1336 FORCE, 1336 PLUS, 1336 IMPACT, SMC, RSBizWare, FLEX Ex, ArmorBlock, ArmorBlock MaXum, Guard PLC, and TechConnect are trademarks of Rockwell Automation.
Page 3 Summary of Changes This manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph. New and Updated This table contains the changes made to this revision. Information Topic Page Added 1756-L73XT controller and GuardLogix User Manual reference...
Page 4 Summary of Changes Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 5: Table Of Contents
Table of Contents Preface ControlLogix Controllers Overview ....... 11 Traditional ControlLogix Controllers ......11 Redundant ControlLogix Controllers.
Page 6 Table of Contents Battery Connection and Replacement......36 Insert the Controller into the Chassis ......39 Remove the Controller from the Chassis .
Page 7 Table of Contents Chapter 4 ControlLogix System and Controllers The ControlLogix System ........83 Configuration Options .
Page 8 Table of Contents Chapter 6 Serial Communication (1756-L6x 1756-L6x Controller Serial Port ........109 ControlLogix Chassis Serial Communication Options.
Page 9 Table of Contents Online Additions - EtherNet/IP Considerations ....148 Determine When Data is Updated ....... 149 Additional Resources .
Page 10 Table of Contents Chapter 12 Redundant Systems ControlLogix Redundancy Overview ......183 System Requirements .
Page 11 Table of Contents Appendix B Using Electronic Keying Electronic Keying ..........213 Exact Match .
Page 12 Table of Contents Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 13: Preface
1756-L6x controllers and 1756-L7x controllers according to abbreviations of their full catalog numbers. Table 1 - ControlLogix Catalog Numbers Abbreviated Cat. No. Cat. No. 1756-L6x 1756-L61, 1756-L62, 1756-L63, 1756-L64, 1756-L65 1756-L7x 1756-L71, 1756-L72, 1756-L73, 1756-L74, 1756-L75 The traditional ControlLogix controllers share many similar features, but also have some differences.
Page 14: Redundant Controllogix Controllers
Use this table to identify the minimum software versions required to use your ControlLogix controller. Table 3 - Required Software for Controller Use Cat. No. RSLogix 5000 Software RSLinx Classic Software 1756-L61, Series A Version 12.x or later Any version 1756-L61, Series B Version 13.40 or later 1756-L62, Series A Version 12.x or later...
Page 15: Additional Resources
Preface Cat. No. RSLogix 5000 Software RSLinx Classic Software 1756-L71, Series A Version 20 Version 2.6, or later 1756-L72, Series A Version 19 or later 1756-L73, Series A Version 19 or later 1756-L73XT, Series A Version 19 or later 1756-L74, Series A Version 19 or later 1756-L75, Series A Version 19 or later...
Page 16 Preface For more information about See This Resource Description ControlLogix Remote I/O Communication Module User Manual, Describes how to configure and troubleshoot the ControlLogix remote publication 1756-UM534 I/O (RIO) communication module. Process Remote I/O Communication Interface Module User Describes how to configure and troubleshoot process remote I/O (RIO) Manual, publication 1757-UM007 communication interface modules.
Page 17 Preface For more information about See This Resource Description Networks (ControlNet, DeviceNet EtherNet/IP Modules in Logix5000 Control Systems User Manual, Describes how to configure and operate EtherNet/IP modules in a EtherNet/IP, serial, and others) publication ENET-UM001 Logix5000 control system. ControlNet Modules in Logix5000 Control Systems User Manual, Describes how to configure and operate ControlNet modules in a publication CNET-UM001...
Page 18 Subroutines, publication 1756-AT012 Automation to configure a fault-tolerant system. You can view or download publications at http://www.rockwellautomation.com/literature/. To order paper copies of technical documentation, contact your local Allen-Bradley™ distributor or Rockwell Automation sales representative. Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 19: Install The 1756-L7X Controller
Chapter Install the 1756-L7x Controller Topic Page Before You Begin 1756-L7x Controller Parts 1756-L7x Controller Installation Insert the Controller into the Chassis Insert the Key Install the SD Card Remove the SD Card Uninstall the ESM Install the ESM Additional Resources Environment and Enclosure ATTENTION: This equipment is intended for use in a Pollution Degree 2 industrial environment, in overvoltage Category II applications (as defined in IEC 60664-1), at altitudes up to 2000 m (6562 ft) without derating.
Page 20: Prevent Electrostatic Discharge
Chapter 1 Install the 1756-L7x Controller Prevent Electrostatic Discharge ATTENTION: This equipment is sensitive to electrostatic discharge, which can cause internal damage and affect normal operation. Follow these guidelines when you handle this equipment: • Touch a grounded object to discharge potential static. •...
Page 21: Usb Port
Install the 1756-L7x Controller Chapter 1 USB Port WARNING: Do not use the USB port in hazardous locations. ATTENTION: The USB cable is not to exceed 3.0 m (9.84 ft) and must not contain hubs. North American Hazardous Location Approval The following information applies when operating this equipment in hazardous Informations sur l'utilisation de cet équipement en environnements locations.
Page 22: Before You Begin
Chapter 1 Install the 1756-L7x Controller Before You Begin Complete these tasks using the appropriate resources listed as references before you install your controller and power supply. Task Resources Install a ControlLogix Chasis and Power Refer to ControlLogix Chasis and Power Supplies, publication 1756-IN005 Supply 1756-L7x Controller Parts...
Page 23: Parts Available For Use With The 1756-L7X Controller
Install the 1756-L7x Controller Chapter 1 Parts Available for Use with the 1756-L7x Controller In addition to parts included with the controller, you may choose to use these parts specific to your application. If your application requires Then use this part USB connection from a computer to the controller USB cable Nonvolatile memory...
Page 24: Insert The Key
Chapter 1 Install the 1756-L7x Controller The ESM begins charging when one of these actions occurs: IMPORTANT • The controller and ESM are installed into a powered chassis. • Power is applied to the chassis that contains a controller with the ESM installed.
Page 25: Remove The Sd Card
Install the 1756-L7x Controller Chapter 1 Remove the SD Card The 1756-L7x controller ships with an SD card installed. Complete these steps to remove the SD card from the 1756-L7x controller. WARNING: When you insert or remove the Secure Digital (SD) memory card while power is on, an electrical arc can occur.
Page 26: Install The Sd Card
Chapter 1 Install the 1756-L7x Controller 3. Press and release the SD card to eject it. Log ix 55x x RUN FORC E SD 32004-M 4. Remove the SD card and close the door. Install the SD Card Complete these steps to install the SD card in the 1756-L7x controllers. 1.
Page 27: Uninstall The Esm
Install the 1756-L7x Controller Chapter 1 4. Gently press the card until it clicks into place. Log ix 55x x RUN FORC E SD 32004-M 5. Close the SD card door. Log ix 55x x RUN FORC E SD 32006-M Uninstall the ESM Consider these points before removing the ESM: WARNING: If your application requires the ESM to deplete its residual stored...
Page 28 Chapter 1 Install the 1756-L7x Controller WARNING: When you insert or remove the energy storage module while backplane power is on, an electrical arc can occur. This could cause an explosion in hazardous location installations. Be sure that power is removed or the area is nonhazardous before proceeding. Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector.
Page 29 Install the 1756-L7x Controller Chapter 1 Complete these steps to remove an ESM module from the controller. 1. Remove the key from the mode switch. The next step depends on which of the following conditions applies to your IMPORTANT application. •...
Page 30: Install The Esm
Chapter 1 Install the 1756-L7x Controller Install the ESM To install an ESM in the 1756-L7x controller, complete these steps. 1. Align the tongue-and-groove slots of the ESM and controller. Log ix 55x x RUN FORC E SD 2. Slide the ESM back until it snaps into place. The ESM begins charging after installation.
Page 31: Install The 1756-L6X Controller
Chapter Install the 1756-L6x Controller Topic Page Precautions Before You Begin 1756-L6x Controller Parts 1756-L6x Controller Installation CompactFlash Card Installation and Removal Battery Connection and Replacement Insert the Controller into the Chassis Remove the Controller from the Chassis Additional Resources Precautions Consider these precautions before installing or removing the ControlLogix controllers.
Page 32: Programmable Electronic Systems (Pes)
Chapter 2 Install the 1756-L6x Controller Programmable Electronic Systems (PES) ATTENTION: Personnel responsible for the application of safety-related programmable electronic systems (PES) shall be aware of the safety requirements in the application of the system and shall be trained in using the system. Preventing Electrostatic Discharge ATTENTION: This equipment is sensitive to electrostatic discharge, which can cause internal damage and affect normal operation.
Page 33: Usb Port
Install the 1756-L6x Controller Chapter 2 USB Port WARNING: Do not use the USB port in hazardous locations. ATTENTION: The USB port is intended for temporary local programming purposes only and not intended for permanent connection. The USB cable is not to exceed 3.0 m (9.84 ft) and must not contain hubs. North American Hazardous Location Approval The following information applies when operating this equipment in Informations sur l’utilisation de cet équipement en environnements...
Page 34: Lithium Batteries
Chapter 2 Install the 1756-L6x Controller Lithium Batteries WARNING: When you connect or disconnect the battery an electrical arc can occur. This could cause an explosion in hazardous location installations. Be sure that the area is nonhazardous before proceeding. For safety information about handling lithium batteries, including handling and disposal of leaking batteries, see Guidelines for Handling Lithium Batteries, publication 5-4.
Page 35: Parts Not Included With The 1756-L6X Controller
Install the 1756-L6x Controller Chapter 2 Parts Not Included with the 1756-L6x Controller In addition to parts included with the controller, you may choose to use these parts specific to your application. If your application requires Then use this component RS-232 connection to the controller 1756-CP3 serial cable Nonvolatile memory...
Page 36: 1756-L6X Controller Installation
Chapter 2 Install the 1756-L6x Controller 1756-L6x Controller These sections explain how to install a 1756-L6x controller. To install the 1756- L6x controller, complete the tasks summarized in this table. Installation  Task Page CompactFlash Card Installation and Removal Battery Connection and Replacement Insert the Controller into the Chassis Remove the Controller from the Chassis CompactFlash Card...
Page 37 1. Open the door of the controller and push the CompactFlash latch to the left. 2. Insert the CompactFlash card with the Allen-Bradley® logo pointing left. 3. Release the latch and secure it over the CompactFlash card. Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 38: Battery Connection And Replacement
Chapter 2 Install the 1756-L6x Controller Remove a CompactFlash Card from a Series B Controller Complete these steps to remove a CompactFlash card from a series B controller. 1. Verify that the OK indicator is solid green then open the door of the controller.
Page 39 Install the 1756-L6x Controller Chapter 2 IMPORTANT: To prevent program loss, replace a 1756-BA1 or 1756-BA2 battery according to the schedule below even if the BAT status indicator is off. If the temperature 2.54 cm (1 in.) Replace the battery within below the chassis is -25…35 °C (-13…95 °F) No replacement required...
Page 40 Chapter 2 Install the 1756-L6x Controller Install the Battery on a Series A Controller Complete these steps to install a 1756-BA1 battery on a series A controller. For information about installing a 1756-BATM battery module or replacing a 1756-BATM assembly, see the ControlLogix Battery Module Installation Instructions, publication 1756-IN578.
Page 41: Insert The Controller Into The Chassis
Install the 1756-L6x Controller Chapter 2 Install the Battery on a Series B Controller Complete these steps to install the battery on a series B controller. ATTENTION: For a series B controller, connect only a 1756-BA2 battery. The use of other batteries may damage the controller. COMPACT FLASH 1-DCD...
Page 42: Remove The Controller From The Chassis
Chapter 2 Install the 1756-L6x Controller 1. Insert the key into the controller. 2. Turn the key to the PROG position. 3. Align the circuit board with the top and bottom guides in the chassis. 4. Slide the module into the chassis. 5.
Page 43 Install the 1756-L6x Controller Chapter 2 1. Press the locking tabs on the top and bottom of the controller. 2. Slide the controller out of the chassis. 20880 Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 44 Chapter 2 Install the 1756-L6x Controller Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 45: Start Using The Controller
Chapter Start Using the Controller Topic Page Make Connections Connect to the 1756-L7x Controller Connect to the 1756-L6x Controller Upgrade Controller Firmware Set the Communication Path Go Online with the Controller Download to the Controller Upload from the Controller Choose the Controller Operation Mode Use the Mode Switch to Change the Operation Mode Use RSLogix 5000 Software to Change the Operation Mode Load or Store to the Memory Card...
Page 46: 1756-L6X Connection Options
Chapter 3 Start Using the Controller 1756-L6x Connection Options Connection options with the 1756-L6x include the following: • Connecting using a serial cable, see Connect to the 1756-L6x Controller page 48 • Installing and configuring a communication module in the chassis with the controller, refer to the installation instructions of the communication module When upgrading your 1756-L6x controller firmware, we recommend you use a...
Page 47: Connect To The 1756-L7X Controller
Start Using the Controller Chapter 3 Connect to the 1756-L7x The controller has a USB port that uses a Type B receptacle. The port is USB 2.0- compatible and runs at 12 Mbps. Controller To use the USB port of the controller, you must have RSLinx® software, version 2.56 or later, installed on your workstation.
Page 48: Set Up The Usb Driver
Chapter 3 Start Using the Controller Set Up the USB Driver To configure RSLinx software to use a USB port, you need to first set up a USB driver. To set up a USB driver, perform this procedure. 1. Connect your controller and workstation by using a USB cable. The Found New Hardware Wizard dialog box appears.
Page 49 Start Using the Controller Chapter 3 The software is installed. 4. Click Finish to set up your USB driver. To browse to your controller in RSLinx software, click the RSWho icon. The RSLinx Workstation organizer appears. Virtual Chassis Driver USB Port Driver Your controller appears under two different drivers, a virtual chassis and the USB port.
Page 50: Connect To The 1756-L6X Controller
Chapter 3 Start Using the Controller Connect to the 1756-L6x The 1756-L6x ControlLogix controller uses a serial port for workstation connections. Controller WARNING: If you connect or disconnect the serial cable with power applied to this module or the serial device on the other end of the cable, an electrical arc can occur.
Page 51: Configure The Serial Driver
Start Using the Controller Chapter 3 Plug the workstation end of the serial cable into the RS-232 port on the front of the controller. COMPACT FLASH 1-DCD DSR-6 2-RXD RTS-7 3-TXD CTS-8 4-DTR N/C-9 5-GND RS232 Insert 1 To Eject 1 + 2 BATTERY DATE...
Page 52 Chapter 3 Start Using the Controller The Configure Drivers dialog box appears. 2. From the Available Driver Types pull-down menu, choose the RS-232 DF1 device driver. 3. Click Add New. The Add New RSLinx Driver dialog box appears. 4. Type the driver name and click OK. 5.
Page 53: Upgrade Controller Firmware
Start Using the Controller Chapter 3 c. Click Auto-Configure. 6. If the auto configuration is successful, click OK. If the auto configuration is not successful, verify that the correct Comm Port was selected. 7. Click Close. Upgrade Controller Firmware You may choose to upgrade controller firmware by using either of these tools: •...
Page 54: Determine Required Controller Firmware
Use this table to determine what firmware revision is required for your controller. Table 5 - Firmware Required For Controllers Controller Series Use this firmware revision 1756-L61 12.x or later 13.40 or later 1756-L62 12.x or later 13.40 or later 1756-L63 •...
Page 55: Obtain Controller Firmware
Start Using the Controller Chapter 3 Obtain Controller Firmware Controller firmware is packaged with RSLogix 5000 software. In addition, controller firmware is also available for download from the Rockwell Automation Technical Support website at http://www.rockwellautomation.com/support/. Use ControlFLASH Utility to Upgrade Firmware To upgrade your controller firmware with ControlFLASH software, complete these steps.
Page 56 Chapter 3 Start Using the Controller 4. Expand the network driver to locate your controller. 1756-L7x Controller with USB Network Driver 1756-L6x Controller with Ethernet Network Driver 5. Select your controller and click Next. 6. Select the firmware revision you want to upgrade to and click Next. 1756-L7x Controller Upgrade 1756-L6x Controller Upgrade Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 57 Start Using the Controller Chapter 3 If you are using a 1756-L7x controller and experience a Script File Error after selecting the firmware revision number (see the example below), there is likely an anomaly with your firmware files. To recover, take these actions: •...
Page 58: Use Autoflash To Upgrade Firmware
Chapter 3 Start Using the Controller When the upgrade is complete, the Update Status dialog box indicates that the upgrade is complete. 9. Click OK. 10. Close ControlFLASH software. Use AutoFlash to Upgrade Firmware To upgrade your controller firmware with the AutoFlash feature of RSLogix 5000 software, complete these steps.
Page 59 Start Using the Controller Chapter 3 4. Select your controller and click Update Firmware. 1756-L7x Controller with USB Driver 1756-L6x Controller with Ethernet Driver 5. Select the firmware revision to upgrade to and click update. 6. Click Yes. Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 60: Set The Communication Path
Chapter 3 Start Using the Controller The firmware upgrade begins. Allow the firmware upgrade to complete without interruption. When the firmware upgrade is complete, the Who Active dialog box opens. You may complete other tasks in RSLogix 5000 software. Set the Communication Path To get online with the controller, you must specify a communication path in RSLogix 5000 software.
Page 61: Go Online With The Controller
Start Using the Controller Chapter 3 2. Expand the communication path and select the controller. 3. Click Set Project Path. Go Online with the Controller To download or upload a project for the controller, you must first be online with the controller.
Page 62: Download To The Controller
Chapter 3 Start Using the Controller Download to the Controller Downloading a project to the controller moves the project from RSLogix 5000 software and loads it onto the controller. To download a project, use one of these methods: • Use the Who Active Dialog Box to Download, page 60 •...
Page 63: Use The Controller Status Menu To Download
Start Using the Controller Chapter 3 Use the Controller Status Menu to Download After you have set a communication path in the RSLogix 5000 project, you can use the Controller Status menu to download to the controller. To download, from the Controller Status menu, choose Download.
Page 64: Use The Controller Status Menu To Upload
Chapter 3 Start Using the Controller 2. Click Upload after verifying the project you are uploading in the Connected to Upload dialog box. Use the Controller Status Menu to Upload After you have set a communication path in the RSLogix 5000 project, you can use the Controller Status menu to upload from the controller.
Page 65: Choose The Controller Operation Mode
Start Using the Controller Chapter 3 Choose the Controller Use this table as a reference when determining your controller Operation mode. Table 6 - Controller Operation Modes and Meanings Operation Mode Select one of these modes If you want to Remote Program Test...
Page 66 Chapter 3 Start Using the Controller The mode switch on the front of the controller can be used to change the controller to one of these modes: • Run (RUN) • Remote (REM) • Program (PROG) 1756-L7x 1756-L6x Logix556x Logix557x FORCE SD Mode Switch Mode Switch Position...
Page 67: Use Rslogix 5000 Software To Change The Operation Mode
Start Using the Controller Chapter 3 Use RSLogix 5000 Software to Change the Operation Mode Depending on the mode of the controller you specify by using the mode switch, you can change the Operation mode of the controller using RSLogix 5000 software.
Page 68: Load Or Store To The Memory Card
Chapter 3 Start Using the Controller Load or Store to the Memory The memory card that is compatible with your ControlLogix controller is used to load or store the contents of user memory for the controller. Card Store to the Memory Card After you are online with the controller and have changed the controller to Program or Remote Program mode, complete these steps to store a project to the memory card.
Page 69 Start Using the Controller Chapter 3 Table 7 - Load Image Options If you want the image (project) to load when Then choose Power to the controller is applied or cycled On Power Up The controller has lost the project and power has been cycled On Corrupt Memory or applied Initiated by using RSLogix 5000 software...
Page 70 Chapter 3 Start Using the Controller Table 9 - Automatic Firmware Update Options If you want to Then choose Enable automatic firmware updates so I/O devices in the Enable and Store Files to Image configuration tree of the controller that are configured to use Exact Match Keying are updated as required Disable automatic firmware updates and remove any I/O Disable and Delete Files from Image...
Page 71 Start Using the Controller Chapter 3 After clicking Store, the project is saved to the memory card as indicated by the controller status indicators. Table 10 - Store Project Status Indicators With these controllers These indications show the store status 1756-L6x While the store is in progress, the following occurs: •...
Page 72: Load From The Memory Card
Chapter 3 Start Using the Controller Load from the Memory Card After you have set the communication path, are online with the controller, and have changed the controller to Program mode, complete these steps to load a project to the controller from the memory card. 1.
Page 73 Start Using the Controller Chapter 3 4. Click Load. After clicking Load, the project is loaded to the controller as indicated by the controller status indicators. Table 11 - Load Project Status Indicators With these controllers These indications show the store status 1756-L6x While the load is in progress, the following occurs: •...
Page 74: Other Memory Card Tasks
Chapter 3 Start Using the Controller Other Memory Card Tasks Other tasks that you may need to complete by using the memory cards of the controller include the following: • Changing the image that is loaded from the card • Checking for a load that was completed •...
Page 75: Save The Program To On-Board Nvs Memory
Start Using the Controller Chapter 3 Save the Program to On-board NVS Memory Follow these steps to save the program to NVS memory when the controller loses power. 1. Remove power from the controller. You can remove power in either of two ways: •...
Page 76: Clear The Program From On-Board Nvs Memory
Chapter 3 Start Using the Controller Clear the Program from On-board NVS Memory If your application allows it, follow these steps to clear the program from the 1756-L7x controller’s on-board NVS memory. 1. Remove the ESM from the controller. 2. Remove power from the controller. You can remove power in either of the following two ways: •...
Page 77: Maintain The Battery
This explains how to monitor and maintain the lithium batteries supported by ControlLogix controllers. (1756-L6x controllers only) Table 12 - 1756-L6x Controllers and Compatible Batteries Cat. No. Series Compatible Battery 1756-L61 1756-BA1 or 1756-BATA or 1756-L62 1756-BATM 1756-L63 1756-L61 1756-BA2...
Page 78: Check The Battery Status
Chapter 3 Start Using the Controller Check the Battery Status When the battery is approximately 95% discharged, these low-battery warnings are indicated: • The BAT is solid red. • A minor fault (type 10, code 10) is logged. IMPORTANT: To prevent possible battery leakage, even if the BAT status indicator is off, replace a battery according to this schedule.
Page 79: 1756-Batm Battery Module And Battery Life
Start Using the Controller Chapter 3 Do not decrease the time after the BAT status indicator turns on. If the BAT status indicator turns on when you apply power to the controller, IMPORTANT the remaining 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 status indicator.
Page 80: Estimate 1756-Ba2 Battery Life
Chapter 3 Start Using the Controller Estimate 1756-BA2 Battery Life The 1756-BA2 batteries are for use in 1756-L6x controllers, series B. Use this table to estimate how much time will elapse before the battery becomes low. Table 15 - Worst-case Estimates of 1756-BA2 Life According to Temperatures and Power Cycles Temperature 2.54 cm (1 in.) Below Power Cycles Battery Life Before the BAT Status Indicator Turns Red...
Page 81: Estimate 1756-Ba2 Battery Life After Warnings
Start Using the Controller Chapter 3 Estimate 1756-BA2 Battery Life after Warnings Use this table to estimate the battery life after the low-battery warnings are indicated. Use these times even if the controller does not have power because there is always a small power-drain on the battery. When you power up the controller, see if there is a low-battery warning.
Page 82: Battery Storage And Disposal
Chapter 3 Start Using the Controller Battery Storage and Disposal Follow these general rules to store your batteries: • Store batteries in a cool, dry environment. We recommend 25 °C (77 °F) with 40…60% relative humidity. • You may store batteries for up to 30 days in temperatures from -45...85 °C (-49...185 °F), such as during transportation.
Page 83: Additional Resources
Start Using the Controller Chapter 3 Additional Resources These documents contain additional information concerning related Rockwell Automation products. Resource Description Logix5000 Controllers Common Procedures Programming Manual, publication Provides links to programming manuals that explain common programming procedures. 1756-PM001 Logix5000 Controllers Nonvolatile Memory Programming Manual, publication Explains various procedures related to the use of memory cards.
Page 84: Rockwell Automation Publication 1756-Um001M-En-P - February
Chapter 3 Start Using the Controller Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 85: The Controllogix System
Chapter ControlLogix System and Controllers Topic Page The ControlLogix System Design a ControlLogix System ControlLogix Controller Features Additional Resources The ControlLogix system is chassis-based and provides the option to configure a The ControlLogix System control system that uses sequential, process, motion, and drive control in addition to communication and I/O capabilities.
Page 86 Chapter 4 ControlLogix System and Controllers Multiple Controllers in One Chassis For some applications, multiple controllers may be used in one ControlLogix chassis. For example, for better performance, multiple controllers can be used in motion applications. Figure 4 - Multiple Controllers in One Chassis FactoryTalk ®Server Ethernet Stratix 8000™...
Page 87 ControlLogix System and Controllers Chapter 4 Multiple Devices Connected via Multiple Networks For some applications, a variety of devices may be connected to the ControlLogix chassis via multiple communication networks. For example, a system might be connected to the following: •...
Page 88: Design A Controllogix System
Chapter 4 ControlLogix System and Controllers Design a ControlLogix System When you design a ControlLogix system, there are several system components to consider for your application. Some of these components include all of the following: • I/O devices • Motion control and drive requirements •...
Page 89: Controllogix Controller Features
System, Communication, and Programming Features This table lists the system, communication, and programming features available with ControlLogix controllers. Table 16 - ControlLogix Controller Features Feature 1756-L61, 1756-L62, 1756-L63, 1756-L71, 1756-L72, 1756- 1756-L64, 1756-L65 L73, 1756-L74, 1756-L75 Controller tasks • 32 tasks •...
Page 90: Memory Options
Use this table to determine which controller meets your memory requirements. Table 17 - ControlLogix Controller Memory Options Controller Memory for Data and Back-up Memory Logic 1756-L61 2 MB 478 KB CompactFlash card 1756-L62 4 MB 1756-L63, 1756-L63XT 8 MB...
Page 91: Additional Resources
ControlLogix System and Controllers Chapter 4 Additional Resources These documents contain additional information specific to the ControlLogix system design and selection. Resource Description 1756-SG001 ControlLogix Selection Guide, publication Provides methods for determining what ControlLogix components are required for your system. SERCOS Motion Configuration and Startup User Manual, publication Explains the configuration of Sercos and analog motion applications.
Page 92 Chapter 4 ControlLogix System and Controllers Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 93: Communication Networks
Chapter Communication Networks Topic Page Networks Available EtherNet/IP Network Communication ControlNet Network Communication DeviceNet Network Communication Data Highway Plus (DH+) Network Communication Universal Remote I/O (RIO) Communication Foundation Fieldbus Communication HART Communication Additional Resources Networks Available Several communication networks are available for use with ControlLogix systems.
Page 94: Ethernet/Ip Network Communication
Chapter 5 Communication Networks EtherNet/IP Network The EtherNet/IP network offers a full suite of control, configuration, and data collection services by layering the Common Industrial Protocol (CIP) over the Communication standard Internet protocols, such as TCP/IP and UDP. This combination of well-accepted standards provides the capability required to both support information data exchange and control applications.
Page 95: Controllogix Ethernet/Ip Communication Modules
Communication Networks Chapter 5 ControlLogix EtherNet/IP Communication Modules For EtherNet/IP network communication in a ControlLogix system, you have several modules to choose from. This table lists modules and their primary features. Table 19 - EtherNet/IP Communication Modules and Capabilities Module Is used to 1756-ENBT •...
Page 96: Software For Ethernet/Ip Networks
Chapter 5 Communication Networks Software for EtherNet/IP Networks This table lists software that is used with the EtherNet/IP networks and modules. Table 20 - Software for Use with EtherNet/IP Networks Software Is used to Required/Optional RSLogix 5000 • Configure ControlLogix projects. Required •...
Page 97: Double Data Rate (Ddr) Backplane Communication
Communication Networks Chapter 5 Double Data Rate (DDR) Backplane Communication DDR communication can be achieved with the 1756-L7x controller. These communication modules support DDR when used in conjunction with the 1756-L7x controller: • 1756-EN2T/C • 1756-EN2TR/B • 1756-EN2TF/B • 1756-EN2TXT/C •...
Page 98 Chapter 5 Communication Networks The ControlNet network often functions as the following: • A substitute/replacement for the remote I/O (RIO) network because the ControlNet network adeptly handles large numbers of I/O points • A backbone for multiple distributed DeviceNet networks •...
Page 99: Controllogix Controlnet Module Features
Communication Networks Chapter 5 ControlLogix ControlNet Module Features The ControlNet communication modules provide these features: • Support for messaging, produced/consumed tags, and distributed I/O • Use a common application layer with DeviceNet and EtherNet/IP networks • Requires no routing tables •...
Page 100: Connections Over A Controlnet Network
Chapter 5 Communication Networks Connections Over a ControlNet Network You indirectly determine the number of connections the controller uses by configuring the controller to communicate with other devices in the system. Connections are allocations of resources that provide more reliable communication between devices compared to unconnected messages.
Page 101: Controllogix Devicenet Module Features
Communication Networks Chapter 5 Figure 8 - ControlLogix DeviceNet Network Overview ControlLogix Controller with 1756-ENBT Module EtherNet/IP Network CompactLogix Controller 1788-EN2DN FLEX I/O Adapter and Modules DeviceNet Network Personal Computer Sensor Pushbutton Motor Cluster Starter PORT PORT NET A NET B NET A NET B Bar Code...
Page 102: Controllogix Devicenet Bridge Module And Linking Devices
Chapter 5 Communication Networks ControlLogix DeviceNet Bridge Module and Linking Devices This table lists the available ControlLogix DeviceNet bridge module and linking devices that can be used with the DeviceNet network. Table 24 - DeviceNet Communication Modules and Capabilities Module/Device Is used to 1756-DNB •...
Page 103: Data Highway Plus (Dh+) Network Communication
Communication Networks Chapter 5 Data Highway Plus (DH+) For DH+ network communication, use a 1756-DHRIO module in the ControlLogix chassis to exchange information between these controllers: Network Communication • PLC and SLC controllers • ControlLogix controllers and PLC or SLC controllers •...
Page 104: Communicate Over A Dh+ Network
Chapter 5 Communication Networks Communicate Over a DH+ Network For the controller to communicate to a workstation or other device over a DH+ network, use RSLinx Classic software to do the following: • Specify a unique link ID for each ControlLogix backplane and additional network in the communication path.
Page 105 Communication Networks Chapter 5 Figure 10 - ControlLogix Universal Remote I/O Communication Example ControlLogix Controller 1771-ASB and I/O Modules 1746-ASB and I/O Modules Universal Remote I/O Network PLC-5 Controller in Adapter Mode 1794-ASB and I/O Modules Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 106: Communicate Over A Universal Remote I/O Network
Chapter 5 Communication 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 complete these tasks. 1. Configure the remote I/O adapter. 2. Lay out the remote I/O network cable. 3.
Page 107: Foundation Fieldbus Communication
Communication Networks Chapter 5 Foundation Fieldbus Foundation Fieldbus is an open interoperable fieldbus designed for process control instrumentation. The fieldbus devices described in the table can be Communication connected to the ControlLogix controller via another network as shown in the example below.
Page 108: Hart Communication
Chapter 5 Communication Networks HART Communication HART (Highway Addressable Remote Transducer) is an open protocol designed for process control instrumentation. Device Is used to 1756 Analog I/O modules • Act as HART master to allow communication with HART field devices. •...
Page 109: Additional Resources
Communication Networks Chapter 5 Additional Resources These documents contain additional information concerning products from Rockwell Automation. Resource Description EtherNet/IP Modules in Logix5000 Control Systems User Manual, publication ENET-UM001 Describes how to configure and operate EtherNet/IP modules in a Logix5000 control system.
Page 110 Chapter 5 Communication Networks Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 111: 1756-L6X Controller Serial Port
Chapter Serial Communication (1756-L6x controllers only) Topic Page 1756-L6x Controller Serial Port Communication with Serial Devices DF1 Master Protocol DF1 Point to Point Protocol DF1 Radio Modem Protocol DF1 Slave Protocol DH-485 Protocol ASCII Protocol Configure the 1756-L6x Controller for Serial Communication Broadcast Messages Over a Serial Port Modbus Support Additional Resources...
Page 112: Controllogix Chassis Serial Communication Options
Chapter 6 Serial Communication (1756-L6x controllers only) ControlLogix Chassis Serial Communication Options You can use the serial port of the ControlLogix controller and/or use ProSoft modules in the ControlLogix to achieve serial communication. Options specific to the ControlLogix controller serial port are described in this chapter. For more information about ProSoft modules that can be used to establish serial communication, see the ProSoft Technology...
Page 113: Df1 Point To Point Protocol
Serial Communication (1756-L6x controllers only) Chapter 6 DF1 Point to Point Protocol The DF1 Point to Point protocol is used when connecting from the controller to one DF1 device. This is the default System mode protocol. Default parameters are listed in this table. Table 29 - Default DF1 Point to Point Parameters Parameter Value...
Page 114: Df1 Radio Modem Advantages
Chapter 6 Serial Communication (1756-L6x controllers only) Like DF1 full-duplex protocol, the DF1 radio modem allows any node to initiate to any other node at any time (that is, if the radio modem network supports full- duplex data-port buffering and radio-transmission collision avoidance). Like DF1 half-duplex protocol, a node ignores any packets received that have a destination address other than its own, with the exception of broadcast packets and passthru packets.
Page 115: Df1 Radio Modem Limitations
Serial Communication (1756-L6x controllers only) Chapter 6 DF1 Radio Modem Limitations These considerations must be made if you can implement the new DF1 radio modem driver in your radio modem network: • If all of the devices on the network are ControlLogix controllers, you must configure them with the DF1 radio modem driver by using RSLogix 5000 software, version 17 or later.
Page 116: Df1 Radio Modem Protocol Parameters
Chapter 6 Serial Communication (1756-L6x controllers only) DF1 Radio Modem Protocol Parameters Use this table as a reference when setting the parameters for the use of the DF1 Radio Modem Protocol. Table 30 - DF1 Radio Protocol Parameters Parameter Description Station Address Specifies the node address of the controller on the serial network.
Page 117: Dh-485 Protocol
Serial Communication (1756-L6x controllers only) Chapter 6 DH-485 Protocol The controller can send and receive messages to and from other controllers on a DH-485 network. The DH-485 connection supports remote programming and monitoring via RSLogix 5000 software. However, excessive traffic over a DH- 485 connection can adversely affect overall controller performance and lead to timeouts and decreased performance of the RSLogix 5000 configuration.
Page 118 Chapter 6 Serial Communication (1756-L6x controllers only) Figure 16 - DH-485 Network Communication Overview Computer with RSLogix® 500 and RSLogix 5000 Software ControlLogix Controller 1756-ENBT Module 1756-DH485 Module ControlLogix Controller AIC+ Link Coupler AIC+ Link Coupler EXTERNAL EXTERNAL DH-485 Network AIC+ Link Coupler AIC Link Coupler TERM...
Page 119: Ascii Protocol
Serial Communication (1756-L6x controllers only) Chapter 6 ASCII Protocol When you configure the serial port for User mode and the ASCII protocol, you can use it to do the following: • Read ASCII characters from a weigh scale module or bar code reader. •...
Page 120 Chapter 6 Serial Communication (1756-L6x controllers only) 3. Specify the remaining properties in the Serial Port tab according to your communication preferences. 4. If you are using the System mode protocols, click the System Protocol tab and specify the protocol parameters. a.
Page 121: Broadcast Messages Over A Serial Port
Serial Communication (1756-L6x controllers only) Chapter 6 5. If you are using the User mode protocol (ASCII), click the User Protocol tab and specify the ASCII paramaters. After you have configured the controller for ASCII protocol communication, reference the Logix5000 Controllers General Instruction Reference Manual, publication 1756-RM003, for the available ASCII...
Page 122: Configure Controller Serial Port Properties
Chapter 6 Serial Communication (1756-L6x controllers only) To configure and program the controller to broadcast messages via the serial port, complete these procedures: • Configure Controller Serial Port Properties, page 120 • Program the Message Instruction, page 121 For these procedure examples, ladder logic programming is used. Configure Controller Serial Port Properties First, set the System Protocol by following these steps.
Page 123: Program The Message Instruction
Serial Communication (1756-L6x controllers only) Chapter 6 Use this table as a reference when specifying settings for the protocols listed. Field DF-1 Master Protocol DF-1 Slave Protocol DF-1 Radio Modem Protocol Station Address Controller station address number Controller station address number Controller station address number Transmit Retries ACK Timeout...
Page 124: Modbus Support
Explains how to apply the Modbus sample code in Logix5000 controller projects. publication CIG-AP129 You can view or download publications at http://www.rockwellautomation.com/ literature/. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative. Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 125: Connection Overview
Chapter Manage Controller Communication (connections) Topic Page Connection Overview Produce and Consume (interlock) Data Send and Receive Messages Calculate Connection Use Additional Resources Connection Overview A Logix5000 system uses a connection to establish a communication link between two devices. The types of connections include the following: •...
Page 126: Connection Requirements Of A Produced Or Consumed Tag
Chapter 7 Manage Controller Communication (connections) The system-shared tags are explained in this table. Table 31 - Produced and Consumed Tag Definitions Definition Produced tag A tag that a controller makes available for use by other controllers. Multiple controllers can simultaneously consume (receive) the data. A produced tag sends its data to one or more consumed tags (consumers) without using logic.
Page 127: Send And Receive Messages
Manage Controller Communication (connections) Chapter 7 The number of available connections limits the number of tags that can be produced or consumed. If the controller uses all of its connections for I/O and communication devices, no connections are left for produced and consumed tags. Table 33 - ControlLogix Modules and Available Connections Module Type Cat.
Page 128: Determine Whether To Cache Message Connections
Chapter 7 Manage Controller Communication (connections) Each message uses one connection out of the controller, regardless of how many devices are in the message path. To conserve connections, configure one message to read from or write to multiple devices. Table 34 - Message Types Message Type Communication Connected Message...
Page 129: Calculate Connection Use
Manage Controller Communication (connections) Chapter 7 Calculate Connection Use The total connection requirements of a ControlLogix system include both local and remote connections. Local Connections Local connections refer to connections used to communicate between modules housed in the same ControlLogix chassis (that is, the local modules). Use this table to calculate the number of local connections based on the configuration of your local chassis.
Page 130: Remote Connections
Chapter 7 Manage Controller Communication (connections) Remote Connections Use remote connections when the communication module is in a chassis that is remote from the controller. The number of connections a communication module supports determines how many remote connections the controller can access through that module.
Page 131: Connections Example
Manage Controller Communication (connections) Chapter 7 Connections Example In this example system, the 1756 ControlLogix controller does the following: • 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 132: Additional Resources
Chapter 7 Manage Controller Communication (connections) Additional Resources These documents contain additional information concerning related Rockwell Automation products. Resource Description Logix5000 Controllers Produced and Consumed Tags Programming Manual, publication Explains produced and consumed tags and information related to using them in your 1756-PM011 program.
Page 133: Selecting Controllogix I/O Modules
Chapter I/O Modules Topic Page Selecting ControlLogix I/O Modules Local I/O Modules Remote I/O Modules Distributed I/O Reconfigure an I/O Module Reconfigure an I/O Module Determine When Data is Updated Additional Resources Rockwell Automation offers several ControlLogix I/O modules for use in Selecting ControlLogix I/O ControlLogix systems.
Page 134: Local I/O Modules
Chapter 8 I/O Modules Local I/O Modules The ControlLogix chassis you choose affects how many local I/O modules you can use. Several ControlLogix chassis sizes are available to suit your configuration requirements. You can fill the slots of your chassis with any combination of controllers, communication modules, and I/O modules.
Page 135 I/O Modules Chapter 8 2. Select the I/O module you want to add and click OK. 3. Specify the configuration properties according to the module and network configuration you are using. For more information about the module configuration properties, see the user manual for the I/O module you are adding.
Page 136: Remote I/O Modules
Chapter 8 I/O Modules Remote I/O Modules Remote I/O refers to I/O that is not located in the local chassis and is connected to the controller via a communication network. The ControlLogix controller supports the use of remote I/O via these networks: •...
Page 137: Add Remote I/O To The I/O Configuration
I/O Modules Chapter 8 Add Remote I/O to the I/O Configuration If you are adding remote I/O, add the I/O modules to the backplane of the remote communication module that is connected to the controller. To add a remote I/O to the I/O Configuration folder in RSLogix 5000 software, complete these steps.
Page 138 Chapter 8 I/O Modules 4. Add the remote communication module you are using. 5. Specify the chassis and connection properties according to your network configuration. 6. Right-click the backplane of the newly-added communication module and choose New Module. 7. Select the I/O module you want to add and click OK. 8.
Page 139 I/O Modules Chapter 8 For more information about the module configuration properties, see the user manual for the I/O module you are adding. For this type of module See this user manual Analog I/O ControlLogix Analog I/O Modules User Manual, publication 1756-UM009 Configurable flowmeter...
Page 140: Distributed I/O
Chapter 8 I/O Modules Distributed I/O Distributed I/O refers to I/O that is located remote from the controller and is not designed for use with a specific controller. Examples of distributed I/O that can be used with Logix5000 controllers include the following: •...
Page 141: Add Distributed I/O To The I/O Configuration
I/O Modules Chapter 8 Add Distributed I/O to the I/O Configuration If you are adding distributed I/O, add the I/O modules to the communication adapter of the I/O. To add distributed I/O to the I/O Configuration folder for the ControlLogix controller, complete these steps. 1.
Page 142 Chapter 8 I/O Modules 4. Add the communication adapter for the distributed I/O platform you are using. 5. Specify the module and connection properties according to your network configuration. 6. Right-click the bus of the newly-added communication adapter and choose New Module. 7.
Page 143: Reconfigure An I/O Module
I/O Modules Chapter 8 Reconfigure an I/O Module If an I/O module supports reconfiguration, you can reconfigure the module via the following: • The Module Properties dialog box in the I/O Configuration folder • A MSG instruction in program logic. Use care when changing the configuration of an I/O module.
Page 144: Reconfigure An I/O Module Via A Message Instruction
Chapter 8 I/O Modules Reconfigure an I/O Module via a Message Instruction To reconfigure an I/O module via a message instruction, use this procedure. 1. Set the required member of the configuration tag of the module to the new value. 2.
Page 145: Modules And Devices That Can Be Added While Online
I/O Modules Chapter 8 Modules and Devices that Can be Added While Online These modules and devices can be added to the ControlLogix controller I/O Configuration while online as of RSLogix 5000 software, version 19. ControlLogix Modules that Can be Added While Online •...
Page 146 Chapter 8 I/O Modules PowerFlex Drives that Can be Added While Online • PowerFlex® 4 Class Multi-E • PowerFlex® 7000-Q • PowerFlex 700S-200V-Q • PowerFlex 400-E • PowerFlex® 700-200V-C • PowerFlex 700S-400V-C • PowerFlex 400P-E • PowerFlex 700-200V-E • PowerFlex 700S-400V-E •...
Page 147: Online Additions - Controlnet Considerations
I/O Modules Chapter 8 Other Devices that Can be Added While Online • 1305-BAXXA drives • 1336E-IMPACT™Drive-EN1 drive • 1336F-PLUS™IIDrive-EN1drive • 1336R-REGENBrake-EN1 brake • 1336S-PLUSDriveLG-EN1 drive • 1336S-PLUSDriveSM-EN1 drive • 1336T-FORCE™DriveCNA-EN1 drive • 1336T-FORCEDrivePLC-EN1 drive • 1336T-FORCEDriveStd-EN1 drive • 1397DigitalDCDrive-EN1 drive •...
Page 148: Rockwell Automation Publication 1756-Um001M-En-P - February
Chapter 8 I/O Modules • If you plan to add large amounts of I/O to the ControlNet network, dedicate one ControlNet network for I/O. For the dedicated ControlNet network, verify that there is little or none of the following: – HMI traffic –...
Page 149 I/O Modules Chapter 8 This table demonstrates the performance factors of the 1756-CN2/B, 1756-CN2R/B, and 1756-CN2RXT modules when adding I/O online. Table 40 - 1756-CN2, 1756-CN2R, and 1756-CN2RXT Performance Example No. of Direct RPI = 2 ms RPI = 4 ms RPI = 10 ms RPI = 20 ms RPI = 50 ms...
Page 150: Online Additions - Ethernet/Ip Considerations
Chapter 8 I/O Modules • Analog I/O modules can be added only as direct connections. • Disable the Change of State (COS) feature on digital input modules because it can cause inputs to be sent more quickly than the RPI. •...
Page 151: Determine When Data Is Updated
I/O Modules Chapter 8 Determine When Data is ControlLogix controllers update date asynchronously with the execution of logic. Use this flowchart to determine when a producer, such as a controller, input Updated module, or bridge module, will send data. Figure 20 - Data Update Flowchart Output Digital Input or Output Data?
Page 152: Additional Resources
Chapter 8 I/O Modules Additional Resources These documents contain additional information concerning related Rockwell Automation products. Resource Description ControlLogix Selection Guide, publication 1756-SG001 Provides a high-level selection process for ControlLogix system components, critical specifications information for making initial decisions, and links to complete specifications information.
Page 153: Develop Motion Applications
Chapter Develop Motion Applications Topic Page Motion Control Options Motion Overview Obtain Axis Information Program Motion Control Additional Resources ControlLogix controllers support digital and analog interfaces: Motion Control Options • Digital drive interfaces include EtherNet/IP connected drives and SERCOS interface connected drives. •...
Page 154: Obtain Axis Information
Chapter 9 Develop Motion Applications Obtain Axis Information You can obtain axis information by using these methods: • Double-click the axis to open the Axis Properties dialog box. • Use a Get System Value (GSV) or Set System Value (SSV) instruction to read or change the configuration at run-time.
Page 155 Develop Motion Applications Chapter 9 Figure 22 - Motion Control Instruction Motion Control Tag ATTENTION: Use the tag for the motion control operand of motion instruction only once. Unintended operation of the control variables may happen if you reuse of the same motion control tag in other instructions.
Page 156 Chapter 9 Develop Motion Applications If Jog_Pushbutton = off then the MAS instruction stops the axis at 100 units/.second Make sure that Change Decel is Yes. Otherwise, the axis decelerates at its maximum speed. If Move_Command = on and the axis = on (My_Axis_X.ServoActionStatus = on) then the MAM instruction moves the axis.
Page 157: Additional Resources
Develop Motion Applications Chapter 9 Additional Resources These documents contain additional information concerning related Rockwell Automation products. Resource Description SERCOS Motion Configuration and Startup User Manual, publication MOTION-UM001 Details how to configure a SERCOS motion application system. Motion Coordinated Systems User Manual, publication MOTION-UM002 Details how to create and configure a coordinated motion application system.
Page 158 Chapter 9 Develop Motion Applications Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 159: Develop Applications
Chapter Develop Applications Topic Page Elements of a Control Application Tasks Programs Routines Tags Programming Languages Add-On Instructions Monitoring Controller Status Monitoring I/O Connections System Overhead Time Slice Additional Resources A control application is comprised of several elements that require planning for Elements of a Control efficient application execution.
Page 160: Tasks
Chapter 10 Develop Applications Figure 23 - Elements of a Control Program RSLogix 5000 Control Application Controller Fault Handler Controller Fault Handler Task 8 Task 1 Configuration Status Watchdog Program 32 Program 1 Program Main Routine (local) Tags Fault Routine Other Routines Controller (global)
Page 161 Develop Applications Chapter 10 Figure 24 - Task within a Control Application RSLogix 5000 Control Application Controller Fault Handler Task 8 Task 1 Configuration Status Watchdog Program 32 Program 1 Program Main Routine (local) Tags Fault Routine Other Routines Controller (global) I/O Data System-shared Data Tags...
Page 162 Chapter 10 Develop Applications A task provides scheduling and priority information for a set of one or more programs. Configure tasks as continuous, periodic, or event using the Task Properties dialog box. Figure 26 - Configuring the Task Type This table explains the types of tasks you can configure. Table 41 - Task Types and Execution Frequency Task Type Task Execution...
Page 163: Task Priority
Develop Applications Chapter 10 Task Priority Each task in the controller has a priority level. The operating system uses the priority level to determine which task to execute when multiple tasks are triggered. A higher priority task will interrupt any lower priority task. The continuous task has the lowest priority and is always interrupted by a periodic or event task.
Page 164 Chapter 10 Develop Applications Figure 28 - Program within a Control Application RSLogix 5000 Control Application Controller Fault Handler Task 8 Task 1 Configuration Status Watchdog Program 32 Program 1 Program (local) Main Routine Tags Fault Routine Other Routines Controller (global) Tags I/O Data System-shared Data Figure 29 - Programs in RSLogix 5000 Software...
Page 165: Scheduled And Unscheduled Programs
Develop Applications Chapter 10 Scheduled and Unscheduled 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. Unscheduled programs within a task are downloaded to the controller with the entire project.
Page 166: Routines
Chapter 10 Develop Applications Routines A routine is a set of logic instructions in a single programming language, such as Ladder Diagram (ladder logic). Routines provide the executable code for the project in a controller. A routine is similar to a program file or subroutine in a PLC or SLC processor.
Page 167: Tags
Develop Applications Chapter 10 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 do the following: •...
Page 168: Programming Languages
Chapter 10 Develop Applications Programming Languages The ControlLogix controller supports these programming languages, both online and offline. Table 42 - ControlLogix Controller Programming Languages Language Is best-used in programs with Relay ladder Continuous or parallel execution of multiple operations (not sequenced) Boolean or bit-based operations Complex logical operations Message and communication processing...
Page 169: Add-On Instructions
Develop Applications Chapter 10 Add-On Instructions With version 16, or later, of RSLogix 5000 software, you can design and configure sets of commonly used instructions to increase project consistency. Similar to the built-in instructions contained in Logix5000 controllers, these instructions you create are called Add-On Instructions. Add-On Instructions reuse common control algorithms.
Page 170: Monitoring Controller Status
Chapter 10 Develop Applications Figure 34 - Add-On Instructions in RSLogix 5000 Software Controller Organizer Instruction Toolbar For more information about using Add-On Instructions, see the Add- On Instructions Programming Manual, publication 1756-PM010. Monitoring Controller Status The ControlLogix controller uses Get System Value (GSV) and Set System Value (SSV) instructions to get and set (change) controller data.
Page 171: Monitoring I/O Connections
Develop Applications Chapter 10 Some object types appear repeatedly, so you may have to specify the object name. For example, there can be several tasks in your application. Each task has its own Task object that you access by the task name. There are several objects and attributes that you can use the GSV and SSV instructions to monitor and set the system.
Page 172: Determine If I/O Communication To A Specific I/O Module Has
Chapter 10 Develop Applications Figure 36 - GSV Used to Identify I/O Timeout For more information about attributes available with the Module object, see the Logix5000 Controllers General Instructions Reference Manual, publication 1756-RM003. Determine if I/O Communication to a Specific I/O Module has Timed If communication times out with a device (module) in the I/O configuration of the controller, the controller produces a fault code and fault information for the module.
Page 173: System Overhead Time Slice
Develop Applications Chapter 10 Figure 37 - I/O Connection Fault Causes Major Fault I/O Module Properties Parent Communication Module Properties For more information about programming the Controller Fault Handler, see the Major, Minor, and I/O Faults Programming Manual, publication 1756-PM014. System Overhead Time Slice The controller communicates with other devices at either a specified rate (scheduled) or when there is processing time available to service the...
Page 174: Configure The System Overhead Time Slice
Chapter 10 Develop Applications The table shows the ratio between the continuous task and service communication at various system overhead time slices. Ratio between Continuous Task and Service Communication At this time slice The continuous task runs Service communication occurs for up to 9 ms 1 ms 4 ms...
Page 175: Sample Controller Projects
Develop Applications Chapter 10 4. Use either Run Continuous Task (default) or Reserve for System Tasks. – The Run Continue Task radio button is used when there is no communication or background tasks to process; controller immediately returns to the continuous task. –...
Page 176: Additional Resources
Chapter 10 Develop Applications Additional Resources These documents contain additional information concerning related Rockwell Automation products. Resource Description Logix5000 Controllers and I/O Tag Data Programming Manual, publication 1756-PM004 Explains procedures for using and organizing I/O data tags. Logix5000 Controllers Common Procedures Programming Manual, publication Guides all user levels in developing projects for Logix5000 controllers and provides links to 1756-PM001 individual guides for information on topics such as import/export, messages, security,...
Page 177: Using The Phasemanager Tool
Chapter Using the PhaseManager Tool Topic Page PhaseManager Overview Minimum System Requirements State Model Overview PhaseManager Tool versus Other State Models Equipment Phase Instructions Additional Resources PhaseManager Overview The PhaseManager™ tool lets you add equipment phases to your controller. An equipment phase helps you lay out your code in sections that are easier to write, find, follow, and change.
Page 178 Chapter 11 Using the PhaseManager Tool Figure 39 - 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 179: Minimum System Requirements
Using the PhaseManager Tool Chapter 11 Minimum System To develop PhaseManager programs, you need the following: • A ControlLogix controller at 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 either the Full or Professional edition of RSLogix 5000 software, or RSLogix 5000 with PhaseManager software (catalog number 9324-RLDPMENE).
Page 180: State Model Overview
Chapter 11 Using the PhaseManager Tool State Model Overview A state model defines what your equipment does under different conditions, and how the states relate to each other. Each state can be described as either an Acting state or Waiting state. Table 45 - States in PhaseManager Software State Description...
Page 181: How Equipment Changes States
Using the PhaseManager Tool Chapter 11 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 182: Manually Change States
Chapter 11 Using the PhaseManager Tool Manually Change States With RSLogix 5000 software, you can manually change an equipment phase. To manually change a PhaseManager state, perform this procedure. 1. Open the Equipment Phase Monitor. 2. Take ownership of the equipment phase by clicking Owners and clicking Yes.
Page 183: Equipment Phase Instructions
Using the PhaseManager Tool Chapter 11 Equipment Phase The controller supports several equipment-phase relay ladder and structured text instructions. Instructions Table 49 - Instructions for Use with PhaseManager Tool Instruction Instruction Function Signal a phase that the state routine is complete and to proceed to the next state. PCMD Change the state or substate of a phase.
Page 184 Chapter 11 Using the PhaseManager Tool Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 185: Controllogix Redundancy Overview
Chapter Redundant Systems Topic Page ControlLogix Redundancy Overview System Requirements System Considerations Build a Redundant System ControlNet Considerations in Redundant Systems EtherNet/IP Considerations in Redundant Systems Redundancy and Scan Time Additional Resources ControlLogix Redundancy Redundancy provides more system availability by switching control to a secondary controller chassis if a fault occurs in the primary controller chassis.
Page 186 Chapter 12 Redundant Systems Figure 42 - ControlLogix Enhanced Redundancy System Workstation Ethernet Switch Primary Secondary Redundant Chassis Redundancy Module EtherNet/IP Redundancy Module EtherNet/IP Logix5563 ControlNet Logix5563 ControlNet PRI COM OK PRI COM OK DC INPUT DC OUTPUT Analog Input Analog Output Relay Module ControlNet...
Page 187: System Requirements
Redundant Systems Chapter 12 System Requirements Most redundant systems must use at least these system components. For some applications, the ControlNet and EtherNet/IP modules are optional. Table 50 - System Requirements Quantity Item Notes ControlLogix chassis Both chassis must be the same size. ControlLogix power supply Must be the same in each chassis.
Page 188: System Considerations
Chapter 12 Redundant Systems System Considerations When you are configuring a redundant ControlLogix system, these considerations specific to modules in the redundant chassis must be made. Items in Primary and Consideration Secondary Chassis ControlLogix controller • When configured for redundancy, the secondary controller automatically receives and buffers data. •...
Page 189: Enhanced Versus Standard Redundancy
Redundant Systems Chapter 12 Enhanced versus Standard Redundancy While the enhanced and standard redundancy systems operate in a similar manner, there are some key differences between the two platforms. This table compares the enhanced and standard redundancy system features. Table 51 - Comparison of Enhanced Redundancy to Standard Redundancy Feature Enhanced Standard...
Page 190: Build A Redundant System
Chapter 12 Redundant Systems Build a Redundant System To build a typical redundant system, perform this procedure. 1. Install a ControlLogix chassis and power supply. 2. To the primary chassis, add 1756-L6x or 1756-L7x controllers. Please note that you cannot mix 1756-L6x and 1756-L7x controllers in the same chassis.
Page 191: Ethernet/Ip Considerations In Redundant Systems
Redundant Systems Chapter 12 EtherNet/IP Considerations You can have as many as seven EtherNet/IP modules in the redundant chassis. in Redundant Systems In a redundant system, use EtherNet/IP for HMI communication or inter- controller messaging only. HMI can communicate directly to with the primary controller.
Page 192: Redundancy And Scan Time
Chapter 12 Redundant Systems Redundancy and Scan Time At the end of every program, the primary controller synchronizes and crossloads 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 193: Additional Resources
Redundant Systems Chapter 12 Additional Resources These documents contain additional information concerning related Rockwell Automation products. Resource Description ControlLogix Redundancy System User Manual, publication 1756-UM523 Guides the design, development, and implementation of a standard ControlLogix redundancy system. ControlLogix Enhanced Redundancy System User Manual, publication 1756-UM535 Guides the design, development, and implementation of an enhanced ControlLogix redundancy system.
Page 194 Chapter 12 Redundant Systems Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 195: Sil 2 Certification
Chapter SIL 2 Certification Topic Page Introduction to SIL Programming and Debugging Tool (PADT) Typical SIL2 Configurations Additional Resources Introduction to SIL Certain catalog numbers of the ControlLogix system are type-approved and certified for use in SIL2 applications according to these standards: •...
Page 196: Typical Sil2 Configurations
Chapter 13 SIL 2 Certification Typical SIL2 Configurations SIL2-certified ControlLogix systems can be used in non-redundancy or redundancy configurations. For the purposes of documentation, the various levels of availability that can be achieved by using various ControlLogix system configurations are referred to as fail-safe, high-availability, or fault-tolerant. This table lists each system configuration and the hardware that is part of the system’s safety loop.
Page 197: Fail-Safe Configuration
SIL 2 Certification Chapter 13 Fail-safe Configuration In a fail-safe configuration, the hardware used in the safety loop is not redundant. Therefore, if a fault occurs anywhere in the SIL2 system, the system is programmed to fail to safe. The failure to safe is typically an emergency shutdown where all outputs are de- energized.
Page 198: High-Availability Configuration
Chapter 13 SIL 2 Certification High-availability Configuration In the high-availability configuration, redundant controller chassis are used to increase the availability of the control system. The modules in the redundant controller chassis include the redundancy modules and ControlNet modules for redundant communication, as well as the ControlLogix controllers. Figure 44 - Typical SIL Loop with Controller Chassis Redundancy Software For SIL applications, a programming...
Page 199: Fault-Tolerant Configuration
SIL 2 Certification Chapter 13 Figure 44 on page 196 shows a typical SIL loop that uses redundancy, including the following: • The overall safety loop • The ControlLogix portion of the overall safety loop • How other devices (for example, HMI) connect to the loop, while operating outside the loop Fault-tolerant Configuration The most recently-certified ControlLogix SIL2 configuration is the fault-...
Page 200: Additional Resources
Chapter 13 SIL 2 Certification For more information about the ControlLogix SIL2- certified fault-tolerant system, see the application technique manual that corresponds with your application. Table 53 - ControlLogix SIL2 System Configuration Manuals If using Then reference this manual SIL2 Fault-tolerant I/O subroutines ControlLogix SIL2 System Configuration Using RSLogix 5000 Subroutines, publication (available for use with RSLogix 5000 software, version 15 and later) 1756-AT010...
Page 201: 1756-L7X Controller Status Display And Indicators
Appendix Status Indicators Topic Page 1756-L7x Controller Status Display and Indicators 1756-L7x Controller Status Display 1756-L7x Controller Status Indicators 1756-L6x Status Indicators Additional Resources The 1756-L7x controllers have four status indicators and one four-character 1756-L7x Controller Status scrolling status display. Display and Indicators Figure 46 - 1756-L7x Status Display and Indicators Logix557x...
Page 202: General Status Messages
Appendix A Status Indicators General Status Messages The messages described in this table are typically indicated upon powerup, powerdown, and while the controller is running to show the status of the controller and the ESM. Table 54 - General Status Messages Message Interpretation No message is indicated...
Page 203: Fault Messages
Status Indicators Appendix A Table 54 - General Status Messages Message Interpretation ESM Charging The capacitor-based ESM is charging. Do not remove power until charging is complete. Flash in Progress A firmware upgrade initiated via ControlFLASH or AutoFlash utilities is in progress. Allow the firmware upgrade to complete without interruption.
Page 204 Appendix A Status Indicators For detailed descriptions and suggested recovery methods for major recoverable faults, see the Logix5000 Major, Minor, and I/O Fault Codes Programming Manual, publication 1756-PM014 Table 56 - Major Recoverable Fault Status Messages Type Code Message Run Mode Powerup Non-recoverable Non-recoverable –...
Page 205: I/O Fault Codes
Status Indicators Appendix A Table 56 - Major Recoverable Fault Status Messages Type Code Message Bad Restore Checksum Keyswitch Change Ignored Positive Overtravel Limit Exceeded Negative Overtravel Limit Exceeded Position Error Tolerance Exceeded Encoder Channel Connection Fault Encoder Noise Event Detected SERCOS Drive Fault Synchronous Connection Fault Servo Module Fault...
Page 206 Appendix A Status Indicators • I/O Fault ModuleParent:X #XXXX message The first part of the format is used to indicate the location of the faulted module. How the location is indicated depends on your I/O configuration and the module’s properties specified in RSLogix 5000 software. The latter part of the format, #XXXX message, can be used to diagnose the type of I/O fault and potential corrective actions.
Page 207 Status Indicators Appendix A Table 57 - I/O Fault Messages Code Message #0113 Out of Connections #0114 Wrong Module #0115 Wrong Device Type #0116 Wrong Revision #0117 Invalid Connection Point #0118 Invalid Configuration Format #0119 Module Not Owned #011A Out of Connection Resources #0203 Connection Timeout #0204...
Page 208: 1756-L7X Controller Status Indicators
Appendix A Status Indicators Table 57 - I/O Fault Messages Code Message #FD0A Axis Attribute Reject #FD1F Safety I/O #FD20 No Safety Task #FE01 Invalid Connection Type #FE02 Invalid Update Rate #FE03 Invalid Input Connection #FE04 Invalid Input Data Pointer #FE05 Invalid Input Data Size #FE06...
Page 209: Run Indicator
Status Indicators Appendix A RUN Indicator To change the controller mode indicated by the RUN indicator, either use the mode switch on the front of the controller or use the Controller Status menu in RSLogix 5000 software Table 58 - RUN Indicator State Description The controller is either in Program or Test mode.
Page 210: Ok Indicator
Appendix A Status Indicators OK Indicator The OK indicator shows the state of the controller. Table 61 - OK Indicator State Description No power is applied to the controller. Flashing red Either of the following is true: • It is a new controller, just out of the box, and it requires a firmware upgrade. If a firmware upgrade is required, the status display indicates Firmware Installation Required.
Page 211: Run Indicator
Status Indicators Appendix A RUN Indicator To change the controller mode indicated by the RUN indicator, either use the mode switch on the front of the controller or use the Controller Status menu in RSLogix 5000 software. Table 62 - RUN Indicator State Description The controller is either in Program or Test mode.
Page 212: Rs232 Indicator
Appendix A Status Indicators RS232 Indicator The RS232 indicator shows if the serial port is in use. Table 65 - RS232 Status Indicator State Description There is no serial connection activity. BAT Indicator The BAT indicator shows the charge of the battery and if the program is being saved.
Page 213: Additional Resources
Describes nonvolatile memory options and their use with Logix5000 controllers. 1756-PM017 You can view or download publications at http://www.rockwellautomation.com/ literature/. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative. Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 214: Rockwell Automation Publication 1756-Um001M-En-P - February
Appendix A Status Indicators Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 215: Electronic Keying
Table 68 - Keying Attributes Attribute Description Vendor The manufacturer of the module, for example, Rockwell Automation/Allen-Bradley. Product Type The general type of the module, for example, communication adapter, AC drive, or digital I/O. Product Code The specific type of module, generally represented by its catalog number, for example, 1756-IB16I.
Page 216: Exact Match
Appendix B Using Electronic Keying You can find revision information on the General tab of a module’s Properties dialog box. Figure 47 - General Tab Changing electronic keying selections online may cause the I/O IMPORTANT communication connection to the module to be disrupted and may result in a loss of data.
Page 217: Compatible Keying
1756-IB16D module with module revision 3.2. In this case, communication is prevented because the Minor Revision of the module does not match precisely. Module Configuration Vendor = Allen-Bradley Product Type = Digital Input Module Catalog Number = 1756-IB16D...
Page 218 1756-IB16D module with module revision 3.2. In this case, communication is prevented because the minor revision of the module is lower than expected and may not be compatible with 3.3. Module Configuration Vendor = Allen-Bradley Product Type = Digital Input Module Catalog Number = 1756-IB16D Major Revision = 3 Minor Revision = 3 Communication is prevented.
Page 219: Disabled Keying
Module Configuration Vendor = Allen-Bradley Product Type = Digital Input Module Catalog Number = 1756-IB16D...
Page 220 1756-IF16 analog input module. In this case, communication is prevented because the analog module rejects the data formats that the digital module configuration requests. Module Configuration Vendor = Allen-Bradley Product Type = Digital Input Module Catalog Number = 1756-IA16 Major Revision = 3 Minor Revision = 1 Communication is prevented.
Page 221 The module configuration is for a 1756-IA16 digital input module. The physical module is a 1756-IB16 digital input module. In this case, communication is allowed because the two digital modules share common data formats. Module Configuration Vendor = Allen-Bradley Product Type = Digital Input Module Catalog Number = 1756-IA16 Major Revision = 2 Minor Revision = 1 Communication is allowed.
Page 222 Appendix B Using Electronic Keying Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 223: Changes To This Manual
Appendix History of Changes Changes to This Manual With the availability of new controllers, modules, applications, and RSLogix 5000 software features, this manual has been revised to include updated information. This appendix briefly summarizes changes that have been made with each revision of this manual.
Page 224 Appendix C History of Changes Table 69 - History of Changes Publication Revision and Date Topic 1756-UM001J-EN-P, July 2010 Added 1756-L6x and 1756-L7x installation information Added information in Chapter 3 to identify and describe common start- up tasks completed with ControlLogix controllers Updated the ControlLogix example configurations, system design information, controller features descriptions to include the 1756-L7x controllers, available memory options to include the 1756-L7x...
Page 225 History of Changes Appendix C Table 69 - History of Changes Publication Revision and Date Topic 1756-UM001C-EN-P, June 2001 Updated the Preface Added the section titled Configure an EtherNet/IP Module Added the section titled Download and Go Online over an EtherNet/IP Network Added the section titled Communicate with 1756 I/O over an EtherNet/ IP Network...
Page 226 Appendix C History of Changes Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 227 Index Numerics 1756-EWEB uses 95 1747-KY controller key 1756-IF8H key 22 uses 108 1756-BA1 1756-L6x check level 78 storage 82 while online 145 1756-BA2 BAT indicator 212 check level 78 CPU 91 estimate life 80 FORCE indicator 211 life after warning 81 I/O indicator 211 storage 82 installation...
Page 228 Index CompactFlash card installation 36 load from 72 distributed I/O 141 other tasks 74 local I/O 134 removal 36 remote I/O 137 store to 68 Add-On Instructions comparision in project 169 PhaseManager 182 application compatibility elements 159 battery 77 networks and 93 compatible keying 217 ASCII 119 configurations...
Page 229 Index estimate battery life 80 master 112 firmware 53 point to point 113 obtain 55 radio modem 113 go online 61 slave 116 memory options 90 DH-485 network connections 171 example configuration 117 parts included 23 overview 117 routine 166 disabled keying 219 tags 167 display...
Page 230 Index fault messages 203 1756-L6x 212 FORCE I/O 205 1756-L6x 211 Major Recoverable Fault 203 fault-tolerant configruation 1756-L6x 211 about 199 features 89 1756-L6x 212 controller RS232 communication 89 1756-L6x 212 programming 89 filler slot 1756-L7x 209 slot filler 134 install firmware 1756-L6x...
Page 231 Index message port about 127 communication 89 broadcast over serial 121 PowerFlex cache 128 determine if 128 while online 146 fault 203 precautions 31 reconfigure I/O module 143 priority status display 202 task 163 Modbus network 124 produce mode data 125 serial port 112 produce/consume module...
Page 232 Index remove serial 1756-L6x broadcast 121 CompactFlash card 36 cable SD card 25 catalog number 35 CompactFlash card 36 DH-485 network configuration 117 SD card 25 driver 51 replace Modbus network 124 serial port battery schedule 78 1756-L6x 50 required ASCII 119 connections master 112...
Page 233 Index universal remote I/O 104 communicate via 106 unscheduled consume 125 program 165 in project 167 update produce 125 determine frequency 151 task upgrade continuous 162 firmware event 162 AutoFlash, use 58 in project 160 upload periodic 162 project 63 time slice 173 transistion cable...
Page 234 Index Notes: Rockwell Automation Publication 1756-UM001M-EN-P - February 2012...
Page 236 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products. , you can find technical manuals, a knowledge base of FAQs, technical and http://www.rockwellautomation.com/support/ 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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Allen-Bradley 1756-L61 User Manual

Preface

Chapter 1

Install the 1756-L7X Controller

Chapter 2 Precautions

Install the 1756-L6X Controller

Chapter 3 Make Connections

Start Using the Controller

Chapter 4 Configuration Options

Chapter 5

Communication Networks

Chapter 6 Controllogix Chassis Serial Communication Options

Chapter 7 Produce and Consume (Interlock) Data

Chapter 8

Chapter 9

Develop Motion Applications

Chapter 10

Develop Applications

Chapter 11

Using the Phasemanager Tool

Chapter 12

Chapter 13 Introduction to SIL

SIL 2 Certification

Appendix A

Appendix B

Appendix C

Quick Links

Related Manuals for Allen-Bradley 1756-L61

Summary of Contents for Allen-Bradley 1756-L61