AB Logix5000 Controllers User Manual

Logix5000
Controllers
1756-L1, -L1Mx
User Manual
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Allen-Bradley, ControlLogix, DH+, Logix5000, Logix5550, MicroLogix, PLC-2, PLC-3, PLC-5, Rockwell Software, RSLinx,
RSNetWorx, and SLC are trademarks of Rockwell Automation.
ControlNet is a trademark of ControlNet International, Ltd.
DeviceNet is a trademark of the Open DeviceNet Vendor Association.
Ethernet is a trademark of Digital Equipment Corporation, Intel, and Xerox Corporation.

Summary of Changes
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For this new or updated information: See chapter:

Downloading a project 1, 5
Uploading from the controller 2
Determining when I/O will update 3
Configuring I/O in a Remote Chassis 3
Size limit of a produced or consumed tag 6
Identifying a Remote Controller 6
Producing a Tag for a ControlNet PLC-5 Controller 6
Consuming a Tag from a ControlNet PLC-5 Controller 6
Determining Connections for I/O Modules 7
Determining Connections for Messaging 7
Determining Total Connection Requirements 7
Major Fault Logic 11
Testing a Fault Routine 11
Shutting Down the Controller 11
Monitoring a Connection 11
Writing logic for instruction-execution minor faults 11
Writing logic for other minor faults 11
1 Publication 1756-6.5.12 - October 1999

Summary of Changes 2
Notes:
Publication 1756-6.5.12 - October 1999

Preface
Introduction 7KLVPDQXDOLVRQHRIVHYHUDO&RQWURO/RJL[GRFXPHQWV
Task/Goal: Documents:
Installing the controller and its components Logix5550 Controller Quick Start, publication 1756-10.1
Logix5550 Memory Board Installation Instructions, publication 1756-5.33
Logix5000 Controllers User Manual, publication 1756-6.5.12
Using the controller You are here
Programming the controller for sequential Logix5000 Controllers General Instruction Set Reference Manual, publication
applications 1756-6.4.1
Programming the controller for motion Logix5000 Controllers Motion Instruction Set Reference Manual, publication
applications 1756-6.4.3
Configuring and communicating with digital Digital Modules User Manual, publication 1756-6.5.8
I/O modules
Configuring and communicating with analog Analog Modules User Manual, publication 1756-6.5.9
I/O modules
Selecting and installing a chassis ControlLogix Chassis Installation Instructions, publication 1756-5.69
Selecting and installing a power supply ControlLogix Power Supply Installation Instructions, publication 1756-5.1
Importing a text file or tags into a project Logix5550 Controller Import/Export Reference Manual, publication 1756-6.8.4
Exporting a project or tags to a text file
Converting a PLC-5 or SLC 500 application to Logix5550 Controller Converting PLC-5 or SLC 500 Logic to Logix5550 Logic Reference
a Logix5000 application Manual, publication 1756-6.8.5
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Preface 2
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Conventions and Related 7KLVPDQXDOLQFOXGHVDJORVVDU\WRGHILQHFRPPRQWHUPV

Terms

Table of Contents
Chapter 1
Getting Started Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Installing the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Prepare the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Install the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
European Communities (EC) Directive Compliance . . . . . . . . . . 1-4
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Creating and Downloading a Project . . . . . . . . . . . . . . . . . . . . . . 1-5
Create a project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Changing project properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Adding a local input module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Adding a local input module (continued) . . . . . . . . . . . . . . . . . . . 1-9
Adding a local output module . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Adding a local output module (continued) . . . . . . . . . . . . . . . . . 1-11
Changing module properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Viewing I/O tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Creating other tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
Documenting I/O with alias tags . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Documenting I/O with alias tags (continued). . . . . . . . . . . . . . . 1-16
Enter logic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
Entering logic (continued) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Download a project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
Download a project (continued) . . . . . . . . . . . . . . . . . . . . . . . . . 1-20
Viewing program scan time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
Viewing controller memory usage . . . . . . . . . . . . . . . . . . . . . . . 1-22
What To Do Next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
Chapter 2
Working with Projects Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Creating a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Naming controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Working with the Controller Organizer . . . . . . . . . . . . . . . . . . . . 2-3
Right-Clicking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Changing Controller Properties . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Using Coordinated System Time . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Using Wall Clock Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Saving Your Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Uploading From the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Chapter 3
Configuring I/O Modules Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Logic Scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Determining When I/O Will Update . . . . . . . . . . . . . . . . . . . . . . 3-2

ii
Configuring Local I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Names and Descriptions of Modules . . . . . . . . . . . . . . . . . . . 3-5
Electronic keying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Communication Formats. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Inhibiting Module Operation . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Connection Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Configuring I/O in a Remote Chassis . . . . . . . . . . . . . . . . . . . . . 3-12
Changing Configuration Information . . . . . . . . . . . . . . . . . . . . . 3-15
Accessing I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Aliases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
I/O Fault Bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Chapter 4
Organizing Data Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
How the Controller Stores Data . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Creating Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Naming tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Entering tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Using Base Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Memory allocation for base tags . . . . . . . . . . . . . . . . . . . . . . . 4-6
Data type conversions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Specifying bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
Using Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Predefined structures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Module-defined structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
User-defined structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Memory allocation for user-defined structures . . . . . . . . . . . 4-12
Referencing members within a structure . . . . . . . . . . . . . . . 4-14
Viewing an Array as a Collection of Elements. . . . . . . . . . . . . . 4-15
Indexing through arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Specifying bits within arrays. . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Viewing an Array as a Block of Memory . . . . . . . . . . . . . . . . . . 4-17
How the controller stores array data . . . . . . . . . . . . . . . . . . . 4-18
Varying a dimension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
Memory Allocation for Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
Aliasing Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
Scoping Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
Chapter 5
Developing Programs Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Organizing Projects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Entering Names and Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Defining Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Using a continuous task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Using a periodic task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Creating tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

iii
Configuring tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Setting the task watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Avoiding periodic task overlap. . . . . . . . . . . . . . . . . . . . . . . . 5-9
Defining Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Creating programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Configuring programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Defining Routines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Creating routines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Configuring routines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Entering Ladder Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Entering branches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
Scheduling System Overhead . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Downloading a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Chapter 6
Communicating with Other Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Controllers Using MSG Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Communicating with another Logix5550 controller . . . . . . . 6-1
Communicating with other controllers . . . . . . . . . . . . . . . . . . 6-2
Mapping addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Using Produced and Consumed Tags . . . . . . . . . . . . . . . . . . . . . . 6-6
Processing produced and consumed tags . . . . . . . . . . . . . . . . 6-7
Maximum number of produced and consumed tags. . . . . . . . 6-7
Size limit of a produced or consumed tag . . . . . . . . . . . . . . . 6-8
Planning Your System to Support Produced and Consumed Tags 6-9
Identifying another local controller . . . . . . . . . . . . . . . . . . . 6-10
Identifying a remote controller . . . . . . . . . . . . . . . . . . . . . . . 6-11
Producing a Tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Producing a tag from a Logix5550 controller to a ControlNet
PLC-5 controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
Consuming a Tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Consuming a tag from a ControlNet PLC-5 controller to a
Logix5550 controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
Sending Large Arrays of Data . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Chapter 7
Allocating Communication Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Connections How the ControlLogix System Uses Connections . . . . . . . . . . . . 7-1
Determining Connections for I/O Modules . . . . . . . . . . . . . . . . . 7-2
Direct connections for I/O modules . . . . . . . . . . . . . . . . . . . . 7-2
Rack optimized connections for I/O modules . . . . . . . . . . . . 7-4
Combining direct and rack optimized connections . . . . . . . . 7-5
Connections to 1771 I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Connections to DeviceNet I/O . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Determining Connections for Produced and Consumed Tags . . . 7-9
Connections for produced tags . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Optimizing produced tags. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

iv
Connections for consumed tags . . . . . . . . . . . . . . . . . . . . . . 7-11

Determining Connections for Messaging . . . . . . . . . . . . . . . . . . 7-11
Determining Total Connection Requirements . . . . . . . . . . . . . . 7-12
Chapter 8
Communicating with Devices Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
on a Serial Link Using RS-232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Connecting to the Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Configuring the controller to use the serial port . . . . . . . . . . . 8-3
Using the DF1 Serial Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Master/slave communication methods . . . . . . . . . . . . . . . . . . 8-6
Configuring Serial Communications . . . . . . . . . . . . . . . . . . . . . . 8-6
Configuring a DF1 point-to-point station . . . . . . . . . . . . . . . . 8-7
Configuring a DF1 slave station . . . . . . . . . . . . . . . . . . . . . . . 8-8
Configuring a DF1 master station. . . . . . . . . . . . . . . . . . . . . . 8-9
Chapter 9
Integrating Motion Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Developing a Motion Control Application Program. . . . . . . . . . . 9-2
Selecting the master controller for coordinated system time . 9-2
Adding a 1756-M02AE module . . . . . . . . . . . . . . . . . . . . . . . 9-3
Creating an axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
Configuring a servo axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
Running hookup diagnostics and auto tuning . . . . . . . . . . . . . 9-9
Writing a Motion Application Program . . . . . . . . . . . . . . . . . . . 9-10
Understanding the MOTION_INSTRUCTION tag . . . . . . . 9-11
Using motion status and configuration parameters. . . . . . . . 9-11
Modifying motion configuration parameters . . . . . . . . . . . . 9-12
Handling motion faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
Understanding a programming example . . . . . . . . . . . . . . . . 9-13
Chapter 10
Forcing I/O Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
Entering Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
Entering forces from the data monitor . . . . . . . . . . . . . . . . . 10-3
Entering forces from the ladder editor . . . . . . . . . . . . . . . . . 10-4
Enabling Forces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
Disabling Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
Removing Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
Monitoring Forces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
Chapter 11
Handling Faults Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
Understanding Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1

v
Handling Hardware Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

Viewing Major and Minor Faults . . . . . . . . . . . . . . . . . . . . . . . . 11-2
Major Fault Types and Codes. . . . . . . . . . . . . . . . . . . . . . . . 11-3
Minor Fault Types and Codes . . . . . . . . . . . . . . . . . . . . . . . 11-4
Processing Major Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
Assignment of a Program Fault Routine . . . . . . . . . . . . . . . 11-7
Configuration of the Controller Fault Handler . . . . . . . . . . . 11-9
Major Fault Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
Testing a Fault Routine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-14
Shutting Down the Controller. . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
Monitoring I/O Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-18
Writing Logic That Monitors Connections . . . . . . . . . . . . 11-19
Processing Minor Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-21
Processing instruction-execution minor faults . . . . . . . . . . 11-22
Writing logic for instruction-execution minor faults . . . . . 11-23
Processing other minor faults . . . . . . . . . . . . . . . . . . . . . . . 11-26
Writing logic for other minor faults . . . . . . . . . . . . . . . . . . 11-26
Chapter 12
Preparing a Power-Up Program Using This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
How the Controller Powers Up in Run Mode . . . . . . . . . . . . . . 12-1
Processing the power-up handler . . . . . . . . . . . . . . . . . . . . . 12-2
Creating the Power-Up Handler . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
Creating a program for the power-up handler . . . . . . . . . . . 12-3
Creating routines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
Clearing the Major Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
Appendix A
Troubleshooting Using This Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Identifying Controller Components . . . . . . . . . . . . . . . . . . . . . . . A-1
Monitoring Controller Status LEDs . . . . . . . . . . . . . . . . . . . . . . . A-2
Viewing Module Fault Information . . . . . . . . . . . . . . . . . . . . . . . A-2
Monitoring Controller Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
Viewing status through the programming software . . . . . . . . A-4
Monitoring status flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
Using GSV/SSV instructions . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Changing Controller Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Examining Controller Prescan Operations . . . . . . . . . . . . . . . . . . A-7
Instructions with unique prescan operations . . . . . . . . . . . . . A-8
Recovering from prescan errors . . . . . . . . . . . . . . . . . . . . . . . A-9
Appendix B
IEC1131-3 Compliance Using This Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Operating System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2
Data Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

vi
Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3

Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
IEC1131-3 Program Portability . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
IEC Compliance Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
Appendix C
Specifications Logix5550 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Logix5550 Memory Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
1756-CP3 Serial Cable Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
1756-BA1 Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
1756-M0A2E Motion Module . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Glossary

Chapter 1
Getting Started
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1-2 Getting Started
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Getting Started 1-3
Prepare the controller
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A. Remove the side plate. B. Attach the memory board.
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1-4 Getting Started
Install the controller
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1. Align the circuit board with the top and bottom guides in the chassis.
2. Slide the module into the chassis.
The controller is fully installed when it is flush with the power supply
or other fully-installed modules and the top and bottom latches
are engaged.
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Getting Started 1-5
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System setup for this quick start:
Create a project
go to page 1-6
1756-L1
slot 3

Configure
I/O modules
go to page 1-8 empty
slot 0 1756-IB16 1756-OB16E
slot 1 slot 2
You need:
• RSLogix5000 programming software
Create tags • RSLinx communication software

go to page 1-14 • DF1 point-to-point, serial connection from the
workstation to the controller (using 1756-CP3 cable)
If you don’t have this hardware, you can still follow these
steps. Substitute the I/O modules you have for the ones listed
here and make the appropriate changes.
Enter logic
go to page 1-17

Download
a project
go to page 1-19
View status
go to page 1-21

1-6 Getting Started
Create a project
1. Select File → New.
Create a project
see chapter 2
2. Define the project. The software uses the project name you enter with an .ACD extension to store your project.
You must enter a name.
Select the chassis type and specify

the slot number of the controller.
(You will have to change the default values.)
Describe the project (optional).
Select where to store the project

(typically use the default directory).
Click OK.
The software displays:
controller organizer

Getting Started 1-7
Changing project
properties
1. View properties for Controller quick_start.
Create a project
see chapter 2
A. Place the cursor over the Controller quick_start

folder.
B. Click the right mouse button and select Properties.
2. View the General tab.

The screen defaults to the General tab.
Verify that the controller settings are

correct. Make changes if necessary.
Click OK.

1-8 Getting Started
Adding a local input

module
1. Create a new module.
Configure
I/O modules
see chapter 3
A. Place the cursor over the I/O Configuration

folder.
B. Click the right mouse button and select New

Module.
2. Select an input module to add.
Select a catalog number.

For this quick start example, select 1756-IB16.
Click OK.
continued

Getting Started 1-9
Adding a local input module (continued)

3. Identify the input module. These screens are specific to the 1756-IB16 input module.
Configure
I/O modules
You should enter a name. see chapter 3

Verify the slot number.
Describe the module (optional).
Select the communication format.

Specify electronic keying.
Click Next.
4. Use the Create wizard to configure the input module. Use default values for this example.
If you do not want to page through each screen in the
Create wizard, click Finish to create the module using
default values.
Click Next.
Click Next.
Click Next.
Click Finish.
continued

1-10 Getting Started
Adding a local output

module
1. Create a new module.
Configure
I/O modules
see chapter 3
A. Place the cursor over the I/O Configuration

folder.
B. Click the right mouse button and select New

Module.
2. Select an output module to add.
Select a catalog number.

For this quick start example, select 1756-OB16E.
Click OK.
continued

Getting Started 1-11
Adding a local output module (continued)

3. Identify the output module. These screens are specific to the 1756-OB16E output module.
Configure
I/O modules
You should enter a name.

see chapter 3
Verify the slot number.
Describe the module (optional).
Select the communication format.

Specify electronic keying.
Click Next.
4. Use the Create wizard to configure the output module. Use default values for this example.
If you do not want to page through each screen in the
Create wizard, click Finish to create the module using
default values.
Click Next.
Click Next.
Click Next.
Click Next.
Click Finish.
continued

Changing module
properties
1. View properties for the module.
Configure
I/O modules
see chapter 3
A. Place the cursor over the 1756-IB16 module.
2. View the General tab.

The screen defaults to the General tab.
Verify that the module settings are

correct. Make changes if necessary.
Click OK.
The tabs that appear depend on the type of module.

Viewing I/O tags
Configure
I/O modules
see chapter 3
Place the cursor on the Controller Tags

folder and double-click.
The software displays the module-defined tags for the I/O modules you created.
The 1756-IB16 input

module is in slot 1.
The 1756-OB16E output
module is in slot 2.
Click the Edit Tags tab.
continued

Creating other tags

1. Create a tag.
Create tags
see chapter 4
Enter the name of the new tag. Tab to this column and
select the data type.
2. Select the data type.
Select TIMER.
Click OK.
Press Enter.
The software displays the tag.
Click + to display the members

of the TIMER structure.
You might have to resize the column

to see the tag extensions.
continued

Documenting I/O with alias

tags
1. Create an alias tag input_1 for Local:1:I.Data.1.
Create tags
see chapter 4
Enter the name of the tag. Tab here or click in the box. Click here
to select tag to reference.
2. Select an input data word.
A. Click on the input data structure.
B. Click + to display the members of the structure.
C. Click on the input data word.
A drop-down arrow is displayed.
D. Click the drop-down arrow.
A grid of bits is displayed. Click here to display a grid of bits.
3. Click a specific bit and press Enter.
continued

Documenting I/O with alias

tags (continued)
2. Repeat steps 1 and 2 above to create an alias tag output_1 for Local:2:O.Data.1
Create tags
The software displays the alias tags.

see chapter 4

Enter logic
1. Use default task, program, and routine.
Enter logic
When you created the project, the software
automatically created a MainTask, MainProgram, and
MainRoutine. Use these defaults for this example. see chapter 5
Double-click MainRoutine.
The software displays an empty routine.
2. Enter an XIO instruction.
Drag and drop the XIO instruction on an empty rung.

Entering logic (continued)

3. Assign a tag to the XIO instruction.
Double-click the tag area of the instruction. Enter logic
see chapter 5
Use the drop-down menu to select the

alias tag input_1.
The software displays an incomplete rung.
4. Enter this logic.
5. To save the project, from the File menu, select Save.

Download a project
1. Make a serial connection from the workstation to the controller.
Download
a project
see chapter 5 and

chapter 8
Use the 1756-CP3 cable.
2. Configure an RSLinx communication driver:
A. Start the RSLinx software.
B. From the Communications menu, select Configure

Drivers.
The Configure Drivers dialog box is displayed.
C. From the Available Driver Types drop-down list,

select RS-232 DF1 Devices.
D. Click Add New.
The Add New RSLinx Driver dialog box is displayed.
E. Click OK.
The Configuration dialog box is displayed.
F. From the Comm Port drop-down list, select the

computer serial port that the driver will use, such
as COM2. The driver is listed in the Configured Drivers list.
G. From the Device drop-down list, select Logix 5550

- Serial Port.
H. Click Auto-Configure.
The successful auto-configuration is confirmed.
I. Click OK.
J. Click Close.
continued

Download a project
(continued)
3. Turn the controller’s keyswitch to PROG
and then back to REM. Download
a project
This places the controller in Remote Program
mode.
see chapter 5 and
chapter 8
4. From the Communications menu, select

Who Active.
The Who Active - Select Controller dialog box is
displayed.
5. Click the + sign next to the DF1 network.

The network view is expanded to show the next
level of hardware for that network.
6. Select the controller and click Download.

A Download confirmation dialog box is
displayed.
7. Click Download.
The project is downloaded to the controller.
8. Place the controller in Remote Run mode.

Viewing program scan time

1. View properties for the MainProgram.
View
status
see appendix A
A. Place the cursor over the MainProgram folder.
2. Select the Configuration tab.
This tab displays the maximum and last

scan times for the program.

Viewing controller memory

usage
1. View properties for Controller quick_start.
View
status
see chapter 5
A. Place the cursor over the Controller

quick_start folder.
B. Click the right mouse button and select

Properties.
2. Select the Advanced tab.
In addition to other information, this tab

displays controller memory usage.
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Chapter 2
Working with Projects
Using This Chapter

For information about: See page:
Creating a Project 2-1
Working with the Controller Organizer 2-3
Changing Controller Properties 2-3
Using Coordinated System Time 2-4
Using Wall Clock Time 2-5
Saving Your Project 2-6
Uploading From the Controller 2-7
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2-2 Working with Projects
6SHFLI\WKLVLQIRUPDWLRQ
In this field: Type or select:

Name Type the name of the controller for this application.
This name is also used for the project file (with an
.ACD extension). The name is required.
Chassis Type Select the type of chassis that contains the
controller. Use the pull-down menu to select from
the available types.
Slot Number Select the slot number where the controller is
installed.
Description Type a description of the controller (optional).
Create In Select where to store the project file on the hard
drive of your workstation. You can use the default
(which was configured when the software was
installed) or specify a different location.
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Working with Projects 2-3
Working with the 7KHFRQWUROOHURUJDQL]HULVDJUDSKLFDOUHSUHVHQWDWLRQRIWKHFRQWHQWVRID

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Controller Organizer DQGFRQILJXUDWLRQ
To hide the contents of a folder, click the

– sign next to the folder.
To display (expand) the contents of a

folder, click the + sign next to the folder.
Right-Clicking
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Changing Controller 2QFH\RXFUHDWHDSURMHFWXVHWKH&RQWUROOHU3URSHUWLHVGLDORJER[WRFKDQJH

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Properties
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From this tab: You can:

General modify the controller name, description, slot number, and chassis type
Date/Time online only
view and edit the controller’s wall clock time and the coordinated system time
status.
Communications configure communication information that is stored with the project file
Serial Port view and configure the serial port on the controller
Serial Port Protocol configure the serial port for:
• DF1 point-to-point
• DF1 slave
• DF1 master
Major Faults online only
view any major faults that have occurred on the controller
Minor Faults online only
view any minor faults that have occurred on the controller
Advanced some features are online only
view and edit advanced controller properties, which include the system fault
program, the power loss program, and system overhead time slice
File view information about the project file
&OLFN2.
Using Coordinated System 7KHFRRUGLQDWHGV\VWHPWLPH&67SURSHUW\VSHFLILHVDV\QFKURQL]HGWLPH

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Time WLPHVWDPSLVDELWYDOXHWKDWUHSUHVHQWVWKHQXPEHURIPLFURVHFRQGVVLQFH
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Using Wall Clock Time 7KHFRQWUROOHUDOVRKDVDZDOOFORFNWLPHWKDWLVVLPLODUWRWKHFRRUGLQDWHG

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This attribute: Contains the:

DateTime current value in a format that is easy to read (year, month, day,
etc.)
CurrentValue number of microseconds that have elapsed since 0000 hrs
1 January 1972

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This element: Contains:

DINT[0] year
DINT[1] integer representation of month (1-12)
DINT[2] integer representation of day (1-31)
DINT[3] hour (0-23)
DINT[4] minutes (0-59)
DINT[5] seconds (0-59)
DINT[6] microseconds (0-999,999)
)RUWKH&XUUHQW9DOXHDWWULEXWHVWRUHWKHYDOXHLQD',17>@DUUD\ZKHUH
This element: Contains:

DINT[0] lower 32 bits of value
DINT[1] upper 32 bits of value
Saving Your Project $V\RXFUHDWHORJLFDQGPDNHFRQILJXUDWLRQFKDQJHVVDYHWKHSURMHFW
If you: This is what happens:

Save The programming software saves programming and
configuration changes to the current project file. The
title bar of the programming software displays the
name of the current project file.
Save As The programming software creates a new project
file using the current project file and the name you
specify.
The controller name is independent of the project
file name. If you save a current project file as
another name, the controller name is unchanged.
Use controller properties to change the controller
name to match the project name.
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If you want to: Then:

use the project file on your workstation, if Click Go Online.
available
upload the image in the controller but use Click Upload Merge.
the documentation from the project file on
your workstation
upload and save the project to the A. Click Select File.
workstation B. Type a name for the project file or
use the one provided.
Note: The project will not have any C. Click Select and confirm the
documentation because this information is operation.
not stored in the controller. The project uploads and saves as
the name that you specified.

Chapter 3
Configuring I/O Modules
Using This Chapter

Logic Scanning 3-1
Determining When I/O Will Update 3-2
Configuring Local I/O 3-4
Configuring I/O in a Remote Chassis 3-12
Changing Configuration Information 3-15
Accessing I/O 3-17
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This document: Has this publication

number:
Digital Modules User Manual 1756-6.5.8
Analog Modules User Manual 1756-6.5.9
Introduction 7KHEDVLFIXQFWLRQVRIDFRQWUROOHUDUHWR
2. make decisions via a control program

(ladder logic based on the status of devices)
3. set the status of output devices (such

as lights, motors, and heating coils)
1. read the status of various input devices
(such as pushbuttons and limit switches)
40015

3-2 Configuring I/O Modules
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Update LQWHOOLJHQWPRGXOHVSURGXFHDQGFRQVXPHGDWD
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Configuring I/O Modules 3-3
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input or output data? output digital

analog or digital?
input
analog
digital
analog or digital?
remote or local?
analog
COS for any point No remote

No on the module?
RTS ≤ RPI?
Yes
local
Yes
Data is sent to the
backplane at the
RTS.
Data is sent to the

backplane at the
RTS and RPI.
Data is sent to the backplane

at the RPI and at the change of
a specified point.
Data is sent to the

backplane at the RPI
Data is sent to the

Remote data is sent over backplane at the RPI and at
the ControlNet network at the end of every program
the RPI scan.

Configuring Local I/O <RXXVH\RXUSURJUDPPLQJVRIWZDUHWRFRQILJXUHWKH,2PRGXOHVIRUWKH

FRQWUROOHU
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6SHFLI\

Name Type a name for the module (optional).
Slot Number Type the slot number where the module is installed.
Description Type a description for the module (optional).
Communication Select one of the communication formats supported by the
Format module. Some formats specify controller ownership of the
module. The communication format defines the data structure
the module uses.
Revision Type or select the minor revision number of the module.
Electronic Keying Select an electronic keying method.

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Names and Descriptions of Modules

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Electronic keying
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Keying: Description:
compatible module The module must be compatible with the software
configuration. These characteristics must match:
• module type
• catalog number
• major revision
The minor revision must be equal to or greater than
the one specified in the software.
disable keying No attributes of the software or hardware are
required to match.
exact match The module must match the software configuration
exactly. These characteristics must match:
• module type
• catalog number
• major revision
• minor revision
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Communication Formats
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communication format: input data
communication format: listen only
Selecting controller ownership
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Controlling: This ownership: Description:

input modules owner An input module is configured by a controller that establishes a connection as an owner.
This configuring controller is the first controller to establish an owner connection.
Once an input module has been configured (and owned by a controller), other controllers
can establish owner connections to that module. This allows additional owners to
continue to receive multicast data if the original owner controller breaks its connection
to the module. All other additional owners must have the identical configuration data
and identical communications format that the original owner controller has, otherwise
the connection attempt is rejected.
listen-only Once an input module has been configured (and owned by a controller), other controllers
can establish a listen-only connection to that module. These controllers can receive
multicast data while another controller owns the module. If all owner controllers break
their connections to the input module, all controllers with listen-only connections no
longer receive multicast data.
output modules owner An output module is configured by a controller that establishes a connection as an
owner. Only one owner connection is allowed for an output module. If another controller
attempts to establish an owner connection, the connection attempt is rejected.
listen-only Once an output module has been configured (and owned by one controller), other
controllers can establish listen-only connections to that module. These controllers can
receive multicast data while another controller owns the module. If the owner controller
breaks its connection to the output module, all controllers with listen-only connections
no longer receive multicast data.
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FRQILJXUHWKH,2PRGXOH

Inhibiting Module Operation
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If you are: Inhibit a module to:

offline put a place holder for a module you are configuring
The inhibit status is stored in the project. When you download the project, the module is
still inhibited.
online stop communication to a module
If you inhibit a module while you are connected to the module, the connection to the
module is closed. The modules’ outputs go to the last configured program mode.
If you inhibit a module but a connection to the module was not established (perhaps due to
an error condition or fault), the module is inhibited. The module status information changes
to indicate that the module is inhibited and not faulted.
If you uninhibit a module (clear the check box), and no fault condition occurs, a connection
is made to the module and the module is dynamically reconfigured (if the controller is the
owner controller) with the configuration you created for that module. If the controller is
configured for listen-only, it cannot reconfigure the module.
If you uninhibit the module and a fault condition occurs, a connection is not made to the
module. The module status information changes to indicate the fault condition.
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The GSV instruction gets the current status of the module named “input_module.” The SSV instruction sets the state of “input_module” as
either inhibited or uninhibited.
When on, inhibits the

module. When off,
uninhibits the module.

Connection Failure
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ATTENTION
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PDFKLQHU\PDNHVXUHWKLVGRHVQRWFUHDWHXQVDIHRSHUDWLRQ
&RQILJXUHFULWLFDO,2PRGXOHVWRJHQHUDWHDFRQWUROOHU
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FRQWUROOHU2UPRQLWRUWKHVWDWXVRI,2PRGXOHV

Configuring I/O in a &RQILJXULQJ,2LQDUHPRWHFKDVVLVLVVLPLODUWRFRQILJXULQJORFDO,27KH

GLIIHUHQFHLVWKDW\RXPXVWDOVRFRQILJXUHWKHFRPPXQLFDWLRQPRGXOHLQWKH
Remote Chassis ORFDOFKDVVLVDQGWKHFRPPXQLFDWLRQPRGXOHRUDGDSWHULQWKHUHPRWHFKDVVLV
7KHIROORZLQJH[DPSOHVKRZVKRZWRDGGWKHUHPRWHFKDVVLVDQG,2WRWKH
FRQWUROOHURUJDQL]HU+RZ\RXFRQILJXUHWKHFRPPXQLFDWLRQDQG,2PRGXOHV
GHSHQGRQWKHQHWZRUN)RUGHWDLOVVHH
For a: Use this module: See this publication:

DH+ or remote I/O network 1756-DHRIO Data Highway Plus and Remote I/O Communication
Interface Module User Manual
publication 1756-6.5.2
ControlNet network 1756-CNB ControlNet Communication Interface User Manual
Device Net network 1756-DNB DeviceNet Scanner Configuration User Manual
7RFRQILJXUHDUHPRWH,2PRGXOH
&RQILJXUHD&1%PRGXOHIRUWKHORFDOFKDVVLV7KLVPRGXOH
KDQGOHVFRPPXQLFDWLRQVEHWZHHQWKHFRQWUROOHUVFKDVVLVDQGWKHUHPRWH
FKDVVLV
D ,QWKHFRQWUROOHURUJDQL]HUULJKWFOLFNWKH,2&RQILJXUDWLRQIROGHU
DQGVHOHFW1HZ0RGXOH
E 6HOHFWWKHDSSURSULDWHW\SHRI&1%PRGXOHDQGWKHQFOLFN2.

F 6SHFLI\

Name Type a name for the module (required).
Slot Number Type or select the slot number where the module is installed.
G &OLFN)LQLVK !!
&RQILJXUHD&1%FRPPXQLFDWLRQPRGXOHIRUWKHUHPRWHFKDVVLV
D ,QWKHFRQWUROOHURUJDQL]HUULJKWFOLFNWKH&1%&1%5PRGXOH
LQWKHORFDOFKDVVLVWKHRQH\RXFRQILJXUHGLQ6WHS DQGVHOHFW
1HZ0RGXOH

F 6SHFLI\

Name Type a name for the module. A name is required because the
programming software uses the name to create tag names for I/O
in the chassis.
Node Type or select the ControlNet node number of the module.
Chassis Size Type or select the number of slots in the chassis that contains the
module.
Comm Format Are most of the modules in the chassis non-diagnostic, digital I/O
modules?
If: Then select:
Yes Rack Optimization
or
Listen Only - Rack Optimization
No None
TIP 7KH&RPP)RUPDWGHWHUPLQHVZKLFKFRPPXQLFDWLRQ
IRUPDWVZLOOEHDYDLODEOHIRU,2PRGXOHVLQWKHFKDVVLV
5HIHUWR 'HWHUPLQLQJ&RQQHFWLRQVIRU,20RGXOHVRQ
SDJH
G ,QWKHSUHYLRXVVWHSGLG\RXVHOHFWHLWKHURIWKHVH&RPP)RUPDWV
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If: Then: Example:

Yes A. Click Next >. If the ControlNet NUT is
B. In the Requested Packet Interval (RPI) text 5ms, type a rate of 5, 10, 20,
box, type the rate at which you want the 40ms, etc.
module to communicate with the
controller:
• All I/O modules that use a Rack
Optimization Comm Format in the
chassis will update at this rate.
• Use a power of two times the
ControlNet NUT.
C. Click Finish >>.
No Click Finish >>.

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FRPPXQLFDWLRQPRGXOHWKHORFDOPRGXOHEHFRPHVWKH´SDUHQWPRGXOHµ
WRWKHUHPRWHPRGXOH7KHFRQWUROOHURUJDQL]HUVKRZVWKLVSDUHQWFKLOG
UHODWLRQVKLSEHWZHHQORFDODQGUHPRWHPRGXOHV
&RQILJXUHWKH,2PRGXOHVIRUWKHUHPRWHFKDVVLVE\DGGLQJWKHPWR
WKHUHPRWHFRPPXQLFDWLRQPRGXOH,H5LJKWFOLFNWKH&1%&1%5
LQWKHUHPRWHFKDVVLVDQGVHOHFW1HZ0RGXOH)ROORZWKHVDPH
SURFHGXUHDV\RXGRIRUFRQILJXULQJORFDO,2PRGXOHV
7RVFKHGXOHWKHFRQQHFWLRQVZLWKWKH,2LQWKHUHPRWHFKDVVLV
'RZQORDGWKHSURMHFWWRWKHFRQWUROOHU/HDYHWKHFRQWUROOHULQWKH
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561HW:RU[RQOLQHKHOS
Changing Configuration 2QFH\RXFRQILJXUHDQ,2PRGXOH\RXFDQFKDQJHFRQILJXUDWLRQ

LQIRUPDWLRQ7KHFRQILJXUDWLRQWDEVWKDWDUHDYDLODEOHGHSHQGRQWKHW\SHRI
Information PRGXOH
7RFKDQJHWKHFRQILJXUDWLRQRIDQH[LVWLQJPRGXOH
,QWKHFRQWUROOHURUJDQL]HUXQGHUWKH,2&RQILJXUDWLRQIROGHU
ULJKWFOLFNWKHPRGXOHDQGVHOHFW3URSHUWLHV

&OLFNDWDEWRYLHZRUHGLW
On this tab: In this field: The programming software displays:

General Name The name of the module.
Description The description of the module.
Slot Number The slot number in which the module is located.
Comm Format The current communication format. You cannot
change the selection from here - you must delete the
module and re-create it with a different selection.
Electronic Keying The current electronic keying method.
Connection Requested The current RPI setting. You can select from 0.2-750.0
Packet Interval ms.
Inhibit Module Whether or not the module is inhibited.
Major Fault Whether or not the controller generates a major fault
if the connection to this module fails.
Configuration Configuration information for the module. The available fields depend on
the type of module. For example, you use this tab to change the settings
of input filter times for a 1756-IB16 module.
,I\RXDUHRQOLQHLQIRUPDWLRQDQGEXWWRQVDUHDOVRDYDLODEOHRQWKHVH
WDEV
On this tab: The programming software displays:

Module Info Product and status information about the module. You can reset the
module. There are no fields to select or enter data.
Backplane Backplane status information. There are no fields to select or enter data.
You can clear faults and reset the status counters.
&OLFN2.

Accessing I/O ,2LQIRUPDWLRQLVSUHVHQWHGDVDVWUXFWXUHRIPXOWLSOHILHOGVZKLFKGHSHQG

RQWKHVSHFLILFIHDWXUHVRIWKH,2PRGXOH7KHQDPHRIWKHVWUXFWXUH
LQIRUPDWLRQLVEDVHGRQWKHORFDWLRQRIWKH,2PRGXOHLQWKHV\VWHP(DFK
,2WDJLVDXWRPDWLFDOO\FUHDWHGZKHQ\RXFRQILJXUHWKH,2PRGXOHWKURXJK
WKHSURJUDPPLQJVRIWZDUH(DFKWDJQDPHIROORZVWKLV IRUPDW
/RFDWLRQ6ORW1XPEHU7\SH0HPEHU1DPH6XE0HPEHU1DPH%LW
ZKHUH
This address variable: Is:

Location Identifies network location
LOCAL = local chassis
ADAPTER_NAME = identifies remote chassis
communication adapter or bridge module
SlotNumber Slot number of I/O module in its chassis
Type Type of data
I = input
O = output
C = configuration
S = status
MemberName Specific data from the I/O module; depends on what
type of data the module can store
For example, Data and Fault are possible fields of
data for an I/O module. Data is the common name
for values the are sent to or received from I/O
points.
SubMemberName Specific data related to a MemberName.
Bit (optional) Specific point on the I/O module; depends on the
size of the I/O module (0-31 for a 32-point module)
)RUPRUHLQIRUPDWLRQRQWDJVUHIHUWR&KDSWHU ´2UJDQL]LQJ'DWDµ

7KHIROORZLQJH[DPSOHVVKRZWKHDGGUHVVHVIRUELW]HURRIVHYHUDO,2
PRGXOHV,QWKHILUVWH[DPSOH/RFDOLQGLFDWHVWKDWWKHVHWDJVUHIHUHQFHPRGXOHV
WKDWDUHLQWKHVDPHFKDVVLVDVWKH FRQWUROOHU,QWKHVHFRQGH[DPSOH
6HQVRU5DFNLQGLFDWHVWKDWWKHVHWDJVUHIHUHQFHDPRGXOHLQDUHPRWHFKDVVLV
6HQVRU5DFNLVWKHQDPHRIWKH&1%PRGXOHLQWKHUHPRWHFKDVVLV
EXAMPLE /RFDO$GGUHVV
0 1 2 3
Tags for the input module: Tags for the output module:
Local:1:I.Data.0 Local:2:I.Data.0
Local:1:I.Fault.0 Local:2:I.Fault.0
Local:2:O.Data.0
40049
EXAMPLE 5HPRWH$GGUHVV
SensorRack
(name assigned to the
1756-CNB module)
42045
controller Tags for the output module:
SensorRack:3:I.Data.0
SensorRack:3:I.Fault.0
SensorRack:3:O.Data.0

Aliases
$WDJDOLDVOHWV\RXFUHDWHRQHWDJWKDWUHSUHVHQWVDQRWKHUWDJ7KLVLVXVHIXOIRU
GHILQLQJGHVFULSWLYHWDJQDPHVIRU,2YDOXHV)RU H[DPSOH
Example: Description:
I/O structure Local:0:O.Data.0 The alias tags describe the specific I/O
Local:0:I.Fault.0 points.
alias light_on = Local:0:O.Data.0
light_off = Local:0:I.Fault.0
I/O Fault Bits
(DFK,2PRGXOHKDVIDXOWELWVWKDWLQGLFDWHZKHQDIDXOWRFFXUVZLWKDSRLQW
RUFKDQQHORIWKHPRGXOH<RXFDQZULWHORJLFWRPRQLWRUWKHVHELWVDQGWDNH
DSSURSULDWHDFWLRQLIDIDXOWRFFXUV)RUH[DPSOH\RXPD\ZDQWWRVKXWGRZQ
WKHV\VWHPLIDVSHFLILFSRLQWH[SHULHQFHVDIDXOW
7KHIROORZLQJH[DPSOHGHSLFWVWKHIDXOWELWVIRUDQGLJLWDOLQSXWPRGXOHLQWKH
ORFDOFKDVVLV
EXAMPLE ,2)DXOW%LWV
Double-click on controller tags

Notes:

Chapter 4
Organizing Data
Using This Chapter

How the Controller Stores Data 4-1
Creating Tags 4-2
Using Base Tags 4-6
Using Structures 4-10
Viewing an Array as a Collection of Elements 4-15
Viewing an Array as a Block of Memory 4-17
Aliasing Tags 4-22
Scoping Tags 4-23
How the Controller Stores 7KH/RJL[FRQWUROOHUPHPRU\VWRUHVERWKGDWDDQGORJLF7KHUHDUH

.E\WHVRIPHPRU\LQWKHEDVHFRQWUROOHU
Data
Base controller
(1756-L1)
processes I/O
160 Kbytes
processes produced/consumed tags
stores tags
stores program logic
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• 0.E\WHVPHPRU\H[SDQVLRQERDUGRU

• 00E\WHVPHPRU\H[SDQVLRQERDUGRU
• 00E\WHVPHPRU\H[SDQVLRQERDUG

4-2 Organizing Data
7KHPHPRU\H[SDQVLRQERDUGFKDQJHVKRZWKHFRQWUROOHUVWRUHVGDWDDQG
ORJLF2QFHLQVWDOOHGWKH.E\WHVRIPHPRU\RIWKHEDVHFRQWUROOHUDUH
GHGLFDWHGWRKDQGOLQJ,2DQGSURGXFHGFRQVXPHGWDJV7KHDGGHGPHPRU\
LVGHGLFDWHGWRORJLFDQGWDJVWRUDJH
Controller with memory expansion board
(1756-L1Mx)
processes I/O
160 Kbytes processes produced/consumed tags
added
memory stores tags
stores program logic
Creating Tags 7KH/RJL[FRQWUROOHUXVHVWDJVIRUVWRULQJDQGDFFHVVLQJGDWD$WDJLV

VLPLODUWRDYDULDEOHDVXVHGE\SURJUDPPLQJODQJXDJHV$WDJKDVDQDPHWKDW
GHVFULEHVWKHGDWDWKHWDJVWRUHVDQGDGDWDW\SHWKDWLGHQWLILHVWKHVL]HDQG
OD\RXWRIGDWDWKHWDJFDQVWRUH
7KHFRQWUROOHUVWRUHVWDJVDV\RXFUHDWHWKHPDQGDVWKH\ILWLQWRWKHFRQWUROOHU
PHPRU\7KHUHDUHQRSUHGHILQHGGDWDWDEOHVVXFKDVLQ3/&FRQWUROOHUV7KH
/RJL[FRQWUROOHUXVHVLWVPHPRU\PRUHHIILFLHQWO\E\VWRULQJWDJVDV
QHHGHGDQGZKHUHWKH\EHVWILWLQPHPRU\7DJVRIVLPLODUGDWDW\SHVDUHQRW
QHFHVVDULO\JURXSHGWRJHWKHULQPHPRU\,I\RXZDQWWRJURXSGDWDXVHDQ
DUUD\5HIHUWR 9LHZLQJDQ$UUD\DVD&ROOHFWLRQRI(OHPHQWVRQSDJH
7KHUHDUHWKUHHW\SHVRIWDJV
Tag Type: Description:

base A base tag is a tag that actually defines the memory
where a data element is stored.
alias An alias tag is a tag that references memory defined
by another tag. An alias tag can refer to a base tag
or another alias tag.
Alias tags are useful for creating standardized

programs that can be duplicated without having to
readdress instructions. By using alias tags, each
copy of the program can reference different base
tags.
consumed A consumed tag is a tag whose data value comes
from another controller.

Organizing Data 4-3
Data types
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W\SHV
predefined data types
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• EDVLFZKLFKIROORZWKH,(&GDWDGHILQLWLRQV
• VWUXFWXUHVZKLFKDUHFUHDWHGXVLQJWKHEDVLFGDWDW\SHV
7KHEDVHGDWDW\SHVDUH
Data type: Description: Range:

BOOL 1-bit boolean 0 = off
1 = on
SINT 1-byte integer -128 to 127
INT 2-byte integer -32,768 to 32,767
DINT 4-byte integer -2,147,483,648 to 2,147,483,647
REAL 4-byte floating-point number -3.402823E38 to -1.1754944E−38 (negative values)
and
0
and
1.1754944E−38 to 3.402823E38 (positive values)

4-4 Organizing Data
7KH5($/GDWDW\SHDOVRVWRUHVLQILQLW\DQG1$1EXWWKHVRIWZDUHGLVSOD\
GLIIHUVEDVHGRQWKHGLVSOD\IRUPDW
Display Format: Equivalent:

Real +infinite 1.$
- infinite -1.$
+NAN 1.#QNAN
-NAN -1.#QNAN
Exponential +infinite 1.#INF000e+000
- infinite -1.#INF000e+000
+NAN 1.#QNAN00e+000
-NAN -1.#QNAN00e+000
7KHSUHGHILQHGVWUXFWXUHVDUH
Data type: Description:

AXIS(1) control structure for an axis
CONTROL control structure for array (file) instructions
COUNTER control structure for counter instructions
MESSAGE(1) control structure for the MSG instruction
MOTION_GROUP(1) control structure for a motion group

MOTION_INSTRUCTION control structure for motion instructions
PID control structure for the PID instruction
TIMER control structure for timer instructions
(1) These structures do not support arrays, cannot be nested in user-defined structures, and cannot
be passed to other routines via a JSR instruction. These are controller-only tags.
Naming tags

XQGHUVFRUH B
DQG XQGHUVFRUHV

Organizing Data 4-5
RIIOLQHSURMHFWILOH
Entering tags
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• &UHDWHWDJVEHIRUH\RXHQWHUORJLF
• (QWHUWDJQDPHVDV\RXHQWHUORJLFDQGGHILQHWKHWDJVODWHU
• (QWHUORJLFXVLQJTXHVWLRQPDUNV>"@LQSODFHRIWDJQDPHVDQGDVVLJQWKH
WDJVODWHU
7RHQWHUDWDJ
,QWKHFRQWUROOHURUJDQL]HUGRXEOHFOLFNWKHWDJVLFRQLQZKLFK\RXZDQW
WRDVVLJQWKHWDJ5HIHUWR 6FRSLQJ7DJVRQSDJH
7KH7DJVZLQGRZLVGLVSOD\HG
&OLFNWKH(GLW7DJVWDE
&OLFNWKH7DJ1DPHFHOORIWKHODVWURZLGHQWLILHGE\DQDVWHULVN> @DQG

SUHVV>$OW@ >(QWHU@
7KH1HZ7DJGLDORJER[LVGLVSOD\HG

4-6 Organizing Data
6SHFLI\WKHIROORZLQJLQIRUPDWLRQ

Name Type the name of the tag.
Description Type the description of the tag (optional).
Tag Type Select one of these:
For a: Select:
normal tag Base
tag that references another tag or part of another tag Alias
tag whose value is produced by another controller Consumed
Data Type Select the data type. The programming software displays a list of the available data types.
The list consists of the predefined data types and any user-defined data types.
If the tag is to be an array, specify the number of elements in each dimension. There can be
as many as 3 dimensions. If the tag is not an array, or you do not want all 3 dimensions, set
the dimension fields to zero (0).
Scope Select the scope in which to create the tag. You can select controller scope or one of the
existing program scopes.
Display Style Select the display style of the tag. The programming software displays a list of the available
styles, which depends on the data type. The style you select becomes the default display
type when monitoring that tag with the programming software.
Produce this tag Select whether to make this tag available to other controllers. Specify how many controllers
can consume the tag.
&OLFN2.
Using Base Tags $EDVHWDJVWRUHVRQHYDOXHDWDWLPH7KHW\SHRIYDOXHGHSHQGVRQWKHGDWD

W\SH8VHWKHVHGDWDW\SHVWRGHILQHEDVH WDJV
• %22/
• 6,17
• ,17
• ',17
• 5($/
Memory allocation for base tags
7KHDPRXQWRIPHPRU\WKDWDWDJXVHVGHSHQGVRQWKHGDWDW\SH7KH
PLQLPXPDOORFDWLRQZLWKLQWKHFRQWUROOHULVIRXUE\WHV

Organizing Data 4-7
6RPHRIWKHGDWDW\SHVDUHVPDOOHUWKDQIRXUE\WHV%22/6,17DQG,17
:KHQ\RXFUHDWHDWDJXVLQJRQHRIWKHVHGDWDW\SHVWKHFRQWUROOHUDOORFDWHV
IRXUE\WHVEXWWKHGDWDRQO\ILOOVWKHSDUWLWQHHGV7RXVHPHPRU\PRUH
HIILFLHQWO\FUHDWHDUUD\VRUVWUXFWXUHVWRKROGWKHVHVPDOOHUGDWDW\SHV6HHWKH
IROORZLQJH[DPSOHV
0RVWLQVWUXFWLRQVGRQRWRSHUDWHRQ%22/DUUD\V)RU%22/GDWDLWPLJKW
EHPRUHHIILFLHQWWRFUHDWHDVWUXFWXUHLQVWHDGRIDQDUUD\
7KHIROORZLQJH[DPSOHVVKRZPHPRU\DOORFDWLRQIRUEDVHWDJVXVLQJWKH
DWRPLFGDWDW\SHV
bool_value as BOOL 7KLVH[DPSOHXVHVRQHELWRIWKHGDWDDOORFDWLRQ
Bit 31 1 0
allocation not used bool_value
small_value as SINT 7KLVH[DPSOHXVHVELWVRIWKHGDWDDOORFDWLRQ
Bit: 31 8 7 0
allocation not used small_value
value as INT 7KLVH[DPSOHXVHVELWVRIWKHGDWDDOORFDWLRQ
Bit: 31 16 15 0
allocation not used value
big_value as DINT 7KLVH[DPSOHXVHVDOOELWVRIWKHGDWDDOORFDWLRQ
Bit: 31 0
allocation big_value
float_value as REAL 7KLVH[DPSOHXVHVDOOELWVRIWKHGDWDDOORFDWLRQ
Bit: 31 0
allocation float_value

4-8 Organizing Data
Data type conversions
,I\RXPL[GDWDW\SHVIRURSHUDQGVZLWKLQDQLQVWUXFWLRQVRPHLQVWUXFWLRQV
DXWRPDWLFDOO\FRQYHUWGDWDWRDQRSWLPDOGDWDW\SHIRUWKDWLQVWUXFWLRQ,QVRPH
FDVHVWKHFRQWUROOHUFRQYHUWVGDWDWRILWDQHZGDWDW\SHLQVRPHFDVHVWKH
FRQWUROOHUMXVWILWVWKHGDWDDVEHVWLW FDQ
Conversion: Result:
larger integer to smaller integer The controller truncates the upper portion of the larger integer and generates an
overflow.
For example:
Decimal Binary
DINT 65,665 0000_0000_0000_0001_0000_0000_1000_0001
INT 129 0000_0000_1000_0001
SINT -127 1000_0001
SINT or INT to REAL No data precision is lost
DINT to REAL Data precision could be lost. Both data types store data in 32 bits, but the REAL type
uses some of its 32 bits to store the exponent value. If precision is lost, the
controller takes it from the least-significant portion of the DINT.
REAL to integer The controller rounds the fractional part and truncates the upper portion of the
non-fractional part. If data is lost, the controller sets the overflow status flag.
Numbers round as follows:

• Numbers other than x.5 round to the nearest number.
• X.5 rounds to the nearest even number.
For example:
REAL DINT
(source) (result)
-2.5 -2
-1.6 -2
-1.5 -2
-1.4 -1
1.4 1
1.5 2
1.6 2
2.5 2
<RXFDQQRWFRQYHUWGDWDWRRUIURPWKH%22/GDWDW\SH

Organizing Data 4-9
Specifying bits
,QDGGLWLRQWRXVLQJ%22/W\SHWDJVWRVSHFLI\DELW\RXFDQXVHELWVSHFLILHUV
ZLWKLQLQWHJHUW\SHWDJV6,17,17DQG',177KHELWVSHFLILHULGHQWLILHVD
ELWZLWKLQWKHWDJ7KHELWVSHFLILHUUDQJHGHSHQGVRQWKHGDWDW\SH
Data Type: Bit Specifier Range:

SINT 0-7
INT 0-15
DINT 0-31
7RVSHFLI\DELWZLWKLQDQLQWHJHUVSHFLI\
[>\@
ZKHUH
This Is:
x integer tag name
. specifies that a bit reference follows
[] encloses a bit reference
only needed for a non-numeric bit
reference
y bit reference
7KHELWUHIHUHQFHFDQEHDQLPPHGLDWHQXPEHUDWDJRUDQH[SUHVVLRQ<RX
FDQXVHWKHVHRSHUDWRUVWRVSHFLI\DELW
Operator: Description: Operator: Description:

+ add MOD Modulo
- subtract/negate NOT complement
* multiply OR OR
/ divide SQR square root
ABS Absolute value TOD integer to BCD
AND AND TRUN Truncate
FRD BCD to integer XOR exclusive OR

4-10 Organizing Data
)RUH[DPSOH
value.5 Both of these examples reference the 6th bit in
value.[5] the integer value. When you use an immediate
number you do not need the brackets.
value.[another_value] This example references the bit identified by
another_value within the integer value.
value.[control.pos] This example references a bit identified by
control.pos within the integer value.
value.[control.pos - number + 5] This example uses an expression to identify a
bit within the integer value.
Using Structures $VWUXFWXUHVWRUHVDJURXSRIGDWD(DFKPHPEHURIWKHVWUXFWXUHFDQEHD

GLIIHUHQWGDWDW\SH7KHFRQWUROOHUKDVLWVRZQSUHGHILQHGVWUXFWXUHV(DFK,2
PRGXOHKDVLWVRZQSUHGHILQHGVWUXFWXUHV<RX FDQDOVRFUHDWHVSHFLDOL]HG
XVHUGHILQHGVWUXFWXUHVXVLQJDQ\FRPELQDWLRQRISUHGHILQHGDWRPLFGDWD
W\SHVDQGPRVWRWKHU VWUXFWXUHV
)RULQIRUPDWLRQDERXWFRS\LQJGDWDWRDVWUXFWXUHVHHWKH&23LQVWUXFWLRQLQ
WKH/RJL[&RQWUROOHUV*HQHUDO,QVWUXFWLRQ6HW5HIHUHQFH0DQXDOSXEOLFDWLRQ

Predefined structures
7KHFRQWUROOHUSURYLGHVDVHWRISUHGHILQHGVWUXFWXUHVZKLFKVWRUHUHODWHG
LQIRUPDWLRQIRUVSHFLILFLQVWUXFWLRQV<RXFDQXVHVRPHRIWKHSUHGHILQHG
VWUXFWXUHVLQDUUD\VDQGXVHUGHILQHGVWUXFWXUHV
You can use this predefined structure: In an array or user-defined structure:

AXIS
CONTROL á
COUNTER á
MESSAGE
MOTION_GROUP
MOTION_INSTRUCTION á
PID á
TIMER á
)RUPRUHLQIRUPDWLRQDERXWWKHLQVWUXFWLRQVWKDWXVHWKHVHVWUXFWXUHVVHHWKH
/RJL[&RQWUROOHUV*HQHUDO,QVWUXFWLRQ6HW5HIHUHQFH0DQXDOSXEOLFDWLRQ


Organizing Data 4-11
Module-defined structure
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HDFK,2PRGXOH\RXFRQILJXUHIRUWKHV\VWHPVHHWKHSUHYLRXVFKDSWHU
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User-defined structure
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For: In this field: Type or select:

user-defined Name Type the name of the structure.
structure
Description Type the description of the structure (optional).
each member of the Name Type the name of the member.
structure
Data Type Select the data type. The programming software displays a list
of the available data types. The list consists of the predefined
data types and any user-defined data types.
Style Select the display style of the member. The programming
software displays a list of the available styles, which depends
on the data type.
Description Type the description of the member (optional).
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Name: Load_Info
Member: Data Type:
Height SINT
Width SINT
Weight REAL
W_Flag BOOL
L_Flag BOOL
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Bit: 31 24 23 16 15 8 7 0
data allocation 1 unused unused Width Height
data allocation 2 Weight
data allocation 3 unused unused unused bit 0 W_Flag
bit 1 L_Flag
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Name: Location
Member: Data Type:
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Destination INT
Info Load_Info
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data allocation 1 Destination Source
data allocation 2 unused unused Width Height
data allocation 3 Weight
data allocation 4 unused unused unused bit 0 W_Flag
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Referencing members within a structure
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PHPEHUQDPHWDJBQDPHPHPEHUBQDPH
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timer_1.pre This example references the .PRE value of
the timer_1 structure.
input_load as data type load_info This examples references the Height
member of the user-defined input_load
input_load.height structure
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input_location as data type location This example references the height member
of the load_info structure in the
input_location.load_info.height input_location structure.
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conveyor as array location[100] This specifies a 100 word array. Each
element in the array is data type location (a
structure).
conveyor[10].source This example references the source member
of the 11th element in the array (array
elements are zero based).
conveyor[10].info.height This example references the height member
of the info structure in the 11th element of
the array (array elements are zero based).

Viewing an Array as a $UUD\VOHW\RXJURXSDVHWRIGDWDRIWKHVDPHGDWDW\SHE\WKHVDPHQDPH

DQGWRXVHVXEVFULSWVWRLGHQWLI\LQGLYLGXDO HOHPHQWV$QHOHPHQWLQDQDUUD\
Collection of Elements FDQEHDQDWRPLFGDWDW\SHRUDVWUXFWXUH
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For this array: Specify:

one dimension array_name[subscript_0]
two dimension array_name[subscript_0, subscript_1]
three dimension array_name[subscript_0, subscript_1, subscript_2]
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This array: Stores data like: For example:
one dimension Tag name: Type Dimension 0 Dimension 1 Dimension 2
one_d_array DINT[7] 7 -- --
total number of elements = 7
valid subscript range DINT[x] where x=0–6
two dimension Tag name: Type Dimension 0 Dimension 1 Dimension 2
two_d_array DINT[4,5] 4 5 --
total number of elements = 4 ∗ 5 = 20
valid subscript range DINT[x,y] where x=0–3; y=0–4
three dimension Tag name: Type Dimension 0 Dimension 1 Dimension 2
three_d_array DINT[2,3,4] 2 3 4
total number of elements = 2 ∗ 3 ∗ 4 = 24
valid subscript range DINT[x,y,z] where x=0–1; y=0–2, z=0–3

Indexing through arrays
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Operator: Description: Operator: Description:

+ add MOD Modulo
- subtract/negate NOT complement
* multiply OR OR
/ divide SQR square root
ABS Absolute value TOD integer to BCD
AND AND TRUN Truncate
FRD BCD to integer XOR exclusive OR
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Definitions: Example: Description:

my_list defined as DINT[10] my_list[5] This example references element 5 in the
array. The reference is static because the
subscript value remains constant.
my_list defined as DINT[10] MOV the value 5 into position This example references element 5 in the
array. The reference is dynamic because the
position defined as DINT my_list[position] logic can change the subscript by changing
the value of position.
my_list defined as DINT[10] MOV the value 2 into position This example references element 7 (2+5) in
MOV the value 5 into offset the array. The reference is dynamic because
position defined as DINT the logic can change the subscript by
my_list[position+offset] changing the value of position or offset.
offset defined as DINT
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GLPHQVLRQ

Specifying bits within arrays
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Definitions: Example: Description:

array1 defined as DINT[5] array1[1].2 This example references the bit 2 in
element 1 of the array.
array2 defined as INT[17,36] array2[3,4].15 This example references the bit 15 of the
element array2[3,4].
1st dimension has 17 elements
2nd dimension has 36 elements
array3 defined as SINT[2,4,6] array3[1,3,2].4 This example references bit 4 of the
element array3[1,3,2].
1st dimension holds 2 elements
2nd dimension holds 4 elements
3rd dimension holds 6 elements
MyArray defined as SINT[100] MyArray[(MyIndex AND NOT 7) / This example references a bit within an
8].[MyIndex AND 7] SINT array.
MyIndex defined as SINT
MyArray defined as INT[100] MyArray[(MyIndex AND NOT 15) / This example references a bit within an
16].[MyIndex AND 15] INT array.
MyIndex defined as INT
MyArray defined as DINT[100] MyArray[(MyIndex AND NOT 31) / This example references a bit within an
32].[MyIndex AND 31] DINT array.
MyIndex defined as DINT
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Block of Memory ZKLFKGHWHUPLQHVZKLFKHOHPHQWVDQGKRZPDQ\HOHPHQWVWKHLQVWUXFWLRQ
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How the controller stores array data
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One-Dimensional Array Elements Two-Dimensional Array Elements Three-Dimensional Array Elements

(ascending order): (ascending order): (ascending order):
one_d_array[0] two_d_array[0,0] three_d_array[0,0,0]
two_d_array[1,2] three_d_array[0,1,3]
For an array with only one dimension, two_d_array[1,3] three_d_array[0,2,0]
tag_name[subscript_0], subscript_0 two_d_array[1,4] three_d_array[0,2,1]
increments to its maximum value. two_d_array[2,0] three_d_array[0,2,2]
three_d_array[1,2,1]
For an array with two dimensions, three_d_array[1,2,2]
tag_name[subscript_0,subscript_1], three_d_array[1,2,3]
subscript_0 is held fixed at 0 while
subscript_1 increments from 0 to its For an array with three dimensions,
maximum value. Subscript_0 then tag_name[subscript_0, subscript_1,
increments by 1 (if dimension 0 is greater subscript_2], subscript_0 is held fixed at 0
than 1) and is held fixed while subscript_1 while subscript_1 and subscript_2
increments through its range again. This increment just like a two- dimensional array.
pattern continues until both subscripts reach Subscript_0 then increments by 1 (if
their maximum values. dimension 0 is greater than 1) and is held
fixed until subscript_1 and subscript_2
reach their maximum values. This pattern
continues until 1all three subscripts reach
their maximum values.

Varying a dimension
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Array: Dimension Offset:
to vary:
one dimension 0 1
two dimension 0 dimension_1
1 1
three dimension 0 (dimension_1) ∗ (dimension_2)
1 dimension_2
2 1
Memory Allocation for 7KHDPRXQWRIPHPRU\WKDWDQDUUD\XVHVGHSHQGVRQWKHGDWDW\SHXVHGWR

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Arrays ZKLFKLVWKHVDPHDV%22/66,17V ,17VRU ',17
7KHIROORZLQJH[DPSOHVVKRZPHPRU\DOORFDWLRQIRUYDULRXVDUUD\V
bit_values as BOOL[32] 7KLVH[DPSOHLVDQDUUD\ZLWKELWHOHPHQWVHDFKRIGDWDW\SH%22/ ELW

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Bit: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
data allocation 1 [15] [14] [13] [12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0]
Bit: 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
data allocation 1 [31] [30] [29] [28] [27] [26] [25] [24] [23] [22] [21] [20] [19] [18] [17] [16]
continued
small_values as SINT[8] 7KLVH[DPSOHLVDQDUUD\ZLWKHOHPHQWVHDFKRIGDWDW\SH6,17 E\WHHDFK

HOHPHQW7KLVH[DPSOHXVHVELWVRIPHPRU\
Bit: 31 24 23 16 15 8 7 0
data allocation 1 small_values[3] small_values[2] small_values[1] small_values[0]
data allocation 2 small_values[7] small_values[6] small_values[5] small_values[4]

small_values as SINT[3] 7KLVH[DPSOHLVDQDUUD\ZLWKHOHPHQWVHDFKRIGDWDW\SH6,17 E\WHHDFK

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7KLVH[DPSOHXVHVELWVRIPHPRU\
Bit: 31 24 23 16 15 8 7 0
data allocation 1 0 small_values[2] small_values[1] small_values[0]
values as INT[4] 7KLVH[DPSOHLVDQDUUD\ZLWKHOHPHQWVHDFKRIGDWDW\SH,17 E\WHVHDFK

Bit: 31 16 15 0
data allocation 1 values[1] values[0]
data allocation 2 values[3] values[2]
big_values as DINT[2] 7KLVH[DPSOHLVDQDUUD\ZLWKHOHPHQWVHDFKRIW\SH',17 E\WHV HDFK

Bit: 31 0
data allocation 1 big_values[0]
data allocation 2 big_values[1]
timer_list as TIMER[2] 7KLVH[DPSOHLVDQDUUD\ZLWKHOHPHQWVHDFKHOHPHQWLVD7,0(5 VWUXFWXUH

E\WHVHDFKVWUXFWXUH7KLVH[DPSOHXVHVELWVRIPHPRU\
Bit: 31 0
data allocation 1 timer_list[0] status bits
data allocation 2 timer_list[0].pre
data allocation 3 timer_list[0].acc
data allocation 4 timer_list[1] status bits
data allocation 5 timer_list[1].pre
data allocation 6 timer_list[1].acc

small_values as SINT[2,2,2] 7KLVH[DPSOHLVDWKUHHGLPHQVLRQDODUUD\ZLWKHOHPHQWVHDFKRIGDWDW\SH

6,177KLVH[DPSOHXVHVELWVRIPHPRU\
Bit: 31 24 23 16 15 8 7 0
data allocation 1 small_values[0,1,1] small_values[0,1,0] small_values[0,0,1] small_values[0,0,0]
data allocation 2 small_values[1,1,1] small_values[1,1,0] small_values[1,0,1] small_values[1,0,0]
big_values as DINT[2,2,2] 7KLVH[DPSOHLVDWKUHHGLPHQVLRQDODUUD\ZLWKHOHPHQWVHDFKRIW\SH',17

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Bit: 31 0
data allocation 1 big_values[0,0,0]
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Aliasing Tags $WDJDOLDVOHWV\RXFUHDWHRQHWDJWKDWUHSUHVHQWVDQRWKHUWDJ7KLVLVXVHIXOIRU

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Definitions: Alias Example: Description:

mylist[10] array of 10 DINT elements half = my_list[5] This example uses the tag half as an alias
to my_list[5].
cookies[5] array of 5 recipe elements oatmeal =cookies[1] This example uses tags referring to
oatmeal as aliases for different elements
data type recipe flour as data type REAL oatmeal_flour = cookies[1].flour of the structure in the first element of
sugar as data type REAL array cookies.
timer as array timer[5] oatmeal_preset =
cookies[1].timer[2].pre
I/O structures This example uses simpler tags to refer to

specific I/O points.
input point local:0:I.Data.0 light_1 = local:0:I.Data.0
output point local:1:O.Data.0 motor_1 = local:1:O.Data.0
<RXFDQXVHWKH7DJ(GLWRUWRFUHDWHDQDOLDVRU\RXFDQHQWHUWKHDOLDVWDJDV
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1. Select the tag name in tag editor.

2. Right-click on the tag name.
3. Define the tag.

4. Click Alias.

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Name Type the name of the tag. This is the alias name.
Tag Type Select Alias
Refers To Type the name of the tag that you are representing by the alias name. The
programming software displays a list of the available tags you can reference.
Data Type This field is automatically selected. Displays the data type of the resulting
alias tag. This is based on the tag you select for the Refers To field (described
above).
You cannot specify array dimensions for an alias tag.
Scope This field is automatically selected. Select the scope in which to create the
tag. You can select controller scope or one of the existing programs.
Display Style This field is automatically selected. Select the display style of the tag. The
programming software displays a list of the available styles, which depends
on the data type.
Produce this tag Select whether to make this tag available to other controllers through
controller-to-controller messaging. Specify how many controllers can
consume the tag.
The tag must be a controller-scoped tag. You can only choose to produce a tag
when programming offline.
Scoping Tags :KHQ\RXFUHDWHDWDJ\RXDVVLJQVFRSHLWDVHLWKHUDFRQWUROOHUWDJRUD

SURJUDPWDJIRUDVSHFLILFSURJUDPDVGHSLFWHGEHORZ
controller tags
program tags for a

program
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• :LWKLQDSURJUDP\RXFDQQRWUHIHUHQFHDFRQWUROOHUWDJLIDWDJRIWKH
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• )URPWKHFRQWUROOHURUJDQL]HURSHQWKHUHTXLUHGWDJVZLQGRZDQGHQWHU
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• ,QWKH1HZ7DJGLDORJER[IURPWKH6FRSHGURSGRZQOLVWVHOHFWWKH
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TIP :KHQ\RXDGGDPRGXOHWRWKH,2FRQILJXUDWLRQRID
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If you will use the tag: Then create the tag in the:
in more than one program within the project Controller Tags
as a producer or consumer
in a message
in only one program within the project program tags for the program using the tag

Chapter 5
Developing Programs
Using This Chapter

Organizing Projects 5-2
Entering Names and Descriptions 5-3
Defining Tasks 5-3
Defining Programs 5-9
Defining Routines 5-11
Entering Ladder Logic 5-12
Scheduling System Overhead 5-14
Downloading a Project 5-16

5-2 Developing Programs
Organizing Projects 7KHFRQWUROOHURSHUDWLQJV\VWHPLVDSUHHPSWLYHPXOWLWDVNLQJV\VWHPWKDWLV

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• URXWLQHVWRHQFDSVXODWHH[HFXWDEOHFRGHZULWWHQLQDVLQJOHSURJUDPPLQJ
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project
controller fault handler power-up handler
task 32
task 1
configuration
status
watchdog
program 32
program
program 1
main routine program tags
fault routine
other routines
controller tags I/O data system-shared data
40012
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Developing Programs 5-3
Entering Names and 1DPHVIROORZ,(&LGHQWLILHUUXOHV DQG

Descriptions
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DQG XQGHUVFRUHV
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Defining Tasks $WDVNSURYLGHVVFKHGXOLQJDQGSULRULW\LQIRUPDWLRQIRUDVHWRIRQHRUPRUH

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Task Type: Number Supported by the

Logix5550 Controller:
continuous 1
periodic 31 if there is a continuous task
32 if there is no continuous task
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Time: Time:
1 5 20ms periodic 2ms 2ms
2 10 5 ms periodic 1ms 3ms
3 15 10ms periodic 4ms 8ms
4 none (lowest) continuous 24ms 80ms
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Type Select Continuous or Periodic.
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the number 15 is the lowest priority.
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Description Edit the description.
Configuration Type Select another type. Your project can contain only 1 continuous task. The
remaining tasks must be periodic.
Watchdog (ms) Type a watchdog time for the task, from 1 msec to 2,000,000 msec
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number, the higher the priority.
Rate (ms) For a periodic task, type the rate at which the controller executes the task,
from 1 msec to 2,000,000 msec (2000 seconds). The default is 10 msecs.
Scan Time (µs) While online, the fields display the maximum scan time and the last scan
time in µsec for the current task. These values are elapsed time, which
includes any time spent waiting for higher-priority tasks. These values are
display only.
Program Unscheduled The filed displays the programs that have not been scheduled by a task.
Schedule
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or remove programs to the list, if necessary.
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Fault Execute if a major fault occurs due to an instruction in
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Chapter 6
Communicating with Other Controllers
Using This Chapter

Using MSG Instructions 6-1
Using Produced and Consumed Tags 6-6
Planning Your System to Support Produced and 6-9
Consumed Tags
Producing a Tag 6-14
Consuming a Tag 6-18
Sending Large Arrays of Data 6-21
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Communicating with another Logix5550 controller
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Type of MSG Instruction: Example Source and Destination:

Logix5550 writes to Logix5550 source tag array_1
(CIP Data Table Write)
destination tag array_2
Logix5550 reads from Logix5550 source tag array_1
(CIP Data Table Read)

6-2 Communicating with Other Controllers
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Type of MSG Instruction: Example Source and Destination: Supported File Types:
Logix5550 writes to PLC-5 source element array_1 for PLC-5: SINT, INT, DINT, or REAL
for SLC: INT
Logix5550 writes to SLC or
MicroLogix1000
destination tag N7:10 for PLC-5 typed write: S, B, N, or F
for PLC-5 word-range write: S, B, N, F, I, O, A, or D
for SLC: B or N
You can use an alias tag for the source tag. If you
want to start at an offset within an array, use an
alias to point to the offset.
Logix5550 writes to PLC-2 array_1 SINT, INT, DINT, or REAL

Communicating with Other Controllers 6-3
Type of MSG Instruction: Example Source and Destination: Supported File Types:
Logix5550 reads from PLC-5 source element N7:10 for PLC-5 typed read: S, B, N, or F
for PLC-5 word-range read: S, B, N, F, I, O, A, or D
Logix5550 reads from SLC or for SLC: B or N
MicroLogix1000
destination tag array_1 for PLC-5: SINT, INT, DINT, or REAL
for SLC: INT
You can use an alias tag for the destination tag. If
you want to start at an offset within an array, use
an alias to point to the offset.
Logix5550 reads from PLC-2 source element 010 SINT, INT, DINT, or REAL
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Typed read command Word-range read command
16-bit words in 32-bit words in 16-bit words in 32-bit words in

PLC-5 controller Logix5550 controller PLC-5 controller Logix5550 controller
1 1 1 2 1
2 2 2 4 3
3 3 3
4 4 4
The typed commands maintain data structure and value. The word-range commands fill the destination tag contiguously. Data
structure and value change depending on the destination data type.
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Mapping addresses
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For: In this field: Specify: For example:

PLC-3, PLC-5, and File Number Type the file number of the data table in the 10
SLC controllers PLC/SLC controller.
Tag Name Type the array tag name the local controller array_1
uses to refer to the PLC/SLC data table address.
The tag must be an integer array (SINT, INT, or
DINT) that is large enough for the message
data.
PLC-2 controllers Tag Name Type the tag name to be the PLC-2 compatibility 200
file.
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Type of MSG Instruction: Example Source and Destination:

PLC-5 writes to Logix5550 source element N7:10
SLC writes to Logix5550 destination tag “array_1”

SLC 5/05 The PLC-5, PLC-3, and SLC controllers support logical ASCII addressing so you do not
SLC 5/04 OS402 and above have to map a compatibility file for MSG instructions initiated by a PLC-5, PLC-3, or SLC
SLC 5/03 OS303 and above controller. Place the Logix5550 tag name in double quotes (“).
You could optionally map a compatibility file. For example, if you enter 10 for the
compatibility file, you enter N10:0 for the destination tag.
PLC-2 writes to Logix5550 source element 010
destination tag 200
The destination tag is the three-digit PLC-2 address you specified for PLC-2 mapping.
PLC-5 reads from Logix5550 source tag “array_1”
SLC reads from Logix5550

destination element N7:10
SLC 5/05 The PLC-5, PLC-3, and SLC controllers support logical ASCII addressing so you do not
SLC 5/04 OS402 and above have to map a compatibility file for MSG instructions initiated by a PLC-5, PLC-3, or SLC
SLC 5/03 OS303 and above controller. Place the Logix5550 tag name in double quotes (“).
You could optionally map a compatibility file. For example, if you enter 10 for the
compatibility file, you enter N10:0 for the source tag.
PLC-2 reads from Logix5550 source tag 200

destination element 010
The source tag is the three-digit PLC-2 address you specified for PLC-2 mapping.
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Consumed Tags DFFHVVLEOHE\PXOWLSOHFRQWUROOHUVRYHUWKH&RQWURO/RJL[EDFNSODQHRURYHUD
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ControlBus Backplane
ControlLogix chassis with

two Logix5550 controllers
ControlNet network
ControlLogix chassis with 1771 chassis with

one Logix5550 controller PLC-5C controller
41029
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Tag type: Description: Specify:

produced These are tags that the controller • Enabled for producing
produced for other controllers to consume. • How many consumers allowed
consumed These are tags whose values are produced • Controller name that owns the tag that the local controller
by another controller. wants to consume
• Tag name or instance that the controller wants to consume
• Data type of the tag to consume
• Update interval of how often the local controller consumes
the tag

Processing produced and consumed tags
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producer consumer_1 Consumed tag names

A
Produced tag names B
D
A
B
consumer_2 Consumed tag names
C
D E
B
C
D
consumer_3 Consumed tag names

B
C
D
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Maximum number of produced and consumed tags
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As a: The controller supports:

producer (number of produced tags) ≤ 127
consumer (number of consumed tags) ≤ 250
If your controller consumes 250 tags, these tags must

come from more than one controller. A controller can only
produce as many as 127 tags. See the producer numbers
in this table.

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Size limit of a produced or consumed tag
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Are most of the modules in the chassis Then select this communication
non-diagnostic, digital I/O modules? format for the remote CNB module:
No None
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Planning Your System to %HIRUHWKH/RJL[FRQWUROOHUFDQVKDUHSURGXFHGRUFRQVXPHGWDJVWKH

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Consumed Tags FRQWUROOHUV
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ControlBus Backplane
ControlLogix chassis with

two Logix5550 controllers
42091
• /RJL[FRQWUROOHUVRYHUD&RQWURO1HWQHWZRUN
ControlLogix chassis with ControlLogix chassis with

Logix5550 controller Logix5550 controller
ControlNet network
42046
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1771 chassis with ControlLogix chassis with
PLC-5C controller Logix5550 controllers
ControlNet network
42092

Identifying another local controller
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Name Type a name for the controller (required).
Description Type a description for the controller (optional).
Slot Number Type or select the slot number where the controller
is installed.
Electronic Keying Electronic keying is disabled, but you can still select
a minor revision of the controller.
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Identifying a remote controller
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Name Type a name for the module (required).
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If it is a: Then go to:
Logix5000 controller the next step
PLC-5C Step 5.
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Name Type a name for the module. A name is required because the
programming software uses the name to create tag names for I/O
in the chassis.
Node Type or select the ControlNet node number of the module.
Chassis Size Type or select the number of slots in the chassis that contains the
module.
Comm Format Are most of the modules in the chassis non-diagnostic, digital I/O
modules?
If: Then select:
or
Listen Only - Rack Optimization
No None
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If: Then: Example:

Yes A. Click Next >. If the ControlNet NUT is
B. In the Requested Packet Interval (RPI) text 5ms, type a rate of 5, 10, 20,
box, type the rate at which you want the 40ms, etc.
module to communicate with the
controller:
• All I/O modules that use a Rack
Optimization Comm Format in the
chassis will update at this rate.
• Use a power of two times the
ControlNet NUT.
C. Click Finish >>.
No Click Finish >>.

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If it is a: Then in the controller organizer, right-click the:

Logix5000 controller remote 1756-CNB/CNBR module and select
New Module.
PLC-5C local 1756-CNB?CNBR module and select
New Module.
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Name Type a name for the controller (required).
Slot Number Select the slot number where the module is installed.
(Logix5000 controller)
Node (PLC-5C) Type or select the ControlNet mode number of the remote
controller.
Electronic Keying Electronic keying is disabled, but you can still select a minor
revision of the controller.
G &OLFN)LQLVK !!
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Name Type the name of the tag.
Tag Type Select one of these:
For a: Select:
normal tag Base
tag that references another tag or part of another tag Alias
tag whose value is produced by another controller Consumed
Data Type Select the data type. The programming software displays a list of the available data types.
The list consists of the predefined data types and any user-defined data types.
If the tag is to be an array, specify the number of elements in each dimension. There can be
as many as 3 dimensions. If the tag is not an array, or you do not want all 3 dimensions, set
Scope All produced tags must have controller scope.
Display Style Select the display style of the tag. The programming software displays a list of the available
styles, which depends on the data type. The style you select becomes the default display
type when monitoring that tag with the programming software.
Produce this tag Select this check box. Specify how many controllers can consume the tag.
You can only choose to create a produced tag when programming offline.
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Select Produced Tags.
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Producing a tag from a Logix5550 controller to a ControlNet PLC-5

controller
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If: And you are Then:

producing:
INT A. Create a user-defined data type that
contains an array of INTs with an even
number of elements, such as INT[2]. When
you produce INTs, you must produce two or
more.
B. Create a produced tag and select the
user-defined data type from Step A.
DINT or REAL Only one DINT or Create a produced tag and select the DINT or REAL
REAL value data type, as appropriate.
More than one DINT A. Create a user-defined data type that
or REAL contains an array of DINTs or REALs, as
appropriate.
B. Create a produced tag and select the
user-defined data type from Step A.

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If the produced tag Then, for the Message size, enter:

contains:
INTs The number of integers in the produced tag
DINTs Two times the number of DINTs or REALs in the produced
tag. For example, if the produced tag contains 10 DINTs,
REALs
enter 20 for the Message size.
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:KHQD3/&&FRQWUROOHUFRQVXPHVDWDJWKDWLVSURGXFHGE\D/RJL[
FRQWUROOHULWVWRUHVWKHGDWDLQFRQVHFXWLYHELWLQWHJHUV7KH3/&&VWRUHV
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DVIROORZV
• 7KHILUVWLQWHJHUFRQWDLQVWKHXSSHUOHIWPRVWELWVRIWKHYDOXH

• 7KHVHFRQGLQWHJHUFRQWDLQVWKHORZHUULJKWPRVWELWVRIWKHYDOXH
• 7KLVSDWWHUQFRQWLQXHVIRUHDFKIORDWLQJSRLQWYDOXH
7RUHFRQVWUXFWWKHIORDWLQJSRLQWGDWDZLWKLQWKH3/&&FRQWUROOHUILUVW
UHYHUVHWKHRUGHURIWKHLQWHJHUVDQGWKHQFRS\WKHPWRDIORDWLQJSRLQWILOH

7KHIROORZLQJH[DPSOHUHFRQVWUXFWVDVLQJOHIORDWLQJSRLQWYDOXHIURPWZR
LQWHJHUV
EXAMPLE 5HFRQVWUXFWLQJDIORDWLQJSRLQWYDOXH
The two MOV instructions reverse the order of the integers as the integers move to a new location.
Because the destination of the COP instruction is a floating-point address, it takes two consecutive
integers, for a total of 32 bits, and converts them to a single floating-point value.
Consuming a Tag $FRQVXPHGWDJUHSUHVHQWVGDWDWKDWLVSURGXFHGEURDGFDVWHGE\RQH

FRQWUROOHUDQGUHFHLYHGDQGVWRUHGE\WKHFRQVXPLQJFRQWUROOHU
7RFUHDWHDFRQVXPHGWDJ
,QWKHFRQWUROOHURUJDQL]HUGRXEOHFOLFNWKH&RQWUROOHU7DJVIROGHU
&OLFNWKH(GLW7DJVWDE

6HOHFWWKHWDJWKDW\RXZDQWWRVWRUHWKHFRQVXPHGGDWDDQGSUHVV
>$OW@ >(QWHU@RUW\SHDQHZWDJQDPHDQGSUHVV>$OW@ >(QWHU@
7KH7DJ3URSHUWLHVGLDORJER[LVGLVSOD\HG
6SHFLI\

Name Type a name for the tag.
Description Type a description for the tag (optional).
Tag Type Select Consumed.
Controller Select the name of the other controller. You must have already created the controller in
the controller organizer for the controller name to be available.
Remote Tag Name Type a name for the tag in the other controller you want to consume.
Remote Instance
Important: The name must match the name in the remote controller exactly, or the
connection faults.
If the remote controller is a ControlNet PLC-5, this field is Remote Instance. Select the
instance number (1-128) of the data on the remote controller.
RPI Type the amount of time in msec between updates of the data from the remote controller.
(requested packet interval) The local controller will receive data at least this fast.
Data Type Select the data type. The programming software displays a list of the available data
types. The list consists of the predefined data types and any user-defined data types.
If the tag is an array, specify the number of elements in each dimension. There can be as
many as 3 dimensions. If the tag is not an array, or you do not want all 3 dimensions, set
Display Style If you are creating a consumed tag that refers to a tag whose data type is BOOL, SINT,
INT, DINT, or REAL, you can select a display style. This display style defines how the tag
value will be displayed in the data monitor and ladder editor. The display style does not
have to match the display style of the tag in the remote controller.
Produce this tag Select whether to make this tag available to other controllers. Specify how many
controllers can consume the tag.
You can only create a produced tag when programming offline.
&OLFN2.
$OOFRQVXPHGWDJVDUHDXWRPDWLFDOO\FRQWUROOHUVFRSH
TIP $FRQVXPHGWDJFDQQRWH[FHHGE\WHV,I\RXVKDUHWKH
FRQVXPHGWDJRQSDJH
<RXFDQRQO\FUHDWHDFRQVXPHGWDJZKHQSURJUDPPLQJRIIOLQH

7RFRQVXPHGDWDIURPDUHPRWHFRQWUROOHUXVH561HW:RU[VRIWZDUHWR
VFKHGXOHWKHFRQQHFWLRQRYHUWKH&RQWURO1HWQHWZRUN
7KHSURGXFHGWDJLQWKHRULJLQDWLQJ/RJL[FRQWUROOHUPXVWKDYHWKHVDPH
GDWDW\SHDVWKHFRQVXPHGWDJLQWKHRWKHU/RJL[FRQWUROOHU7KH
/RJL[FRQWUROOHUSHUIRUPVW\SHFKHFNLQJWRHQVXUHSURSHUGDWDLVEHLQJ
UHFHLYHG
IMPORTANT ,IDFRQVXPHGWDJFRQQHFWLRQIDLOVDOORIWKHRWKHUWDJV
EHLQJFRQVXPHGIURPWKDWUHPRWHFRQWUROOHUVWRSUHFHLYLQJ
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Select Consumed Tags.
3URGXFHGWDJVUHTXLUHFRQQHFWLRQV7KHQXPEHURIFRQQHFWLRQVGHSHQGRQWKH
DPRXQWRIGDWDDQGKRZPDQ\FRQWUROOHUVDUHSURGXFLQJDQGFRQVXPLQJWDJV
)RUPRUHLQIRUPDWLRQVHHFKDSWHU
Consuming a tag from a ControlNet PLC-5 controller to a

Logix5550 controller
7RFRQVXPHDWDJIURPD&RQWURO1HW3/&FRQWUROOHUIROORZWKHVH VWHSV
2SHQWKH561HW:RU[IRU&RQWURO1HWVRIWZDUH
,QWKH&RQWURO1HWFRQILJXUDWLRQRIWKH3/&&FRQWUROOHULQVHUWD6HQG
6FKHGXOHG0HVVDJH

,QWKHFRQWUROOHURUJDQL]HUDGGWKH3/&&FRQWUROOHUWRWKH,2
FRQILJXUDWLRQ5HIHUWR ,GHQWLI\LQJDUHPRWHFRQWUROOHURQSDJH
&UHDWHDXVHUGHILQHGGDWDW\SHWKDWFRQWDLQVWKHIROORZLQJPHPEHUV
Data type: Description:

DINT Status
INT[x], where “x” is the output size of the Data produced by a PLC-5C controller
data from the PLC-5C controller. (If you are
consuming only one INT, no dimension is
required.)
&UHDWHDFRQVXPHGWDJZLWKWKHIROORZLQJSURSHUWLHV
For this tag property: Type or select:

Tag Type Consumed
Controller The PLC-5C that is producing the data
Remote Instance The message number from the ControlNet configuration of the
PLC-5C controller
RPI A power of two times the NUT of the ControlNet network. For
example, if the NUT is 5ms, select an RPI of 5, 10, 20, 40, etc.
Data Type The user-defined data type that you created in Step 5.
,QWKH561HW:RU[IRU&RQWURO1HWVRIWZDUHUHVFKHGXOHVDYHWKH

QHWZRUN
Sending Large Arrays of 7KH/RJL[FRQWUROOHUFDQVHQGDVPDQ\DVE\WHVRIGDWDRYHUDVLQJOH

VFKHGXOHGFRQQHFWLRQ7KLVFRUUHVSRQGVWR',17RU5($/HOHPHQWVRI
Data DQDUUD\7RWUDQVIHUDQDUUD\RIPRUHWKDQ',17VRU5($/VXVHD
SURGXFHGFRQVXPHGWDJRIHOHPHQWVWRFUHDWHDSDFNHWRIGDWD<RXFDQ
WKHQXVHWKHSDFNHWWRVHQGWKHDUUD\SLHFHPHDOWRDQRWKHUFRQWUROOHU
:KHQ\RXVHQGDODUJHDUUD\RIGDWDLQVPDOOHUSDFNHWV\RXPXVWHQVXUHWKDW
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• 3URGXFHGGDWDRYHUWKH&RQWURO/RJL[EDFNSODQHLVVHQWLQE\WH
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• 'DWDWUDQVPLVVLRQRFFXUVDV\QFKURQRXVWRSURJUDPVFDQ
7KHORJLFWKDWWKLVVHFWLRQLQFOXGHVXVHVDQDFNQRZOHGJHZRUGWRPDNHVXUH
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SDFNHWZLWKLQWKHDUUD\

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HOHPHQWVRIGDWDIURPWKHDUUD\DVGHSLFWHGEHORZ
Producer Consumer
array array
packet packet
0
123 offset offset

124 acknowledge acknowledge
,QDGGLWLRQWKHDUUD\PXVWFRQWDLQDQH[WUDHOHPHQWV,QRWKHUZRUGVLW
PXVWEHHOHPHQWVJUHDWHUWKDQWKHJUHDWHVWQXPEHURIHOHPHQWVWKDW\RX
ZDQWWRWUDQVIHU
• 7KHVHHOHPHQWVVHUYHDVDEXIIHU
• 6LQFHHDFKSDFNHWFRQWDLQVWKHVDPHQXPEHURIHOHPHQWVWKHEXIIHU
SUHYHQWVWKHFRQWUROOHUIURPFRS\LQJEH\RQGWKHERXQGDULHVRIWKH
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• :LWKRXWWKHEXIIHUWKLVZRXOGRFFXULIWKHODVWSDFNHWFRQWDLQHGIHZHU
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,QWKH&RQWUROOHU7DJVIROGHUFUHDWHWKHIROORZLQJWDJV
P Tag Name Base Tag Type

array_ack < consumer>:array_ack DINT[2]
á array_packet DINT[125]
ZKHUH
DUUD\LVWKHQDPHIRUWKHGDWDWKDW\RXDUHVHQGLQJ
FRQVXPHULVWKHQDPHRIWKHFRQWUROOHUWKDWLVUHFHLYLQJWKHSDFNHW

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SURJUDPWKDWZLOOFRQWDLQWKHORJLFIRUWKHWUDQVIHUFUHDWHWKH
IROORZLQJWDJV
Tag Name Type

array DINT[x] where x equals the number of elements to
transfer plus 122 elements
array_offset DINT
array_size DINT
array_transfer_time DINT
array_transfer_time_max DINT
array_transfer_timer TIMER
ZKHUH
,QWKHDUUD\BVL]HWDJHQWHUWKHQXPEHURIHOHPHQWVLQDUUD\7KH
YDOXHRI´[µIURP6WHS
&UHDWHRURSHQDURXWLQHIRUWKHORJLFWKDWZLOOFUHDWHSDFNHWVRI
GDWD
(QWHUWKHIROORZLQJORJLF
\RSLogix 5000\Projects\Array_Producer.ACD 8/23/1999 9:45:02 AM Page 1

Times
dder howListing
Logic long it -takes
Totaltonumber
send theof
entire array
rungs: 5
TON
Timer On Delay EN
Timer array_transfer_timer DN
Preset 10000000
Accum 0
TON
When the offset value in array_ack[0] is not equal to the current offset value but array_ack[1] equals -999, the consumer has begun to receive a EN
Timer On Delay new
Timer array_transfer_timer DN
packet, so the rungs moves -999 into the last element of the packet. The consumer waits until it receives the valuePreset
-999 before it copies the
10000000 packet to the
array. This guarantees that the consumer has new data. Accum 0
NEQ EQU MOV

Not Equal Equal Move
Source A array_ack[0] Source A array_ack[1] Source -999
0 0
Source B array_packet[123] Source B -999 Dest array_packet[124]
0 0

When the offset NEQ value in array_ack[0] is equal toEQUthe current offset value, the consumer has copied the packet to the array; so the rung checks for more
MOV
data toNottransfer.
Equal If the offset value plus 123 is less than the size of the array, there is more data to transfer; so the rung increases
Equal Move the offset by 123.
Source A array_ack[0] Source A array_ack[1]
Otherwise, there is no more data
0
to transfer; so the rung resets
0
the offset value, logs the transfer time, and resets the timer. InSource
either case, the-999
rung uses
the new offset
Source value to create a new packet
B array_packet[123] of Bdata, appends
Source -999 the new offset value to the packet, and clears the acknowledgeDest element of the packet
array_packet[124]
(packet[124]}. 0 0
EQU CMP ADD

Equal Compare Add
Source A array_ack[0] Expression (array_ack[0] + 123) < array_size Source A array_packet[123]
0 0
Source B array_packet[123] Source B 123
0
Dest array_offset
0
CMP CLR
Compare Clear
Expression (array_ack[0] + 123) >= array_size Dest array_offset
0
MOV
Move
Source array_transfer_timer.ACC
0
Dest array_transfer_time
0
array_transfer_timer
RES
COP MOV CLR

Copy File Move Clear
Source array[array_offset] Source array_offset Dest array_packet[124]
Dest array_packet[0] 0 0
Length 123 Dest array_packet[123]
0
Source array[array_offset] Source array_offset Dest array_ acket[124]

Dest array_packet[0] 0 0
If the current transfer time is greater than the maximum transfer
Length time, updates 123the maximum
Desttransfer time. This maintains a record of the longest time
array_packet[123]
to transfer data. 0
GRT MOV
Greater Than (A>B) Move
Source A array_transfer_time Source array_transfer_time
0 0
Source B array_transfer_time_max Dest array_transfer_time_max
0 0
2SHQWKH56/RJL[SURMHFWWKDWZLOOFRQVXPHWKHDUUD\

,QWKH&RQWUROOHU7DJVIROGHUFUHDWHWKHIROORZLQJWDJV
P Tag Name Base Tag Type

á array_ack DINT[2]
array_packet < producer>:array_packet DINT[125]
ZKHUH
SURGXFHULVWKHQDPHRIWKHFRQWUROOHUWKDWLVVHQGLQJWKHSDFNHW
,QHLWKHUWKH&RQWUROOHU7DJVIROGHURUWKHWDJVIROGHURIWKH
SURJUDPWKDWZLOOFRQWDLQWKHORJLFIRUWKHWUDQVIHUFUHDWHWKH
IROORZLQJWDJV
Tag Name Type

array DINT[x] where x equals the number of elements to
transfer plus 122 elements
array_offset DINT
ZKHUH
&UHDWHRURSHQDURXWLQHIRUWKHORJLFWKDWZLOOPRYHWKHGDWDIURP
WKHSDFNHWVWRWKHGHVWLQDWLRQDUUD\

(QWHUWKHIROORZLQJORJLF
When the offset value in array_packet[123] is different than the offset value in array_ack[0], the controller has begun to receive a new packet of data;
so the rung checks for the value of -999 in the last element of the packet.
If the last element of the packet equals -999, the controller has received an entire packet of new data and begins the copy operation:
• The offset value moves from the packet to array_offset.
• The COP instructions copies the data from the packet to the destination array, starting at the offset value.
• The offset value moves to array_ack[0], which signals that the copy is complete.
• Array_ack[1] resets to zero and waits to signal the arrival of a new packet.
5000 - Array_Consumer:Produce_Array:Produce_Array:Main
If the last5000\Projects\Array_Consumer.ACD
\RSLogix element of the packet is not equal -999, the transfer of the packet to the controller may not be complete; so -999 moves to1:37:48
8/23/1999 array_ack[1].
PM PageThis 1
signals
dder Logicthe producer
Listing to return
- Total the value
number of -9991 in the last element of the packet to verify the transmission of the packet.
of rungs:
NEQ EQU MOV

Not Equal Equal Move
Source A array_packet[123] Source A array_packet[124] Source array_packet[123]
0 0 0
Source B array_ack[0] Source B -999 Dest array_offset
0 0
COP
Copy File
Source array_packet[0]
Dest array[array_offset]
Length 123
MOV
Move
Source array_packet[123]
0
Dest array_ack[0]
0
CLR
Clear
Dest array_ack[1]
0
NEQ MOV
Not Equal Move
Source A array_packet[124] Source -999
0
Source B -999 Dest array_ack[1]
0

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WDVN

Notes:

Chapter 7
Allocating Communication Connections
Using This Chapter

How the ControlLogix System 7-1
Uses Connections
Determining Connections for I/O Modules 7-2
Determining Connections for Produced and 7-9
Consumed Tags
Determining Connections for Messaging 7-11
Determining Total Connection Requirements 7-12
How the ControlLogix 7KH&RQWURO/RJL[V\VWHPXVHVDFRQQHFWLRQWRHVWDEOLVKDFRPPXQLFDWLRQOLQN

EHWZHHQWZRGHYLFHV7KLVLQFOXGHVFRQWUROOHUVFRPPXQLFDWLRQPRGXOHV
System Uses Connections LQSXWRXWSXWPRGXOHVSURGXFHGFRQVXPHGWDJVDQGPHVVDJHV&RQQHFWLRQV
WDNHPDQ\IRUPV
• FRQWUROOHUGLUHFWWRORFDO,2RUORFDOFRPPXQLFDWLRQPRGXOH
• FRQWUROOHUGLUHFWWRUHPRWH,2RUUHPRWHFRPPXQLFDWLRQPRGXOH
• FRQWUROOHUWRUHPRWHFKDVVLVUDFNRSWLPL]HG
• SURGXFHGDQGFRQVXPHGWDJV
• PHVVDJLQJLQFOXGLQJEORFNWUDQVIHUV
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GHYLFHVLQWKHV\VWHP
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Device: Description: Possible Connections per Module:

1756-L1 Logix5550 Controller 250 connections
1756 I/O modules ControlLogix I/O modules 16 connections
1756-CNB ControlLogix ControlNet 64 connections
1756-CNBR Bridge

7-2 Allocating Communication Connections
Device: Description: Possible Connections per Module:

1756-ENET ControlLogix Ethernet 64 TCP/IP connections
Bridge 48 ControlLogix connections maximum per 1 TCP/IP connection
128 ControlLogix connections maximum per module
The Ethernet module also supports 128 in and 128 out

unscheduled ControlLogix connections. Unscheduled
connections within a TCP/IP connection do not count to the
total of 48 possible ControlLogix connections.
1756-DHRIO ControlLogix DH+ Bridge 32 connections per DH+ channel
and Remote I/O Scanner 32 connections rack connections and 16 connections
block-transfer connections per remote I/O channel
1756-DNB ControlLogix DeviceNet 2 connections
Bridge
Determining Connections $OO,2PRGXOHVFDQKDYHDGLUHFWFRQQHFWLRQWRWKHFRQWUROOHU$&1%

&RQWURO1HWEULGJHPRGXOHVXSSRUWVWKHDELOLW\WRRUJDQL]HDFKDVVLVRIGLJLWDO
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A Logix5550 connection to: Can use this connection type:

local I/O direct connection only
remote I/O direct connection
or
rack optimized connection
Direct connections for I/O modules
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Allocating Communication Connections 7-3
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PRGXOHVLQWKHUHPRWHFKDVVLV
Using Direct Connections with I/O in a Remote Chassis
Local chassis Remote chassis
Slot 1 RPI = 5mS

I O I O I
N U N U N
Slot 2 RPI = 40mS
P T P T P
U P U P U
T U Slot 3 RPI = 20mS T U T
T T
ControlNet
41020
Owner Controller ControlNet bridge module ControlNet bridge module
7KHORFDOFRQWUROOHULQWKLVH[DPSOHXVHVWKHVHFRQQHFWLRQV
Connection Type: Module Connections Total

Quantity: per Module: Connections:
controller to local I/O module 2 1 2
controller to remote I/O module 3 1 3
controller to remote 1756-CNB module 1 1 1
total 6
:KHQ\RXVHOHFWWKHFRPPXQLFDWLRQIRUPDWIRUWKH,2PRGXOHWKHRZQHU
DQGOLVWHQRQO\IRUPDWVDUHGLUHFWFRQQHFWLRQV

Rack optimized connections for I/O modules
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Using a Rack Optimized Connection with I/O in a Remote Chassis
I O I O I
N U Rack optimized N U N
P T connection for all I/O P T P
U P U P U
T U T U T
T T
ControlNet
41021
Owner controller ControlNet bridge module ControlNet bridge module

total 3
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Select Rack Optimized for a

rack connection
Combining direct and rack optimized connections
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Using a Rack Optimized Connection and a Direct Connection with I/O in a Remote Chassis
Rack optimized
I O connection I O A
N U N U N
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T U T U O
T Slot 3 RPI = 25mS T G
ControlNet
41030
Owner controller ControlNet bridge module ControlNet bridge module

controller to remote analog I/O module 1 1 1
total 4
Connections to 1771 I/O
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Connections for 1771 I/O with a 1756-DHRIO Module in a Local Chassis
Local chassis
I O
N U
P T
U P
T U
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Logix5550 controller DH+/Remote I/O bridge module
1771 chassis
41768

controller to 1756-DHRIO module 1 1 1
controller to each logical rack in a 1771 chassis 2 1 2
(chassis of one rack or greater)
total 5
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Connections to Devices with a 1756-DNB Module in a Local ControlLogix Chassis
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DeviceNet devices
41770

controller to 1756-DND module (includes DeviceNet 1 2 2
devices)
total 4
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remote I/O module (direct connection only) 1
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local 1756-CNB module 0
remote 1756-CNB module through local 1
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1756-DHRIO module 1
1756-ENET module 0
1756-DNB module 2
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Chapter 8
Communicating with Devices on a Serial Link
Using This Chapter

Using RS-232 8-1
Connecting to the Serial Port 8-2
Using the DF1 Serial Protocol 8-3
Configuring Serial Communications 8-6
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8-2 Communicating with Devices on a Serial Link
Connecting to the Serial 7KHFRQWUROOHUKDVDSLQVHULDOSRUWRQWKHIURQWSDQHO

Port
1756-CP3 cable
workstation end 9-pin,
female D-shell 20884
straight cable end
controller end
9-pin, female D-shell 1756-CP3 cable pinouts
right-angle cable end
1 CD 1 CD
2 RDX 2 RDX
3 TXD 3 TXD
4 DTR 4 DTR
5 COMMON 5 COMMON
40043 6 DSR 6 DSR
7 RTS 7 RTS
8 CTS 8 CTS
9 RI 9 RI
Note: You can also use a 1747-CP3 cable (from the SLC product 40046
family), but once the cable is connected, you cannot close the straight right-angle
controller door. cable end cable end

Communicating with Devices on a Serial Link 8-3
Configuring the controller to use the serial port
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Characteristic: Description (default is shown in bold):

Baud rate Specifies the communication rate for the serial port. Select
a baud rate that all devices in your system support.
Select 110, 300 600, 1200, 2400, 4800, 9600, or 19200 Kbps.
Parity Specifies the parity setting for the serial port. Parity
provides additional message-packet error detection.
Select None or Even.
Data bits Specifies the number of bits per message packet.
Select 8.
Stop bits Specifies the number of stop bits to the device with which
the controller is communicating.
Select 1 or 2.

Characteristic: Description (default is shown in bold):

Control line Specifies the mode in which the serial driver operates.
Select No Handshake, Full-Duplex, Half-Duplex with
Continuous Carrier, or Half-Duplex without Continuous
Carrier.
If you are not using a modem, select No Handshake
If both modems in a point-to-point link are full-duplex, select
Full-Duplex for both controllers.
If the master modem is full duplex and the slave modem is
half-duplex, select Full-Duplex for the master controller and
select Half-Duplex with Continuous Carrier for the slave
controller.
If all the modems in the system are half-duplex, select
Half-Duplex without Continuous Carrier for the controller.
RTS send delay Enter a count that represents the number of 20msec periods
of time that elapse between the assertion of the RTS signal
and the beginning of a message transmission. This time
delay lets the modem prepare to transmit a message. The
CTS signal must be high for the transmission to occur.
The range is 0-32767 periods.
RTS off delay Enter a count that represents the number of 20msec periods
of time that elapse between the end of a message
transmission and the de-assertion of the RTS signal. This
time delay is a buffer to make sure the modem successfully
transmits the entire message.
The range is 0-32767 periods. Normally leave at zero.
&OLFN2.
Using the DF1 Serial $OOGDWDLVHQFDSVXODWHGLQD')SURWRFROSDFNHW7KHFRQWUROOHUFDQ

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Use this mode: For: See this page:

DF1 point-to-point communication between the controller and one other DF1-protocol-compatible 8-7
device. This is the default system mode.
This mode is typically used to program the controller through its serial port.
DF1 master mode control of polling and message transmission between the master and each 8-8
remote node.
The master/slave network includes one controller configured as the master node
and as many as 254 slave nodes. You link slave nodes using modems or line
drivers.
A master/slave network can have node numbers from 0-254. Each node must
have a unique node address. Also, at least 2 nodes must exist to define your link
as a network (1 master and 1 slave station are the two nodes).
DF1 slave mode using a controller as a slave station in a master/slave serial communication 8-9
network.
When there are multiple slave stations on the network, you link slave stations
using modems or line drivers. When you have a single slave station on the
network, you do not need a modem to connect the slave station to the master;
you can configure the control parameters for no handshaking. You can connect
2-255 nodes to a single link. In DF1 slave mode, a controller uses DF1
half-duplex protocol.
One node is designated as the master and it controls who has access to the link.
All the other nodes are slave stations and must wait for permission from the
master before transmitting.

Master/slave communication methods
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Name: This method: Benefits:

standard Initiates polling packets to slave stations This communication method is most often used for
communication according to their position in the polling point-to-multipoint configurations.
mode array(s). This method provides these capabilities:
Polling packets are formed based on the • slave stations can send messages to the master station
contents of the normal poll array and the (polled report-by-exception)
priority poll array. • slave stations can send messages to each other via the
master
• master maintains an active station array
The poll array resides in a user-designated data file. You can
configure the master:
• to send messages during its turn in the poll array
or
• for between-station polls (master transmits any message
that it needs to send before polling the next slave station)
In either case, configure the master to receive multiple messages
or a single message per scan from each slave station.
message-based initiates communication to slave stations If your application uses satellite transmission or public
communication using only user-programmed message (MSG) switched-telephone-network transmission, consider choosing
mode instructions. message-based communication. Communication to a slave
Each request for data from a slave station station can be initiated on an as-needed basis.
must be programmed via a MSG instruction. Also choose this method if you need to communicate with
The master polls the slave station for a reply non-intelligent remote terminal units (RTUs).
to the message after waiting a
user-configured period of time. The waiting
period gives the slave station time to
formulate a reply and prepare the reply for
transmission. After all of the messages in the
master’s message-out queue are transmitted,
the slave-to-slave queue is checked for
messages to send.
Configuring Serial <RXFRQILJXUHWKHFRQWUROOHUIRUWKH')SURWRFRORQWKH6HULDO3RUW3URWRFRO

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Configuring a DF1 point-to-point station
This field: Description:

Station address The station address for the serial port on the DF1
point-to-point network. Enter a valid DF1 address (0-254).
Address 255 is reserved for broadcast messages. The
default is 0.
NAK receive limit Specifies the number of NAKs the controller can receive
in response to a message transmission.
Enter a value 0-127. The default is 3.
ENQ transmit limit Specifies the number of inquiries (ENQs) you want the
controller to send after an ACK timeout.
ACK timeout Specifies the amount of time you want the controller to
wait for an acknowledgment to its message transmission.
Enter a value 0-32767. Limits are defined in 20ms
intervals. The default is 50 (1000ms).
Embedded response Specifies how to enable embedded responses.
Select Autodetect (enabled only after receiving one
embedded response) or Enabled. The default is
Autodetect.
Error detection Select BCC or CRC error detection.
Configure both stations to use the same type of error
checking.
BCC: the controller sends and accepts messages that end
with a BCC byte for error checking. BCC is quicker and
easier to implement in a computer driver. This is the
default.
CRC: the controller sends and accepts messages with a
2-byte CRC for error checking. CRC is a more complete
method.
Enable duplicate Select whether or not the controller should detect
detection duplicate messages. The default is duplicate detection
enabled.

Configuring a DF1 slave station

Station address The station address for the serial port on the DF1 slave.
Enter a valid DF1 address (0-254). Address 255 is reserved
for broadcast messages. The default is 0.
Transmit retries The number of times the remote station retries a message
after the first attempt before the station declares the
message undeliverable.
Slave poll timeout Specifies the amount of time the slave station waits to be
polled by a master before indicating a fault.
intervals. The default is 3000 (60,000ms).
EOT suppression Select whether or not to suppress sending EOT packets in
response to a poll. The default is not to suppress sending
EOT packets.
checking.
default.
method.
enabled.

Configuring a DF1 master station

Station address The station address for the serial port on the DF1 master.
Enter a valid DF1 address (0-254). Address 255 is reserved
for broadcast messages. The default is 0.
Transmit retries Specifies the number of times a message is retried after
the first attempt before being declared undeliverable.
ACK timeout Specifies the amount of time you want the controller to
wait for an acknowledgment to its message transmission.
Reply message wait Message-based polling mode only
Specifies the amount of time the master station waits
after receiving an ACK to a master-initiated message
before polling the slave station for a reply.
Polling mode Select one of these:
• Message Based (slave cannot initiate messages)
• Message Based (slave can initiate messages) -
default
• Standard (multiple message transfer per node
scan)
• Standard (single message transfer per node scan)
Master transmit Standard polling modes only
Select when the master station sends messages:
• between station polls (default)
• in polling sequence
Normal poll node tag Standard polling modes only
An integer tag array that contains the station addresses
of the slave stations.
Create a single-dimension array of data type INT that is
large enough to hold all the normal station addresses.
The minimum size is three elements.
This tag must be controller-scoped. The format is:
list[0] contains total number of stations to poll
list[1] contains address of station currently being polled
list[2] contains address of first slave station to poll
list[3] contains address of second slave station to poll
list[n] contains address of last slave station to poll
Normal poll group size Standard polling modes only
The number of stations the master station polls after
polling all the stations in the priority poll array. Enter 0
(default) to poll the entire array.


Priority poll node tag Standard polling modes only
An integer tag array that contains the station addresses
of the slave stations you need to poll more frequently.
Create a single-dimension array of data type INT that is
large enough to hold all the priority station addresses.
The minimum size is three elements.
This tag must be controller-scoped. The format is:
list[0] contains total number of stations to be polled
list[1] contains address of station currently being polled
list[2] contains address of first slave station to poll
list[3] contains address of second slave station to poll
list[n] contains address of last slave station to poll
Active station tag Standard polling modes only
An array that stores a flag for each of the active stations
on the DF1 link.
Both the normal poll array and the priority poll array can
have active and inactive stations. A station becomes
inactive when it does not respond to the master’s poll.
Create a single-dimension array of data type SINT that
has 32 elements (256 bits). This tag must be
controller-scoped.
checking.
default.
method.
enabled.
If you choose one of the standard polling modes
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Chapter 9
Integrating Motion
Using This Chapter

Developing a Motion Control Application Program 9-2
Writing a Motion Application Program 9-10
Introduction 7KH/RJL[FRQWUROOHU0$(VHUYRPRGXOHDQG56/RJL[
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RSLogix5000 Software Logix5550 Controller 1756-M02AE Servo Module

Drive
Integrated Program Execution Position Velocity
Axis Motion
Motor
Configuration Programming
Feedback
Motion Trajectory Planner Drive
Position Velocity
Position Velocity
Motor
Feedback
41383

9-2 Integrating Motion
Developing a Motion 'HYHORSLQJDPRWLRQFRQWURODSSOLFDWLRQLQYROYHVWKHVHVWHSV

Control Application • 6HOHFWLQJWKHPDVWHUFRQWUROOHUIRUFRRUGLQDWHGV\VWHPWLPH
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8VHU0DQXDOSXEOLFDWLRQ
Selecting the master controller for coordinated system time
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IMPORTANT 2QO\RQHFRQWUROOHULQDFKDVVLVFDQEHWKH&67PDVWHU
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If: Then:
No Select the Make this controller the master check box.
Yes Clear the Make this controller the master check box.
&OLFN2.

Integrating Motion 9-3
Adding a 1756-M02AE module
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6SHFLI\

Name Type the name of the servo module.
Description Type a description of the servo module (optional).
Slot Type or select the slot number where the module is
installed.
Revision Type the revision number for this module. Depending
on the electronic keying option you choose, the
module checks the revision number to ensure that
the physical module matches the configured module.

Creating an axis
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Make sure you have entered

a servo module name.
In this field: Type:

Name Type the name of the axis.
Description Type a description of the axis (optional).

Configuring a servo axis
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Make sure you have

entered an axis name.
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In this field: Select:

Type Select the type of axis you want
Positioning Mode Select the type of axis positioning you want to use
&OLFN1H[W !

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If you want to: Then:

create a new motion group Click New Group.
use an existing motion group Go to Step 7.
IMPORTANT 'XULQJFRQILJXUDWLRQ\RXPXVWQDPHDQGFRQILJXUHD
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Make sure you enter a group name.
In this field: Type:

Name Type the name of the motion group.
Description Type a description of the motion group (optional).
&OLFN2.

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Select the motion group.
In this field: Select:

Assigned Motion Group Select the motion group.
Coarse Rate Select the update rate for your axis
Servo Update Period Select the closure time interval for your axis
General Fault Type Select the fault type for your axis
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IMPORTANT 7KHGLDJQRVWLFWHVWLQJDQGDXWRWXQLQJRSWLRQVDUHRQO\
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IMPORTANT 7KHUHDUHVHYHUDO$[LV:L]DUGZLQGRZV:KHQ\RXDUH
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If: Then:
You want to assign your axis to In the Channel 0 field, select your
channel 0 axis from the drop-down menu
You want to assign your axis to In the Channel 1 field, select your
channel 1 axis from the drop-down menu
You want to add another axis Click New Axis. See page 9-4.
You do not want to add another axis Select Finish.
IMPORTANT <RXFDQDOVRQDPHDQGFRQILJXUHD[HVDQGPRWLRQJURXSV
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DQGSDVWHRSHUDWLRQVZKLFKFDQPDNHD[LVQDPLQJDQG
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Running hookup diagnostics and auto tuning
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,QIRUPDWLRQRQSDJH $
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To open the module properties window: WRWKHD[LV
1. Select the servo module.
2. Click the right mouse button and select
Properties.
If you assigned your axis to channel: Then select the ... button next to:
0 Channel 0
1 Channel 1
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Writing a Motion 7RZULWHDPRWLRQDSSOLFDWLRQSURJUDP\RXFDQLQVHUWPRWLRQLQVWUXFWLRQV

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Application Program RI
Group: Instructions:
Motion state instructions • Motion Servo On (MSO)
• Motion Servo Off (MSF)
• Motion Axis Shutdown (MASD)
• Motion Axis Shutdown Reset (MASR)
• Motion Direct Drive On (MDO)
• Motion Direct Drive Off (MDF)
• Motion Axis Fault Reset (MAFR)
Motion move instructions • Motion Axis Stop (MAS)
• Motion Axis Home (MAH)
• Motion Axis Jog (MAJ)
• Motion Axis Move (MAM)
• Motion Axis Gearing (MAG)
• Motion Change Dynamics (MCD)
• Motion Redefine Position (MRP)
• Motion Calculate Cam Profile (MCCP)
• Motion Axis Position Cam (MAPC)
• Motion Axis Time Cam (MATC)
Motion group instructions • Motion Group Stop (MGS)
• Motion Group Program Stop (MGPS)
• Motion Group Shutdown (MGSD)
• Motion Group Shutdown Reset (MGSR)
• Motion Group Strobe Position (MGSP)
Motion event instructions • Motion Arm Watch (MAW)
• Motion Disarm Watch (MDW)
• Motion Arm Registration (MAR)
• Motion Disarm Registration (MDR)
Motion configuration instructions • Motion Apply Axis Tuning (MAAT)
• Motion Run Axis Tuning (MRAT)
• Motion Apply Hookup Diagnostics (MAHD)
• Motion Run Hookup Diagnostics (MRHD)
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&RQWUROOHUV0RWLRQ,QVWUXFWLRQ6HW5HIHUHQFH0DQXDOSXEOLFDWLRQ

Understanding the MOTION_INSTRUCTION tag
(DFKPRWLRQLQVWUXFWLRQKDVDQRSHUDQGQDPHG0RWLRQFRQWURO7KLVILHOG
XVHVD027,21B,16758&7,21WDJWRVWRUHVWDWXVLQIRUPDWLRQGXULQJWKH
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LQVWUXFWLRQVWDWXVHUURUVHWF
The
Motion control
operand
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ATTENTION
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Using motion status and configuration parameters
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Method: Example:
Directly accessing the MOTION_GROUP and AXIS • Axis faults
structures • Motion status
• Servo status
Using the GSV instruction • Actual position
• Command
position
• Actual velocity

Modifying motion configuration parameters
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*HQHUDO,QVWUXFWLRQ6HW5HIHUHQFH0DQXDOSXEOLFDWLRQ
Handling motion faults
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Type Description Example

Errors • Do not impact controller operation A Motion Axis Move
• Should be correct to optimize (MAM) instruction
execution time and ensure with a parameter out
program accuracy of range
Minor/Major • Caused by a problem with the The application
servo loop exceeded the
• Can shutdown the controller if you PositionErrorTolerance
do not correct the fault condition value.
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:L]DUG*URXSZLQGRZ
Understanding errors
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HUURUV7KH027,21B,16758&7,21WDJKDVDILHOGWKDWFRQWDLQVWKHHUURU
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Understanding minor/major faults
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RYHUWUDYHOOLPLWZLOOFDXVHIDXOWV7KHPRWLRQIDXOWVDUHFRQVLGHUHGW\SHIDXOWV
ZLWKHUURUFRGHVIURPWR)RUPRUHLQIRUPDWLRQDERXWKDQGOLQJHUURU
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Understanding a programming example
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SURJUDP
Rung 0:
Enables the Feed and Cut axes when you press
the servo_on button.
Rung 1:
Jogs the Feed axis in the positive direction when
you press the jog_plus button.
Rung 2:
Jogs the Feed axis in the reverse direction when
you press the jog_minus button.
Rung 3:
Stops the Feed axis when you release with the
jog_plus button or the jog_minus button.

Notes:

Chapter 10
Forcing I/O
Using This Chapter

Forcing 10-1
Entering Forces 10-2
Enabling Forces 10-5
Disabling Forces 10-6
Removing Forces 10-6
Monitoring Forces 10-7
Forcing )RUFLQJOHWV\RXRYHUULGHDQ,2PRGXOH·VYDOXHVLQWKHFRQWUROOHU<RXFDQ
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',17RU5($/
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PRQLWRULQJWKDWSK\VLFDOLQSXWPRGXOH)RUFLQJDQLQSXWYDOXHRYHUULGHVWKH
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2WKHUFRQWUROOHUVPRQLWRULQJWKDWRXWSXWPRGXOHLQDOLVWHQRQO\FDSDFLW\ZLOO
DOVRVHHWKHIRUFHGYDOXH

10-2 Forcing I/O
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ATTENTION
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WKHIRUFHIURPWKHDVVRFLDWHGEDVHWDJ
Entering Forces 8VHWKHGDWDPRQLWRURUODGGHUHGLWRURIWKHSURJUDPPLQJVRIWZDUHWRHQWHU

IRUFHV

Forcing I/O 10-3
Entering forces from the data monitor
)URPWKHGDWDPRQLWRU\RXFDQIRUFHDYDOXHLQWZRZD\V<RX FDQ
• IRUFHDZKROHGDWDYDOXH
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• IRUFHWKHLQGLYLGXDOELWVZLWKLQD6,17,17RU',17YDOXH
Enter force values in this column.
If you want to: Do this:

force a whole SINT, INT, DINT, or REAL value To force a whole value, type a force value in the Force Mask
column, using a decimal, octal, hexadecimal, or float/exponential
format. For a REAL value, you must use a float/exponential
format.
To remove a force for a whole value, type a space.
force bits within a value To force an individual bit in a SINT, INT, or DINT value, expand the
value and edit the Force Mask column. The force value is
displayed in binary style, where:
• “0” indicates force off
• “1” indicates force on
• “.” indicates no force
You can also use the bit pallet to select a bit to force.
force a BOOL To force a BOOL, enter the force value, where:
• “0” indicates force off
• “1” indicates force on
To remove a force, type a space.

10-4 Forcing I/O
Entering forces from the ladder editor
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Right-click on the BOOL tag or bit value.

Select Force On, Force Off, or Remove Force.
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Right-click on the forced value.

Select Remove Force.

Forcing I/O 10-5
Enabling Forces 2QFH\RXVHWZKLFKYDOXHVRUELWVWRIRUFH\RXHQDEOHIRUFHVIRUWKHIRUFH

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ATTENTION
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Forces Installed indicates that

force values have been entered.
Select Enable all forces.
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SURJUDPPLQJVRIWZDUHSURPSWV\RXWRHQDEOHRUGLVDEOH
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:KHQIRUFHVDUHHQDEOHGD!DSSHDUVQH[WWRWKHIRUFHGYDOXHLQWKHODGGHU
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When forces are enabled, the ladder editor

indicates which forces are on.

10-6 Forcing I/O
Disabling Forces <RXFDQGLVDEOHIRUFHVZLWKRXWUHPRYLQJIRUFHVIURPLQGLYLGXDOYDOXHVRUIURP

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Select Disable all forces.
Removing Forces <RXFDQUHPRYHIRUFHVIURPLQGLYLGXDOYDOXHVRUIURPWKHHQWLUH FRQWUROOHU
<RXFDQUHPRYHLQGLYLGXDOIRUFHVIURPWKHGDWDPRQLWRU
If you want to remove a force from a: Do this:

whole SINT, INT, DINT, or REAL value Right-click on the value in the data monitor and select Remove
Force.
bits within a value Expand the value and edit the Force Mask column. Change the bit
value to “.” to indicate no force.
BOOL value Type a space.
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WKHODGGHUHGLWRU5LJKWFOLFNRQWKHYDOXHDQGVHOHFW5HPRYH )RUFH
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ATTENTION
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Forcing I/O 10-7
$WWKHFRQWUROOHUOHYHO\RXFDQUHPRYHDOOIRUFHV5HPRYLQJDOOIRUFHVGLVDEOHV
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Select Remove all forces.
Monitoring Forces 7KHRQO\ZD\WRPRQLWRUIRUFHVWDWXVLVWKURXJKWKHSURJUDPPLQJVRIWZDUHRU

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10-8 Forcing I/O
Notes:

Chapter 11
Handling Faults
Using This Chapter

Understanding Faults 11-1
Handling Hardware Faults 11-2
Viewing Major and Minor Faults 11-2
Processing Major Faults 11-5
Testing a Fault Routine 11-14
Shutting Down the Controller 11-15
Monitoring I/O Faults 11-18
Processing Minor Faults 11-21
Understanding Faults 7KHFRQWUROOHUGHWHFWVIRXUPDLQFDWHJRULHVRIIDXOWV,QJHQHUDO
If the controller detects It means: And these actions occur:

a:
hardware fault A fault occurred with the controller hardware. The 1. Outputs change to the fault state for
controller shuts down. You must repair or replace which they are configured.
the controller. 2. The controller OK LED is solid red.
major fault A fault condition that is severe enough for the The controller:
controller to shut down, unless the condition is 1. Sets a major fault bit
cleared. 2. Runs user-supplied fault logic, if it
exists
3. If the user-supplied fault logic cannot
clear the fault, the controller goes to
faulted mode
4. Sets outputs according to their output
state during program mode
5. OK LED flashes red
I/O fault A connection to a required I/O module, 1. Outputs change to the fault state for
communication module, or another controller has which they are configured.
failed. 2. The controller I/O LED flashes green.
3. If the connection is configured to
produce a major fault when it fails, a
major fault occurs.
minor fault A fault condition that is not severe enough for the The controller:
controller to shut down. 1. Sets a minor fault bit
2. Continues with the program scan
3. OK LED remains solid green

11-2 Handling Faults
Handling Hardware Faults ,I\RXHQFRXQWHUDKDUGZDUHIDXOW
3RZHUGRZQWKHQSRZHUXSWKHFRQWUROOHU
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Viewing Major and Minor ,Q56/RJL[VRIWZDUHWKH&RQWUROOHU3URSHUWLHVGLDORJER[FRQWDLQVWZR

WDEV0DMRU)DXOWVDQG0LQRU)DXOWVWKDWGLVSOD\LQIRUPDWLRQDERXWDIDXOW
Faults
1. Place the cursor over the Controller folder.

2. Click the right mouse button and select
Properties
Select the Major Faults tab or the Minor Faults tab to view
current fault information.

Handling Faults 11-3
Major Fault Types and Codes
8VHWKHIROORZLQJWDEOHWRGHWHUPLQHWKHFDXVHDQGFRUUHFWLYHDFWLRQIRUD
PDMRUIDXOWEDVHGRQWKHW\SHDQGFRGHGLVSOD\HGRQWKH0DMRU)DXOWVWDERI
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Type: Code: Cause: Recovery Method:

1 1 The controller powered on in Run mode. Execute the power-loss handler.
3 16 A required I/O module connection failed. Check that the I/O module is in the chassis. Check electronic
keying requirements.
View the controller properties Major Fault tab and the module
properties Connection tab for more information about the fault.
3 20 Possible problem with the ControlBus chassis. Not recoverable - replace the chassis.
3 23 At least one required connection was not Wait for the controller I/O light to turn green before changing to
established before going to Run mode. Run mode.
4 16 Unknown instruction encountered. Remove the unknown instruction. This probably happened due to a
program conversion process.
4 20 Array subscript too big, control structure .POS Adjust the value to be within the valid range. Don’t exceed the
or .LEN is invalid. array size or go beyond dimensions defined.
4 21 Control structure .LEN or .POS < 0. Adjust the value so it is > 0.
4 31 The parameters of the JSR instruction do not Pass the appropriate number of parameters. If too many
match those of the associated SBR or RET parameters are passed, the extra ones are ignored without any
instruction. error.
4 34 A timer instruction has a negative preset or Fix the program to not load a negative value into timer preset or
accumulated value. accumulated value.
4 42 JMP to a label that did not exist or was Correct the JMP target or add the missing label.
deleted.
4 83 The data tested was not inside the Modify value to be within limits.
required limits.
4 84 Stack overflow. Reduce the subroutine nesting levels or the number of parameters
passed.
6 1 Task watchdog expired. Increase the task watchdog, shorten the execution time, make the
User task has not completed in specified period priority of this task “higher,” simplify higher priority tasks, or move
of time. A program error caused an infinite loop, some code to another controller.
or the program is too complex to execute as
quickly as specified, or a higher priority task is
keeping this task from finishing.
8 1 Attempted to place controller in Run mode with Wait for the download to complete and clear fault.
keyswitch during download.
11 1 Actual position has exceeded positive Move axis in negative direction until position is within overtravel
overtravel limit. limit and then execute Motion Axis Fault Reset.
11 2 Actual position has exceeded negative Move axis in positive direction until position is within overtravel
overtravel limit. limit and then execute Motion Axis Fault Reset.
11 3 Actual position has exceeded position error Move the position within tolerance and then execute Motion Axis
tolerance. Fault Reset.


11 4 Encoder channel A, B, or Z connection is broken. Reconnect the encoder channel then execute Motion Axis Fault
Reset.
11 5 Encoder noise event detected or the encoder Fix encoder cabling then execute Motion Axis Fault Reset.
signals are not in quadrature.
11 6 Drive Fault input was activated. Clear Drive Fault then execute Motion Axis Fault Reset.
11 7 Synchronous connection incurred a failure. First execute Motion Axis Fault Reset. If that doesn’t work, pull
servo module out and plug back in. If all else fails replace servo
module.
11 8 Servo module has detected a serious Replace the module.
hardware fault.
11 9 Asynchronous Connection has incurred a First execute Motion Axis Fault Reset. If that doesn’t work, pull
failure. servo module out and plug back in. If all else fails replace servo
module.
11 32 The motion task has experienced an overlap. The group’s course update rate is too high to maintain correct
operation. Clear the group fault tag, raise the group’s update rate,
and then clear the major fault.
Minor Fault Types and Codes
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4 4 An arithmetic overflow occurred in an Fix program by examining arithmetic operations
instruction. (order) or adjusting values.
4 7 The GSV/SSV destination tag was too small to Fix the destination so it has enough space.
hold all of the data.
4 35 PID delta time ≤ 0. Adjust the PID delta time so that it is > 0.
4 36 PID setpoint out of range Adjust the setpoint so that it is within range.
6 2 Periodic task overlap. Simplify program(s), or lengthen period, or raise
Periodic task has not completed before it is relative priority, etc.
time to execute again.
9 0 Unknown error while servicing the serial port. Contact GTS personnel.
9 1 The CTS line is not correct for the current Disconnect and reconnect the serial port cable
configuration. to the controller.
Make sure the cable is wired correctly


9 2 Poll list error. Check for the following errors in the poll list:
A problem was detected with the DF1 master’s • total number of stations is greater than
poll list, such as specifying more stations than the space in the poll list tag
the size of the file, specifying more then 255 • total number of stations is greater than
stations, trying to index past the end of the list, 255
or polling the broadcast address (STN #255). • current station pointer is greater than
the end of the poll list tag
• a station number greater than 254 was
encountered
9 5 DF1 slave poll timeout. Determine and correct delay for polling.
The poll watchdog has timed out for slave. The
master has not polled this controller in the
specified amount of time.
9 9 Modem contact was lost. Correct modem connection to the controller.
DCD and/or DSR control lines are not being
received in proper sequence and/or state.
10 10 Battery not detected or needs to be replaced. Install new battery.
Processing Major Faults 7KHFRQWUROOHUVXSSRUWVWZROHYHOVIRUKDQGOLQJPDMRUIDXOWV

• SURJUDPIDXOWURXWLQH
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major fault occurs
yes controller logs major yes

program fault execute current
instruction fault? fault to current
routine exists? program’s
PROGRAM
fault routine
MajorFaultRecord
no no
yes
fault cleared?
no
continue logic
execution
controller logs major

fault to controller fault
handler PROGRAM
MajorFaultRecord
no controller fault
handler exists
yes
execute controller
fault handler
yes
fault cleared?
no
continue logic
execution
enter faulted mode
record FAULTLOG
shut down

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Category: Description:
instruction execution problem occurs when executing logic
other major problem occurs with the:
• power loss
• I/O
• task watchdog
• mode change
• motion axis
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Assignment of a Program Fault Routine
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EXAMPLE $VVLJQDIDXOWURXWLQHWRDSURJUDP
Select the fault routine.

Configuration of the Controller Fault Handler
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• ,I\RXVSHFLI\DIDXOWURXWLQHIRUWKHFRQWUROOHUIDXOWSURJUDPWKH
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If: Then:
Yes A. Drag the unscheduled program to the Controller Fault Handler folder.
If a controller fault program already exists, the unscheduled program

takes its place. The previous controller fault program moves to the
Unscheduled Programs folder.
B. Go to Step 6.
No Go to the next step.
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Major Fault Logic
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This member: Provides this information:

TimeLow A 64 bit timestamp of when the fault occurred.
TimeHigh
Type The type of fault.
Code A code for the fault, based on the fault type.
Info Additional information about the fault, such as its location within
the logic. The information depends on the fault type and code.
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If: Then:
Instruction A. Assign a fault routine for the program. Refer to "Assignment
of a Program Fault Routine" on page 11-7.
B. As you complete subsequent steps, use the fault routine for
the program.
Other A. Configure the controller fault handler. Refer
to "Configuration of the Controller Fault Handler" on
page 11-9.
B. As you complete subsequent steps, use the controller fault
handler.

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The Destination tag must point to the first member of the structure
(MyFaultRecord.TimeLow). This tag is of the structure type you define to hold
fault information.
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Checks for an I/O connection that has failed (type 3, code 16)

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Clears the type and code values.
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The Source tag must point to the first member of the structure
fault information.

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EXAMPLE *HWDIDXOWFRGHIRUDPRGXOH
In the main routine of the controller fault handler:
When an I/O connection fails (type 3, code 16), executes Module_Codes, a routine that gets the fault code for each module in the I/O
configuration of the controller
In the Module_Codes routine:
When the routine executes, the GSV instruction gets the fault code for the module that is named weld_station and stores the code in the
fault_code_weld_station tag.
Testing a Fault Routine <RXFDQXVHD-65LQVWUXFWLRQWRWHVWWKHIDXOWURXWLQHRIDSURJUDPZLWKRXW

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In place of: Select the:

aaa tag that you will use to initiate the fault (Step 1.)
bbb fault routine of the program
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EXAMPLE 7HVWDIDXOWURXWLQH
When test_fault_routine is on, a major fault occurs and the controller executes
Fault_Routine.
Shutting Down the ,I\RXZDQWWRVKXWGRZQWKHFRQWUROOHUEDVHGRQVSHFLILFFRQGLWLRQVLQ\RXU

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ccc
In place of: Select the:

aaa fault routine of the program (Step 1.)
bbb tag that stores the code for the fault (Step 3.)
ccc conditions when the controller should shut down
EXAMPLE 6KXWGRZQWKHFRQWUROOHU
When value_2 is greater than or equal to value_2_limit (80), a major fault occurs and the
controller shuts down. Outputs go to the faulted state. The Major Faults tab of the
Controller Properties dialog box displays the code stored in user_fault_code_2.

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Input conditions when

the controller should
shut down
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Name: Data Type: Style:
TimeLow DINT Decimal
TimeHigh DINT Decimal
Type INT Decimal
Code INT Decimal
Info DINT[8] Hex
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Description: Type:
A. information about the major fault FaultRecord
obtained from the MajorFaultRecord of
the PRGRAM object
B. number to identify this type of fault INT
C. code for this specific fault INT

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In place of: Select this tag from Step 4.:

bbb tag that stores the MajorFaultRecord (Step A.)
ccc tag that stores the fault type that you are
assigning (Step B.)
ddd tag that stores the fault code that you are
assigning (Step C.)
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connection failed
B C
The connection between chassis A and B failed, so data in chassis B remains at its last values. Any
outputs in chassis C that are controlled by inputs from chassis B are based on stale data.
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When the connection fails, do Then:

you want the controller to:
Shut down 1. Configure the connection to produce a
major fault if it fails. Refer to "Connection
Failure" on page 3-11.
2. In the controller fault handler, write logic
to get the fault code of each module. Refer
to "Major Fault Logic" on page 11-11.
Continue running Write logic that monitors the I/O LED and gets the
fault code of each module if an I/O fault occurs.
Refer to "Writing Logic That Monitors
Connections" on page 11-19.
Writing Logic That Monitors Connections
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When LedStatus is “2,” indicating that there is at least one connection fault, the bbb routine gets the fault code for each module.
In place of: Use the:

aaa tag that stores the I/O LED status (Step 2.a.)
bbb routine that will get module fault codes (Step 3.)
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In place of: Use the:

ccc name of the module
ddd tag that stores the fault code for the module (Step 2.b.)
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Processing Minor Faults 0LQRUIDXOWVGRQRWLPSDFWFRQWUROOHURSHUDWLRQ7KHFRQWUROOHUFRQWLQXHVWR

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Category: Description:
instruction execution problem occurs when executing logic
other minor problem occurs with the:
• serial port
• battery

Processing instruction-execution minor faults
minor fault occurs
controller sets
S:MINOR
controller logs minor

fault to PROGRAM
MinorFaultRecord

fault to FAULTLOG
controller sets minor

fault bit in
FAULTLOG
continue logic
execution
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Writing logic for instruction-execution minor faults
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This member: Provides this information:

TimeLow A 64 bit timestamp of when the fault occurred.
TimeHigh
Type The type of fault.
Code A code for the fault, based on the fault type.
Info Additional information about the fault, such as its location within
the logic. The information depends on the fault type and code.
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EXAMPLE &KHFNIRUDPLQRUIDXOWWKDWLVFDXVHGE\DQLQVWUXFWLRQ
This example monitors S:MINOR to determine if a minor fault occurs with the execution of the SSV instruction. You could replace this SSV
instruction with any instruction or operation that you want to check to see whether it generates a minor fault (like checking for an overflow
condition with a math instruction). The GSV instruction then retrieves the fault information and stores it in a tag that uses the structure type you
defined. The Destination tag must point to the first DINT of the structure (MyFaultRecord.TimeLow in this example).

Processing other minor faults
minor fault occurs

fault to FAULTLOG
controller sets minor

fault bit in
FAULTLOG
continue logic
execution
:KHQDPLQRUIDXOWRFFXUVWKHFRQWUROOHUORJVWKHPLQRUIDXOWLQIRUPDWLRQ
GLUHFWO\WRWKH)$8/7/2*REMHFW
Writing logic for other minor faults
7RFKHFNIRURWKHUPLQRUIDXOWVH[DPLQHWKHELWVRIWKH)$8/7/2*REMHFW
7KH)$8/7/2*REMHFWSURYLGHVWKHIROORZLQJELWVWKDWFRUUHVSRQGWRWKH
W\SHRIPLQRUIDXOW
MinorFaultBits record in the FAULTLOG object
31 30 29 28 27 26 25 24 23 22 21 19 18 16 17 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
instruction execution
(program)
watchdog
serial port
battery

7KHIDXOWW\SHVDUHWKHW\SHVLGHQWLILHGLQWKH´0LQRU)DXOW7\SHVDQG&RGHVµ
WDEOHRQSDJH7KHUHVWRIWKHELWVDUHQRWXVHG
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EXAMPLE &KHFNIRUPLQRUIDXOWVWKDWDUHQRWFDXVHGE\DQLQVWUXFWLRQ
This example uses a GSV instruction to get a copy of the MinorFaultBits record of the FAULTLOG and store it in a DINT tag MinorFaultBits.
Then this example examines some of the bits in MinorFaultBits to see what type of fault occurred.


Chapter 12
Preparing a Power-Up Program
Using This Chapter

How the Controller Powers Up in Run Mode 12-1
Creating the Power-Up Handler 12-3
Clearing the Major Fault 12-5
How the Controller Powers <RXFDQXVHWKHSRZHUXSKDQGOHUWRGHWHUPLQHKRZWKHFRQWUROOHUSRZHUVXS

LQ5XQPRGH
Up in Run Mode
,I\RXXVHWKHSRZHUXSKDQGOHUDSURJUDPLVGHILQHGDQGWKHFRQWUROOHU
SRZHUVXSLQ5XQPRGHWKHFRQWUROOHUVHWVPDMRUIDXOWW\SH FRGH7KH
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VWD\VLQ5XQPRGHLILWSRZHUVXSLQ5XQPRGH7KHFRQWUROOHUEHJLQV
H[HFXWLQJORJLF

12-2 Preparing a Power-Up Program
Processing the power-up handler

no controller powers
power up in
Run mode? up correctly
yes
no controller stays in
power-up handler Run mode and
program? begins executing
logic
yes
major fault
type 1, code 1 occurs
controller logs major

fault to power-up
program
MajorFaultRecord
execute power-up
handler
no enter faulted mode

fault cleared?
record FAULTLOG
yes
controller begins
executing

Preparing a Power-Up Program 12-3
Creating the Power-Up 7KHSRZHUXSKDQGOHULVDQRSWLRQDOWDVNWKDWH[HFXWHVZKHQWKHFRQWUROOHU

SRZHUVXSLQ5XQPRGH
Handler
Creating a program for the power-up handler
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KDYHPXOWLSOHURXWLQHV
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WRWKH8QVFKHGXOHG3URJUDPV IROGHU

Creating routines
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&OLFN2.

Preparing a Power-Up Program 12-5
Clearing the Major Fault 7RFKHFNDQGFOHDUWKHPDMRUIDXOWIROORZWKHVH VWHSV
&UHDWHDXVHUGHILQHGVWUXFWXUHWRVWRUHWKHIDXOWLQIRUPDWLRQ7KH
IRUPDWPXVWEHDVIROORZV\RXFDQFKDQJHWKHVWUXFWXUHDQGPHPEHU
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XVHUGHILQHGVWUXFWXUHW\SH\RXFUHDWHG
The Destination tag must point to the first member of the structure
fault information.
([DPLQHWKHIDXOWW\SHDQGFRGHWRGHWHUPLQHZKLFKIDXOWRFFXUUHGDQG
WDNHDSSURSULDWHDFWLRQ
MajorFaultBits record in the FAULTLOG object
31 30 29 28 27 26 25 24 23 22 21 19 18 16 17 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
power up

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0\)DXOW5HFRUG7\SHDQG0\)DXOW5HFRUG&RGHPHPEHUVDUH
Examine the MyFaultRecord.Type and MyFaultRecord.Code members to determine the type of

major fault. This example looks for specific fault types and codes.
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PDMRUIDXOW
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D &OHDUWKHW\SHDQGFRGHPHPEHUVRIWKHWDJ0\)DXOW5HFRUG7\SH
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Use MOV instructions to clear the type and code values.
E 8VHDQ669LQVWUXFWLRQWRFOHDUWKHIDXOWE\FRS\LQJWKHWDJ
0\)DXOW5HFRUG7LPH/RZWRWKH0DMRU)DXOW5HFRUGRIWKH
352*5$0REMHFW
The Source tag must point to the first member of the structure
(MyFaultRecord.TimeLow). This tag is of the structure type you define to hold fault
information.

Appendix A
Troubleshooting
Using This Appendix

Identifying Controller Components A-1
Monitoring Controller Status LEDs A-2
Viewing Module Fault Information A-2
Monitoring Controller Status A-4
Changing Controller Mode A-7
Examining Controller Prescan Operations A-7
Identifying Controller 7KHFRQWUROOHUKDVWKHVHFRPSRQHQWVRQWKHIURQWSDQHO

Components The status LEDs help when
LOGIX5550
RUN I/O
troubleshooting the controller. RS232
BAT OK
Use the keyswitch to select RUN REM PROG
controller mode.
Install battery here.

Use a 1756-BA1.
The 9-pin D-shell serial port

supports standard EIA RS-232C.
40001

A-2 Troubleshooting
Monitoring Controller 7KH/('VRQWKHIURQWSDQHOVKRZWKHVHVWDWHV

Status LEDs Indicator: Color: Description:
RUN off Controller is in Program or Test mode.
green Controller is in Run mode.
I/O off(1) No I/O or communications are configured.
green Controller is communicating with all
configured devices.
green One or more configured devices are
flashing not responding.
red flashing Chassis is bad.
40002
RS232 off There is no activity.
green Data is being received or transmitted.
flashing
BAT off Battery will support memory.
red Battery is not present or will not support
memory. Replace the battery.
OK off No power is applied.
red flashing Recoverable fault
red Non-recoverable fault. Cycle power and
download the project. If the red light
reappears, replace the controller.
green Controller is OK.
(1) If the controller does not contain a project (controller memory is empty), the I/O indicator will be
off.
Viewing Module Fault ,IWKH,2VWDWXVLQGLFDWRULVIODVKLQJJUHHQRUIODVKLQJUHG\RXFDQXVH

56/RJL[VRIWZDUHWRGHWHUPLQHZKLFK,2GHYLFHVDUHQRWUHVSRQGLQJ,Q
Information WKHFRQWUROOHURUJDQL]HURIWKHSURMHFWWKH,2FRQILJXUDWLRQSRUWLRQGLVSOD\V
WKHPRGXOHVFRQILJXUHGIRUWKHFRQWUROOHU,IWKHFRQWUROOHUGHWHFWVDIDXOWZLWK
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V\PERO RYHUWKHGHYLFHDQGRYHUWKH,2&RQILJXUDWLRQIROGHU
TIP ,IWKHPRGXOHLVLQKLELWHGWKHFRQWUROOHURUJDQL]HUGLVSOD\V
DQDWWHQWLRQV\PERO RQO\RYHUWKHGHYLFH

Troubleshooting A-3
2QFH\RXKDYHLGHQWLILHGZKLFKPRGXOHRUPRGXOHVDUHIDXOWHGXVHWKH
0RGXOH3URSHUWLHVGLDORJER[WRGHWHUPLQHWKHFDXVHRIWKHIDXOW
TIP &RUUHFWIDXOWVRIFRPPXQLFDWLRQPRGXOHVEHIRUH\RX
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7RGLVSOD\GLDJQRVWLFLQIRUPDWLRQIRUDPRGXOH
,QWKHFRQWUROOHURUJDQL]HUXQGHUWKH,2&RQILJXUDWLRQIROGHU
ULJKWFOLFNWKHPRGXOHZLWKDQDWWHQWLRQV\PERODQGVHOHFW3URSHUWLHV
&OLFNWKHUHTXLUHGWDE
On this tab: The software displays:

Connection The module fault field displays the fault code returned to the controller (related to the
module) and the text detailing the fault.
Common categories for module errors are:

Connection request error The controller is attempting to make a connection to the
module and has received an error. The connection was
not made.
Service request error The controller is attempting to request a service from the
module and has received an error. The service was not
performed successfully.
Module configuration The configuration in the module is invalid. This commonly
rejected happens when a second controller tries to share
ownership of an input module, but the module
configuration does not match the configuration already in
the input module.
Module key mismatch Electronic keying is enabled and some part of the keying
information differs between the software and the module.
Module info This tab displays module and status information about the module. You can also reset a
module to its power-up state. Information is only available if you are online and a
connection to the module is established.
Backplane This tab displays diagnostic information about the module’s communications over the
backplane and the chassis in which it is located. You can also clear module faults and
reset the transmit retry limit.
&OLFN2.

A-4 Troubleshooting
Monitoring Controller 7KH/RJL[FRQWUROOHURIIHUVGLIIHUHQWOHYHOVRIVWDWXVLQIRUPDWLRQWKDW\RX

FDQYLHZWKURXJKWKHSURJUDPPLQJVRIWZDUHDQGDFFHVVWKURXJKORJLF
Status
Viewing status through the programming software
7KHFRQWUROOHUSURSHUWLHVGLDORJGLVSOD\VFRQWUROOHUFRQILJXUDWLRQLQIRUPDWLRQ
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7RYLHZDQGHGLWFRQWUROOHUSURSHUWLHV
3URSHUWLHV
&OLFNDWDE
From this tab: You can:

General modify the controller name, description, and controller properties for the
current project
Date/Time view and edit the controller’s wall clock time and the coordinated system
time status.
Communications configure communication information that is stored with the project file
Serial Port view and configure the serial port on the controller
Serial Port Protocol configure the serial port for:
• DF1 point-to-point
• DF1 slave
• DF1 master
Major Faults view any major faults that have occurred on the controller
Minor Faults view any minor faults that have occurred on the controller
Advanced view and edit advanced controller properties, which include the system fault
program, the power loss program, and system overhead time slice
File view information about the project file
&OLFN2.

Troubleshooting A-5
Monitoring status flags
7KHFRQWUROOHUVXSSRUWVVWDWXVNH\ZRUGV\RXFDQXVHLQ\RXUORJLFWRPRQLWRU
VSHFLILFHYHQWV
• 7KHVWDWXVNH\ZRUGVDUHQRWFDVHVHQVLWLYH
• %HFDXVHWKHVWDWXVIODJVFDQFKDQJHVRTXLFNO\56/RJL[VRIWZDUH
GRHVQRWGLVSOD\WKHVWDWXVRIWKHIODJV,H(YHQZKHQDVWDWXVIODJLV
VHWDQLQVWUXFWLRQWKDWUHIHUHQFHVWKDWIODJLVQRWKLJKOLJKWHG
• <RXFDQQRWGHILQHDWDJDOLDVWRDNH\ZRUG
<RXFDQXVHWKHVHNH\ZRUGV
Keyword: Status Flag: Description:

S: V overflow Overflow is set if the value you are storing cannot fit into the
destination. Either the value is greater than the maximum value for
the destination or the value is less than the minimum value for the
destination.
Important: Each time S:V goes from cleared to set, it generates a

minor fault (type 4, code 4)
S:Z zero Zero is set if the instruction’s destination value is 0.
S:N sign (result is negative) Sign is set if the instruction’s destination value is negative.
S:C carry The carry flag is not actually a part of the data type. The carry flag
represents the bit that would be in the data type if it were stored to
a larger data type.
S:FS first scan The first scan bit is set if this is the first, normal scan of the
routines in the current program.
S:MINOR minor fault The minor fault bit is set if at least one minor fault has been
generated. The controller sets this bit when a minor fault occurs
due to program execution. The controller does not set this bit for
minor faults that are not related to program execution, such as
battery low.
THIS current item The THIS statement is only valid with the GSV and SSV instructions
that refer to a TASK, PROGRAM, or ROUTINE. Use THIS to specify
the currently executing TASK, PROGRAM, or ROUTINE.

A-6 Troubleshooting
Using GSV/SSV instructions
7KHFRQWUROOHUVWRUHVV\VWHPGDWDLQREMHFWV7KHUHLVQRVWDWXVILOHDVLQWKH
3/&SURFHVVRU8VHWKH*69669LQVWUXFWLRQVJHWDQGVHWFRQWUROOHUV\VWHP
GDWDWKDWLVVWRUHGLQREMHFWV
• 7KH*69LQVWUXFWLRQUHWULHYHVWKHVSHFLILHGLQIRUPDWLRQDQGSODFHVLWLQ
WKHGHVWLQDWLRQ
• 7KH669LQVWUXFWLRQVHWVWKHVSHFLILHGDWWULEXWHZLWKGDWDIURPWKH
VRXUFH
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ATTENTION
REMHFWVFDQFDXVHXQH[SHFWHGFRQWUROOHURSHUDWLRQRULQMXU\

WRSHUVRQQHO
<RXFDQDFFHVVWKHVHREMHFWV
This object Provides status information about:

AXIS a servo module axis
CONTROLLER a controller’s execution
CONTROLLERDEVICE the physical hardware of a controller
CST coordinated system time for the devices in one chassis
DF1 the DF1 communication driver for the serial port
FAULTLOG fault information for a controller
MESSAGE peer-to-peer communications
MODULE a module
MOTIONGROUP a group of axes for the servo module
PROGRAM a program
ROUTINE a routine
SERIALPORT the serial communication port
TASK a task
WALLCLOCKTIME a timestamp the controller can use for scheduling
)RUPRUHLQIRUPDWLRQVHHWKH/RJL[&RQWUROOHUV*HQHUDO,QVWUXFWLRQ6HW
5HIHUHQFH0DQXDOSXEOLFDWLRQ

Troubleshooting A-7
Changing Controller Mode 8VHWKHNH\VZLWFKWRFKDQJHWKHPRGHLQZKLFKWKHFRQWUROOHU RSHUDWHV
If you want to: Turn the keyswitch to:

• Run your program RUN
• Enable outputs
• Begin the operation of equipment that is controlled by I/O
addressed in your program
You cannot create or delete tasks, programs, or routines. You

cannot create or delete tags or edit online while in Run mode.
You cannot change the controller mode through the

programming software while the keyswitch is in the RUN
position. 40003
• Disable outputs (outputs are set to their configured PROG

program states)
• Create, modify, and delete tasks, programs, or routines
• Download projects
The controller does not execute (scan) tasks.
You cannot change the controller mode through the

programming software while the keyswitch is in the PROG
position.
40004
Change between Remote Program, Remote Test, and Remote REM

Run modes through the programming software.
Remote Run
• Enable outputs
• Edit online (limited)
Remote Program
• Disable outputs (outputs are set to their configured
states)
• Create, modify, and delete tasks, programs, or routines
• Download projects
• Edit online 40002
The controller does not execute (scan) tasks.
Remote Test
• Execute tasks with outputs disabled
• Edit online (limited)
Examining Controller ,IXQH[SHFWHGRSHUDWLRQRFFXUVZKHQWKHFRQWUROOHUHQWHUV5XQPRGHPDNH

VXUHWRH[DPLQHWKHSUHVFDQRSHUDWLRQRIWKHLQVWUXFWLRQV6RPHLQVWUXFWLRQV
Prescan Operations H[HFXWHGLIIHUHQWO\GXULQJSUHVFDQWKDQWKH\GRGXULQJDQRUPDOVFDQ)RU
GHWDLOVRQKRZHDFKLQVWUXFWLRQRSHUDWHVGXULQJSUHVFDQVHHWKH/RJL[

A-8 Troubleshooting
7KHSUHVFDQRSHUDWLRQLVDQLQWHUPHGLDWHVFDQEHWZHHQWKHWUDQVLWLRQIURP
3URJUDPPRGHWR5XQPRGH7KHSUHVFDQH[DPLQHVDOOSURJUDPVDQG
LQVWUXFWLRQVDQGLQLWLDOL]HVGDWDEDVHGRQWKHUHVXOWV
)RUH[DPSOHDURXWLQHWKDWLVFDOOHGLQIUHTXHQWO\PLJKWKDYHDEDGLQGLUHFW
DGGUHVVWKDWJHQHUDWHVDPDMRUIDXOW,WPLJKWWDNHVHYHUDOQRUPDOSURJUDP
VFDQVEHIRUHWKLVIDXOWRFFXUV3UHVFDQSURYLGHVWKHRSSRUWXQLW\IRUWKH
FRQWUROOHUWRH[DPLQHWKHSURJUDPIRUHUURUVVXFKDVWKLVEHIRUHFKDQJLQJWR
5XQPRGH
Instructions with unique prescan operations
'XULQJSUHVFDQWKHFRQWUROOHUPRGLILHVGDWDDVVRFLDWHGZLWKVRPHLQVWUXFWLRQV
VHHWKHIROORZLQJWDEOH7KHIROORZLQJWDEOHGHVFULEHVSUHVFDQRSHUDWLRQVWKDW
GHYLDWHIURPQRUPDOLQVWUXFWLRQRSHUDWLRQ
Instruction: Executes these actions during prescan:

CTU The .CU/.CD bit is set to prevent a false count when the first
Run-mode scan begins.
CTD
DTR The reference value is updated (regardless of the rung condition).
FFL The .EL bit is set to prevent a false load when the first Run-mode
scan begins.
LFL
FFU The .EU bit is set to prevent a false unload when the first
Run-mode scan begins.
LFU
FOR Ladder instructions within the loop are prescanned.
JSR The subroutine is invoked and prescanned. If recursive calls are
made to the subroutine, the subroutine is only prescanned the first
time it is called.
ONS The programmed bit address of the instruction is set to inhibit
false triggering when the first Run-mode scan begins.
OSR
OSF The programmed bit address of the instructions is reset to inhibit
false triggering when the first Run-mode scan begins.
SQL The .EN bit is set to prevent a false increment of the position when
the first Run-mode scan begins.
SQO
TOF The .TT bit is reset and the .ACC is set to equal the .PRE.
)RUVSHFLILFGHWDLOVRQKRZHDFKLQVWUXFWLRQLVSUHVFDQQHGVHHWKH/RJL[

Troubleshooting A-9
Recovering from prescan errors
,IDQLQGLUHFWUHIHUHQFHLVXVHGE\RQHRIWKHVHLQVWUXFWLRQVDQGWKHSRLQWHUWR
WKLVUHIHUHQFHLVLQLWLDOL]HGDWUXQWLPHWKHUHLVDFKDQFHWKDWDQHUURUPLJKW
RFFXUGXULQJSUHVFDQ
8VHDSURJUDPIDXOWURXWLQHWRWUDSWKHSUHVFDQHUURUDQGUHVHWWKHHUURUVRWKH
FRQWUROOHUFDQFRQWLQXHZLWKWKHSUHVFDQSURFHVV7KHIROORZLQJH[DPSOH
VKRZVDVDPSOHSURJUDPDQGIDXOWKDQGOHU7KHH[DPSOHORJLFXVHVWKLVIDXOW
UHFRUGVWUXFWXUH
7KHH[DPSOHORJLFDOVRXVHVD',17DUUD\QDPHG7$%/(ZLWKHOHPHQWV
7$%/(>@

A-10 Troubleshooting
Main Routine:

Troubleshooting A-11
Program Fault Routine:

A-12 Troubleshooting
Notes:

Appendix B
IEC1131-3 Compliance
Using This Appendix

Operating System B-2
Data Definitions B-2
Programming Languages B-3
Instruction Set B-3
IEC1131-3 Program Portability B-4
IEC Compliance Tables B-4
Introduction 7KH,QWHUQDWLRQDO(OHFWURWHFKQLFDO&RPPLVVLRQ,(&KDVGHYHORSHGDVHULHV

RIVSHFLILFDWLRQVIRUSURJUDPPDEOHFRQWUROOHUV7KHVHVSHFLILFDWLRQVDUH
LQWHQGHGWRSURPRWHLQWHUQDWLRQDOXQLILFDWLRQRIHTXLSPHQWDQGSURJUDPPLQJ
ODQJXDJHVIRUXVHLQWKHFRQWUROVLQGXVWU\7KHVHVWDQGDUGVSURYLGHWKH
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VRIWZDUH
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Table Feature Feature Description: Implementation Notes:

Number:(1) Number:
1 1 Required character set none
1 2 Lower case letters none
1 3a Number sign (#) Used for immediate value data type designation
1 4a Dollar sign ($) Used for description and string control
character
1 6a Subscript delimiters ([ ]) Array subscripts
2 1 Identifiers using upper case and numbers Task, program, routine, structure and tag names
2 2 Identifiers using upper case, numbers, and Task, program, routine, structure and tag names
embedded underlines
2 3 Identifiers using upper and lower case, Task, program, routine, structure and tag names
numbers and embedded underlines
4 1 Integer literal 12, 0, -12
4 2 Real literal 12.5, -12.5


Number:(1) Number:
4 3 Real literal with exponents -1.34E-12, 1.234E6
4 4 Base 2 literal 2#0101_0101
4 5 Base 8 literal 8#377
4 6 Base 16 literal 16#FFE0
4 7 Boolean zero and one 0, 1
5 1 Empty String ’’ Descriptions
5 2 String of length one containing a character ’A’ Descriptions
5 3 String of length one containing a space ’ ’ Descriptions
5 4 String of length one containing a single quote Descriptions
character '$’
5 5 String of length two containing CR and LF '$R$L' Descriptions
6 2 String dollar sign '$$' Descriptions
6 3 String single quote '$'' Descriptions
6 4 String Line Feed '$L' or '$l' Descriptions
6 5 String New-line '$N' or '$n' Descriptions
6 6 String From Feed (page) '$P' or '$p' Descriptions
6 7 String Carriage return '$R' or '$r' Descriptions
6 8 String Tab '$T' or '$t' Descriptions
10 1 BOOL Data Type Tag variable definition
10 2 SINT Data Type Tag variable definition
10 3 INT Data Type Tag variable definition
10 4 DINT Data Type Tag variable definition
10 10 REAL Data Type Tag variable definition
10 12 Time Tag variable definition, TIMER Structure
11 1 Data type Hierarchy none
12 1 Direct Derivation from elementary types User Defined data type structures
12 4 Array data types Tag variable definition
12 5 Structured Data types User defined data type structures
13 1 BOOL, SINT, INT, DINT initial value of 0 Tag variable definition
13 4 REAL, LREAL initial value of 0.0 Tag variable definition
13 5 Time initial value of T#0s Tag variable definition, reset (RES) instruction
13 9 Empty String '' Descriptions
14 1 Initialization of directly derived types Import/export
14 4 Initialization of array data types Import/export
14 5 Initialization of structured type elements Import/export
14 6 Initialization of derived structured data types Import/export


Number:(1) Number:
20 1 Use of EN and ENO for LD Function present in ladder but not labeled
21 1 Overloaded functions ADD(INT, DINT) or All instructions overloaded types that are
ADD(DINT, REAL) supported documented with each instruction
22 1 _TO_ conversion function RAD, DEG instructions Radians to/from
Decimal. Others not needed because of
instruction overloading
22 3 BCD to INT Convert FRD instruction
22 4 INT to BCD Convert TOD instruction
23 2 Square root SQR instruction
23 3 Natural log LN instruction
23 4 Log base 10 LOG instruction
23 6 Sine in radians SIN instruction
23 7 Cosine in radians COS instruction
23 8 Tangent in radians TAN instruction
23 9 Principal arc sine ASN instruction
23 10 Principal arc cosine ACS instruction
23 11 Principal arc tangent ATN instruction
24 12 Arithmetic add ADD instruction
24 13 Arithmetic multiplication MUL instruction
24 14 Arithmetic subtraction SUB instruction
24 15 Arithmetic divide DIV instruction
24 17 Exponentiation XPY instruction
24 18 Value move MOV instruction
26 5 Bitwise AND AND instruction
26 6 Bitwise OR OR instruction
26 7 Bitwise XOR XOR instruction
26 8 Bitwise NOT NOT instruction
28 5 Comparison greater-than GRT instruction
28 6 Comparison greater-than or equal GRE instruction
28 7 Comparison equal EQU instruction
28 8 Comparison less-than LES instruction
28 9 Comparison less-than or equal LEQ instruction
28 10 Comparison not equal NEQ instruction
57 1, 2 Horizontal line for rung Ladder editor
57 3, 4 Vertical line Ladder editor
57 5, 6 Horizontal / Vertical connection Ladder editor
57 9, 10 Connection and non-connection corners Ladder editor


Number:(1) Number:
57 11, 12 Blocks with connections Ladder editor
58 2 Unconditional jump JMP instruction
58 3 Jump target LBL Instruction
58 4 Conditional jump JMP instruction
58 5 Conditional return RET instruction
58 8 Unconditional return RET instruction
59 1 Left hand power rail Ladder editor
59 2 Right hand power rail Ladder editor
60 1 Horizontal link Ladder editor
60 2 Vertical link Ladder editor
61 1, 2 Normally open contact --| |-- XIC instruction
61 3, 4 Normally close contact --| / |-- XIO instruction
61 5, 6 Positive transition sensing contact -| P |- ONS instruction
62 1 Coil --( )-- OTE instruction
62 6 Set retentive memory coil -( SM )- OTL instruction
62 7 Reset retentive memory coil -( RM )- OTU instruction
62 8 Positive transition sensing coil OSR instruction
62 9 Negative transition sensing coil OSF instruction

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Notes:

Appendix C
Specifications
Logix5550 Controller
Description: Specification:
1756-L1 1756-L1M1 1756-L1M2 1756-L1M3
user memory 160 Kbytes 512 Kbytes 1 Mbytes 2 Mbytes
backplane current
+5V dc 0.65A 0.95A 1.05A 1.20A
+24V dc 0.02A 0.02A 0.02A 0.02A
power dissipation 10.2 BTU/hr 12.8 BTU/hr 13.7 BTU/hr 14.5 BTU/hr
thermal 3.0W 3.75W 4.0W 4.25W
dissipation
operating 0° to 60° C (32 to 140° F)
temperature
storage -40° to 85° C (-40 to 185° F)
temperature
relative humidity 5% to 95% noncondensing
vibration 10 to 500 Hz
2.0 G maximum peak acceleration
operating shock 30G peak for 11ms
storage shock 50G peak for 11ms
weight 10.0 oz. 12.5 oz. 12.5 oz. 12.7 oz.
programming 1756-CP3 or 1747-CP3 serial cable
cable category 3(1)
battery 1756-BA1 (PROMARK Electronics 94194801)
0.59g lithium
agency Class I Division 2 Hazardous
certification(2)
marked for all applicable directives
(1)
See the Programmable Controller Wiring and Grounding Guidelines, publication 1770-4.1.
(2)
CSA certification - Class I Division 2, Group A, B, C, D or nonhazardous locations.

C-2 Specifications
Logix5550 Memory Board <RXFDQLQVWDOORQHRIWKHVHPHPRU\ERDUGVLQWKHFRQWUROOHU
• 0.E\WHVH[SDQVLRQPHPRU\
• 00E\WHVH[SDQVLRQPHPRU\
• 00E\WHVH[SDQVLRQPHPRU\
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/RJL[FRQWUROOHU
backplane current +5V dc
Add this current demand to that 1756-M1 0.30A
of the Logix5550 controller 1756-M2 0.40A
(1756-L1). 1756-M3 0.55A
temperature
operating 0° to 60° C (32 to 140° F)
storage -40° to 85° C (-40 to 185° F)
vibration 10 to 500 Hz
2.0 G maximum peak acceleration
shock
operating 30G peak for
storage 11ms
50G peak for
11ms
weight 1756-M1 2.5 oz.
1756-M2 2.5 oz.
1756-M3 2.7 oz.
agency certification
(when product or packaging
is marked)(1)
Class I Division 2 Hazardous
marked for all applicable
(1)
CSA certification - Class I Division 2, Group A, B, C, D or nonhazardous locations

Specifications C-3
1756-CP3 Serial Cable

Pinouts 1 CD 1 CD
2 RDX 2 RDX
3 TXD 3 TXD
4 DTR 4 DTR
COMMON COMMON
6 DSR 6 DSR
7 RTS 7 RTS
8 CTS 8 CTS
9 RI 9 RI
straight right-angle
cable end cable end
40046
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1756-BA1 Battery 7KH/RJL[FRQWUROOHUXVHVWKH%$EDWWHU\
Battery 1756-BA1
0.59g lithium
top no connection
middle black lead (-)
bottom red lead (+)
30167
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PDWHULDOV

C-4 Specifications
1756-M0A2E Motion
Module
number of axes per Logix5550 controller 32 axes maximum
maximum number of axes per coarse update rate coarse update rate: max. number of axes:
2 ms 2
The coarse update rates assume that the servo is 3 ms 3
on for each axis and that each axis has an active 4 ms 4
trapezoidal move. For more information, see the 5 ms 6
ControlLogix Motion Module User Manual, 6 ms 7
publication 1756-6.5.16. 7 ms 8
8 ms 10
9 ms 11
10 ms 13
11 ms 14
12 ms 15
13 ms 17
14 ms 18
15 ms 20
16 ms 21
17 ms 22
18 ms 24
19 ms 25
20 ms 26
21 ms 28
22 ms 29
23 ms 30
24 ms 32
number of axes per module 2 axes maximum
module keying electronic
servo loop
type nested PI digital position and velocity servo
gain resolution 32-bit floating point
absolute position range ±1,000,000,000 encoder counts
rate 5 kHz
power dissipation 5.5W maximum
backplane current 5V dc @ 700 mA
24V dc @ 2.5 mA
encoder input
type incremental AB quadrature with marker
mode 4X quadrature
rate 4 MHz counts per second maximum
electrical interface optically isolated 5V differential
voltage range 3.4V to 5.0V differential
input impedance 531 Ohms differential

Specifications C-5
registration inputs
type optically isolated, current sourcing input
24V input voltage +24V dc nominal
maximum 26.4V
minimum on 18.5V
maximum off 3.5
5V input voltage +5V dc nominal
maximum 5.5V
minimum on 3.7V
maximum off 1.5V
input impedance
24V input 1.2 kOhms
5V input 9.5 kOhms
response time 1µs
all other inputs
type optically isolated, current sinking input
input voltage +24V dc nominal
maximum 26.4V
minimum on 17.0V
maximum off 8.5V
input impedance 7.5 kOhms
servo output
type analog voltage
isolation 200 kOhms
voltage range ±10V
voltage resolution 16 bits
load 5.6 kOhms resistive minimum
maximum offset 25 mV
gain error ±4%
all other outputs
type solid-state isolated relay contacts
operating voltage +24V dc nominal (Class 2 source)
maximum 26.4V
operating current 75 mA
RTB screw torque (cage clamp) 5lb-in. (0.5 Nm) maximum

C-6 Specifications
conductors
wire size 22 gauge (3.1mm2) minimum to copper1
3/64 inch (1.2 mm) insulation maximum
category
12,3
temperature
operating 0° to 60° C (32° to 140° F)
storage -40° to 85° C (-40° to 185° F)
agency certification
(when product or packaging is marked)4
Class I Division 2 Hazardous
marked for all applicable
1
Maximum wire size will require the extended depth RTB housing (1756-TBE).
2 Use this conductor category information for planning conductor routing as described in the system level
installation manual.
3 Refer to Programmable Controller Wiring and Grounding Guidelines, publication number 1770-4.1.
4
CSA certification - Class I Division 2, Group A, B, C, D or nonhazardous locations.

Glossary
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Glossary 13
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Glossary 14
Notes:

Index
Numerics with PLC and SLC controllers

1756-BA1& communication connection
1756-CP3 cable& compliance tables%
1756-M02AE servo module components$
1771 I/O connection configuring
controller fault handler routine
DF1 master
A DF1 point-to-point
accessing DF1 protocol
data DF1 slave
I/O I/O modules
accessing the FAULTLOG alias
ACD file extension changing configuration
alias controller ownership
defining for I/O data electronic keying
getting started
I/O update
tag type
inhibit operation
array concepts
indexing local
memory allocation logic scan
specifying bits naming
atomic data type remote
attributes program
converting data types routine
axis serial port
task
watchdog
B connecting to controller serial port
background function connection
base tag 1771 I/O
battery& allocating
bits within arrays consumed tag
branch DeviceNet I/O
direct connection
C failure
changing for I/O module
controller mode$ I/O fault
I/O configuration messaging
module properties monitoring
project properties produced tag
clearing a major fault rack-optimized
common attributes requirements
converting data types consumed tag
communicating creating
mapping addresses size limit
other controllers consumer
serial connection
using MSG instructions maximum number of produced and consumed tags
with another Logix5550 controller processing

2 Index
system-shared tag introduction

continuous task master
controller master/slave methods
faults point-to-point
shutting down slave
controller fault handler direct connection
controller memory documenting I/O
controller mode$ downloading
controller organizer$ project
controller ownership sample project
controller scope
converting data types
E
coordinated system time
creating electronic keying
consumed tag entering
controller fault handler program branch
produced tag logic
program sample logic
program fault routine example
project coordinated system time
routine get fault code for a module
sample I/O module getting started
sample project I/O fault bits
tags major fault
task minor fault
CST. See coordinated system time motion
power-up
D
data
F
accessing fault
atomic type connection$
definitions% controller
forcing controller fault handler
how stored creating
organizing get code for a module
predefined structures I/O connection
specifying bits I/O module
structure logic for major
logic for minor
I/O
major types and codes
introduction
minor types and codes
member module$
module-defined monitoring I/O
predefined processing major
user-defined processing minor
types program fault routine
DeviceNet I/O connection testing a fault routine
DF1 protocol types
configuring

Index 3
fault routine direct connection

testing electronic keying
FAULTLOG fault bits
accessing get fault code
forcing inhibit operation
description monitoring fault
disabling naming
enabling properties
entering rack-optimized connection
I/O tags update
monitoring I/O tags
removing forcing
front plate$ IEC 1131-3 compliance
data definitions%
instruction set%
G introduction%
getting started operating system%
adding an input module program portability%
adding an output module programming language%
changing module properties tables%
changing project properties indexing
creating a project individual tag
creating other tags inhibit I/O operation
documenting I/O with alias tags installing
downloading a project controller module
enter logic ESD precautions
installing preparing the controller
introduction instruction set%
project integrating motion
viewing controller memory usage introduction
viewing I/O tags
viewing program scan time
K
keying, electronic
H keyswitch$
hardware fault
L
I
LED states$
I/O module listen-only
1771 connection local
alias I/O module
changing configuration logic
configuring local branch
configuring remote entering
connection I/O update
connection fault major fault
controller ownership minor fault
creating sample scan
data structure
DeviceNet connection

4 Index
M N
major fault naming
clearing controller
controller I/O module
fault handler program
creating routine
description tag
logic task
power-up handler
processing O
program fault routine
operating system%
types and codes
organizing data
mapping an address
organizing project
master/slave communication
owner controller
member
ownership
memory
controller
usage P
memory allocation periodic task
base tag pinouts&
structure power up in Run mode
memory allocation, array power-up handler
memory expansion board& predefined structure
messaging connection prescan operations$
minor fault produced tag
description creating
logic size limit
processing producer
types and codes connection
mixing data types maximum number of produced and consumed tags
mode$ processing
module system-shared tag
get fault code program
viewing fault information$ configuring
module-defined structure controller fault handler
monitoring a connection creating
motion defining
autotuning developing
configuring an axis naming
hookup diagnostics portability%
integrating power-up handler
naming an axis scan time
selecting CST master scope
motion example unscheduled
MSG instruction programming example
multiple controllers coordinated system time
get fault code for a module
getting started
major fault

Index 5
minor fault master

monitoring forces point-to-point
motion RS-232
power-up slave
programming language% shutting down the controller
project slave/master communication
changing properties specifications
controller organizer 1756-BA1&
creating 1756-CP3 cable&
developing battery&
downloading controller&
file extension memory expansion board&
getting started serial cable pinouts&
organizing specifying bits
properties storing data
saving structure
uploading introduction
memory allocation
module-defined
R
predefined
rack-optimized connection referencing members
referencing members user-defined
remote system overhead
I/O module system-shared tag
removal and insertion under power connection for consumed tag
RIUP connection for produced tag
routine introduction
configuring maximum number of produced and consumed tags
configuring controller fault handler processing
creating
defining
naming T
program fault tag
testing a fault routine connection for consumed
connection for produced
consumed
S
creating
saving individual
project naming
save vs. save as predefined I/O structure
scan time produced
program sample alias
scope scope
serial size limit of a produced or consumed tag
1756-CP3 cable& system shared
cable pinouts& types
configuring DF1 protocol viewing I/O
configuring port task
connecting to controller serial port configuring
DF1 protocol continuous

6 Index
controller fault handler I/O

creating uploading
defining user-defined structure
naming using MSG instructions
periodic
system overhead
V
watchdog
testing a fault routine viewing
time controller memory usage
troubleshooting I/O tags
controller components$ program scan time
LED states$ viewing module fault information$
prescan operations$
W
U WALLCLOCKTIME
unscheduled program watchdog
update

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Logix5000

Attention statements help you to:

ControlNet is a trademark of ControlNet International, Ltd.

DeviceNet is a trademark of the Open DeviceNet Vendor Association.

Ethernet is a trademark of Digital Equipment Corporation, Intel, and Xerox Corporation.

Updated Information 7KLVGRFXPHQWKDVEHHQXSGDWHGWKURXJKRXW7KHPRVWVLJQLILFDQWFKDQJHV

For this new or updated information: See chapter:

1 Publication 1756-6.5.12 - October 1999

Publication 1756-6.5.12 - October 1999

Who Should Use This 7KLVGRFXPHQWSURYLGHVDSURJUDPPHUZLWKLQIRUPDWLRQDERXWKRZ

1 Publication 1756-6.5.12 - October 1999

Purpose of This Manual 7KLVPDQXDOLVLQWHQGHGWRKHOS\RXGHVLJQDQGRSHUDWHDV\VWHPXVLQJD

Conventions and Related 7KLVPDQXDOLQFOXGHVDJORVVDU\WRGHILQHFRPPRQWHUPV

Publication 1756-6.5.12 - October 1999

Publication 1756-6.5.12 - October 1999

Configuring Local I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Publication 1756-6.5.12 - October 1999

Configuring tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Publication 1756-6.5.12 - October 1999

Connections for consumed tags . . . . . . . . . . . . . . . . . . . . . . 7-11

Publication 1756-6.5.12 - October 1999

Handling Hardware Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

Publication 1756-6.5.12 - October 1999

Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3

Publication 1756-6.5.12 - October 1999

Using This Chapter 7KLVFKDSWHULQWURGXFHVWKH/RJL[FRQWUROOHUDQGSURYLGHVDTXLFN

ControlNet Remote I/O

ControlLogix Chassis PanelView

SLC 5/04 Controller PLC-5 Controller

PLC-5C Controller Block I/O

1 Publication 1756-6.5.12 - October 1999

Installing the Controller 7KHIROORZLQJGLUHFWLRQVVXPPDUL]HWKHSURFHGXUHIRULQVWDOOLQJD/RJL[

Publication 1756-6.5.12 - October 1999

Prepare the controller

Publication 1756-6.5.12 - October 1999

Install the controller

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Low Voltage Directive

Publication 1756-6.5.12 - October 1999

Creating and Downloading 7KHIROORZLQJGLDJUDPLOOXVWUDWHVWKHVWHSV\RXIROORZWRFUHDWHDQGGRZQORDG

System setup for this quick start:

 Create tags • RSLinx communication software

Publication 1756-6.5.12 - October 1999

You must enter a name.

Select the chassis type and specify

Select where to store the project

The software displays:

Publication 1756-6.5.12 - October 1999

A. Place the cursor over the Controller quick_start

B. Click the right mouse button and select Properties.

2. View the General tab.

Verify that the controller settings are

Publication 1756-6.5.12 - October 1999

Adding a local input

A. Place the cursor over the I/O Configuration

B. Click the right mouse button and select New

2. Select an input module to add.

Select a catalog number.

Publication 1756-6.5.12 - October 1999

Adding a local input module (continued)

You should enter a name. see chapter 3

Select the communication format.

Publication 1756-6.5.12 - October 1999

Updated Information 7KLVGRFXPHQWKDVEHHQXSGDWHGWKURXJKRXW7KHPRVWVLJQLILFDQWFKDQJHV

Conventions and Related 7KLVPDQXDOLQFOXGHVDJORVVDU\WRGHILQHFRPPRQWHUPV

Using This Chapter 7KLVFKDSWHULQWURGXFHVWKH/RJL[FRQWUROOHUDQGSURYLGHVDTXLFN

Installing the Controller 7KHIROORZLQJGLUHFWLRQVVXPPDUL]HWKHSURFHGXUHIRULQVWDOOLQJD/RJL[

Create tags • RSLinx communication software

Double-click the tag area of the instruction. Enter logic