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1. 9 6 Chapter 10 IntfOductiOns s iita de Eee eei what ege det s ae a RUP 10 1 Comparison of PID and PIDE Instructions 10 1 Guidelines for Programming PID Loops 10 2 Advanced Process Instructions eee 10 3 Faceplates idet eeepc ue UEM EXEAT E 10 3 Chapter 1 Logix5000 Controller Resources Introduction Depending on the controller resources are divided differently ControlLogix controllers memory is separated into two isolated sections Logic and Data Memory 1 0 Memory program source code 1 0 data Logix Backplane tag data CPU I 0 force tables CPU RSLinx tag group lists message buffers produced consumed tags e The Logix CPU executes application code and messages e The backplane CPU communicates with I O and sends receives data from the backplane This CPU operates independently from the Logix CPU so it sends and receives I O information asynchronous to program execution CompactLogix FlexLogix and DriveLogix controllers memory is in one contiguous section Logic Data and 1 0 Memory program source code 0 data Logix comms tag data I O force tables CPU 1 0 task task RSLinx tag group lists message buffers produced consumed These controllers have a single CPU that perfor
2. addition to file instructions e can only be changed when programming offline lt Nest arrays The file instructions offer limited support for arrays To work with array data create a user defined structure with one array as a member of the structure Then create an array tag using the user defined structure as its data type Select the data type of the array based on the data as well as the instructions that manipulate that data While SINT and INT arrays can compact more values into a given memory area they require additional memory and execution time for each instruction that references the array lt Limit arrays to 2 Mbytes of data The maximum array size is 2 Mbytes The software displays a warning if you try to create an array that is too large The software also displays a warning if an array is 1 5 2 Mbytes in size even though these sizes are valid Publication 1756 RM094A EN P May 2004 Addressing Data 3 5 Indirect Addressing 0f Arrays If you want an instruction to access different elements in an array use a tag in the subscript of the array an indirect address By changins the value of the tag you change the element of the array that your logic references When index equals 1 arraylindex points here array 0 4500 array 1 6000 array 2 3000 array 3 2500 When index equals 2 array index points here Directly referencin
3. e limited to 500 bytes over the backplane and 480 bytes over a network e must be scheduled when using ControlNet e data arrives asynchronous to program scan use CPS instruction and event tasks to synchronize e connection status must be obtained separately Chapter 5 Introduction Select a Network Designing Networks NetLinx Open Network Architecture is the Rockwell Automation strategy of using open networking technology for seamless top floor to shop floor integration The networks in the NetLinx architecture DeviceNet ControlNet and EtherNet IP share a universal set of communication services These are the recommended networks for Logix control systems Comparison EtherNet IP ControlNet DeviceNet Control 1 0 better BEST low density Configuration devices BEST BEST BEST Collect data BEST Better good Peer interlocking better BEST good Devices better better BEST Topologies star trunkline dropline trunkline dropline requires switches star with repeaters Capacity many nodes 99 nodes 63 nodes Performance BEST BEST good Publication 1756 RMO094A EN P May 2004 5 2 Designing Networks EtherNet IP Network Topology EtherNet IP network Topology e EtherNet IP supports messaging produced consumed tags and distributed 0 example 1 e EtherNet IP supports half full duplex 10 Mbps or 100 Mbps device operation e EtherNet IP requires no network
4. 5 total Publication 1756 RM094A EN P May 2004 1 6 Logix5000 Controller Resources Notes Publication 1756 RM094A EN P May 2004 Chapter 2 Introduction tasks to configure controller execution programs to group data and logic routines to encapsulate executable code written in a single programming language Dividing Logic into Tasks Programs and Routines The controller operating system is a preemptive multitasking system that is IEC 61131 3 compliant This environment provides A task provides scheduling and priority information for a set of one or more programs You can configure tasks as either continuous periodic or event A task can have as many as 32 programs each with its own routines and program scoped tags Once a task is triggered activated all the programs assigned to the task execute in the order in which they are listed in the Controller Organizer Programs are useful for projects developed by multiple programmers During development the code in one program that makes use of program scoped tags can be duplicated in a second program and minimize the possibility of tag names colliding Routines contain the executable code Each program has a main routine that is the first routine to execute within a program Use logic such as the Jump to Subroutine SR instruction to call other routines You can also specify an optional program fault routine See Developing Application Code in
5. e motion planner e I O processing e system overhead e output processing Publication 1756 RM094A EN P May 2004 2 6 Dividing Logic into Tasks Programs and Routines Factors that Affect Task Execution e et motion planner See also Optimizing an Application for Motion Control on page 8 1 The motion planner interrupts all other tasks regardless of their priority e he number of axes and coarse update period for the motion group affect how long and how often the motion planner executes e f the motion planner is executing when a task is triggered the task waits until the motion planner is done e f the coarse update period occurs while a task is executing the task pauses to let the motion planner execute 3 et 1 0 processing CompactLogix FlexLogix DriveLogix and SoftLogix controllers use a dedicated periodic task to process l O data This 1 0 task e For CompactLogix FlexLogix and DriveLogix operates at priority 6 For SoftLogix operates at Windows priority 16 Idle e Higher priority tasks take precedence over the I O task and can impact processing Executes at the fastest RPI you have scheduled for the system Executes for as long as it takes to scan the configured I O modules For local I O updates also occur at the end of each task e et system overhead See also Selecting a System Overhead Percentage on page 2 10 System overhead is the time that the controller spends
6. e1 BOOL tag Benefits Considerations MyBit BOOL e each bit has a specific tag e requires extra bandwidth to MyBit communication e uses more memory 32 bits for each tag e cannot use FBC DDT bit file instructions e A BOOL array combines multiple bits into adjacent words 32 bit words et BOOL array z z z Benefits Considerations BitTable BOOL 32 e consolidates multiple bits into a e BOOL data type only supported by single word bit instructions BitTable 10 WO JF e better use of memory e cannot use file instructions copy a4 e can address all bits in an array using HISUUCUOnS Or DDT FBC indirect addressing instructions e A DINT combines multiple bits into adjacent words et DINT array FaultTable DINT 3 FaultTable 0 18 Benefits Considerations e consolidates multiple bits into a single word e requires extra planning to indirectly address bits e difficult to address bits in the array using indirect addressing e file instructions copy instructions and DDT FBC instructions support DINT arrays e lets you access the bits by element word and bit number e em user defined structure BitStructure Bit1 BOOL Bit2 BOOL Fault BitStructure Fault Bit1 A user defined structure combines multiple bits into adjacent individually named words Benefits Considerations e object based e structures are not directly supported by 3rd party MMI EOI products RSView doe
7. JUaAa e snonunuo3 q uga ysg juo e uonanuysu Sysely 0 l OZ2169 quana e S18BBI1n 1u A8 uonoui NJA3 pue 19661 Be sabb Syselp ET69 1 e s i 66in aipouad snonunuoo juo syse g e x16072ANQ S00 x i3M0d snonunuoo Ajud syse g e xiBo1xo J t6 L snonunuoo Ajuo syse ze o 00gaxi amp omjos 68 1 Sxse1g 35ET 69 1 xifopoedwo 69 1 snonu uos Ajuo syse ze e x1607 019U09 9 1 SYSE 19 01 U09 nsuayeseyg uouiuio Introduction Preface Designing Logix5000 Systems This reference manual provides guidelines you can follow to optimize your system This manual also provides system information you need to make system design choices As you read this manual This symbol Indicates c guidelines you should follow programming practices that can improve system performance things you can do a considerations you should know when making design choices M system information that can affect system performance things you should know In addition to the controller specific topics covered in each chapter the back of this manual includes a e glossary of commonly used terms e list of related publications This manual is meant for experienced Logix system programmers The information in this manual is presented with the assumption that the reader understands how to implement the guidelines The list of related publications at the back of the manual identifies resources you
8. Professional or Gateway These instructions have faceplates e Alarm ALM e Enhanced Select ESEL e Totalizer TOT e Ramp Soak RMPS e Discrete 2 State Device D2SD e Discrete 3 State Device D3SD e Enhanced PID PIDE Glossary A Term atomic data type Term buffer C Term cache Definition BOOL SINT INT DINT and REAL data types Definition A temporary memory area used for queuing incoming and outgoing messages The buffer area of a device determines how many messages can be queued for processing Definition To leave a connection open for a MSG instruction that executes repeatedly coarse update rate Determines the periodic rate at which the motion task executes to compute the servo commanded position velocity and accelerations to be sent to the motion modules when executing motion instructions compound data type array structure and string data types connection A communication link between two devices such as between a controller and an 1 0 module PanelView terminal or another controller e connections are allocations of resources that provide more reliable communications between devices than unconnected messages e you indirectly determine the number of connections the controller uses by configuring the controller to communicate with other devices in the system consumed tag A tag that receives the data that is broadcast by a produced tag over an Ether
9. Routines on page 2 12 for information on selecting programming languages and how the controller prescans and postscans logic Publication 1756 RM094A EN P May 2004 2 2 Dividing Logic into Tasks Programs and Routines Deciding When to Use Tasks Programs and Routines Comparison Quantity available routine Task varies by controller 4 8 or 32 Program 32 programs per task Use these considerations to determine when to use a task program or Routine unlimited number of routines per program Function determines how and when code organizes groups of routines that contains executable code relay will be executed need to share a common data area ladder function block diagram sequential function chart or structured text that controls the machine Use e most code should reside in e put major equipment pieces e isolate machine or cell a continuous task e use a periodic task for slower processes or when time based operation is critical e use an event task for operations that require synchronization to a specific event or plant cells into isolated programs e use programs to isolate different programmers or create reusable code e configurable execution order within a task functions in a routine e use the appropriate language for the process e modularize code into subroutines that can be called multiple times Considerations e a high number of tasks can be diffic
10. Timer Preset 0 Accum 0 The JSR instruction passes the index JSR Jam Photoeye l TON Jump To Subroutine JE Direct reference to a Timer On Delay EN Routine Name Jam gt Timer Jam Timer DN5 Input Par PE_Jams 0 local copy of data Preset Input Par Photoeye PE1 o Accum 0 Return Par PE Jams 0 Jam Timer DN Jam Blocked JE JE EE The JSR instruction lump To Subroutine Routine Name Jam E e teen passes all control al Input Par Photoeye PE2 1 Return Par PE Jams 1 Instance data Return Par Jam The capabilities of the Logix5000 controllers make different programming methods possible There are tradeoffs to consider when selecting a programming method Write multiple copies of the code with different tag references Photoeye PE1 TON JE Timer On Delay EN Timer Jam Timer DND Preset 5000 Accum O lt Jam Timer1 DN PE1 Blocked JF 4L AL Photoeye PE2 TON JE Timer On Delay EN Timer Jam Timer2 Dh5b Preset 5000 Accum De Jam Timer2 DN PE2 Blocked Jii L Write one copy of code and use indexed references to data stored in arrays SBR Subroutine Input Par Index Input Par Photoeye Photoeye TON JE Timer On Delay EN Jam_Timers Index DN Each indexed reference adds to scan time Jam Timers Index DN FE PE_Blocked Index JE q RET Return Copy t
11. arrays or user defined structures consolidate the data The byte limit of lt 500 bytes per produced and consumed tag still applies Make sure the number of consumers configured for a produced tag is the actual number of Configure the number of consumers accurately controllers that will consume the tag If you set the number higher than the actual number of controllers you unnecessarily use up connections The default is 2 consumers per produced tag If there are multiple produced and consumed connections between two controllers and one Multiple produced consumed connections are linked connection fails all the produced and consumed connections fail Consider combining all produced and consumed data into one structure or array so that you only need one connection between the controllers Configuring an Event Task Based on a Consumed Tag An event task executes automatically based on a preconfigured event occurring One such event can be the arrival of a consumed tag e Only one consumed tag can trigger a specific event task e Typically use an IOT instruction in the producing controller to signal the production of new data e When a consumed tag triggers an event task the event task waits for all the data to arrive before the event task executes Publication 1756 RM094A EN P May 2004 4 4 Sharing Tag Data with Other Controllers Produced and Consumed Tags Comparing Messages and Produced Consumed Ta
12. but you can create custom length string data types to hold as many characters as needed Only some instructions support string data types These comparison instructions support string tags EQU NEQ GRT GEG LES LEQ CMP These serial port instructions support string tags ARD ARL AWA AWT These string handling instructions support string tags STOD DTOS STOR RTOS CONCAT MID FIND DELETE INSERT UPPER LOWER SIZE These file instructions support string arrays FAL FFL FFU LFL LFU COP CPS FSC Use the SIZE instruction to determine the number of characters in a string By determining the number of characters in a string at run time you can write reusable code that adjusts itself to meet each instance where it is used e Using the DTOS RTOS and CONCAT instructions you can embed tag values within a string The SLC 500 processor supports the ability to embed a data table reference address within a string inline indirection The SLC 500 AWA and AWT instructions can then look up the data value and place an ASCII representation into the outgoing string The Logix5000 controller does not directly support this ability Use the DTOS or RTOS instructions to convert a value to a string and the CONCAT instruction to merge characters with another string PLC 5 SLC 500 Access of Strings Publication 1756 RM094A EN P May 2004 The ASCII A data table in the PLC 5 and SLC 500 processors uses a string form
13. can use for more details on how to implement the guidelines Publication 1756 RM094A EN P May 2004 ii Designing Logixb000 Systems Important User Information Publication 1756 RMO084A EN P May 2004 Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for tbe Application Installation and Maintenance of Solid State Controls Publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www ab com manuals gi describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or soft
14. for DINTs and REALs BOOLs also align on 8 bit boundaries but if they are placed adjacent to each other in a user defined structure they are mapped so that they share the same byte Arrays within structures can only be 1 dimension If you include an array as a member limit the array to a single dimension Multi dimension arrays are not permitted in a user defined structure 1 0 data used in structure must be copied into the members If you include members that represent 1 0 devices you must use logic to copy the data into the members of the structure from the corresponding 1 0 tags Limit user defined structures to 500 members Logix5000 controllers limit user defined structures to 500 members If you need more consider nesting structures within the main structure Produced and consumed tags are limited to 500 bytes over the backplane and 480 bytes if Limit the size of user defined structures if they are to be communicated over a network RSLinx can optimize user defined structures that are less than 480 bytes Publication 1756 RM084A EN P May 2004 3 8 X Addressing Data Selecting a Data Type for Bit Tags Bits in a Logix5000 controller can exist as BOOL tags bits in a BOOL array bits in elements of a SINT INT DINT array members of a user defined structure or as bits in a SINT INT DINT member of a user defined structure 94 Each tag accesses a specific bit Each tag uses 4 bytes
15. group triggers the execution of both the motion planner and the event task Because the motion planner interrupts all other tasks it executes first If you assign the event task as the highest priority task it executes after the motion planner For information on configuring an event task see Chapter 2 Dividing Logic into Tasks Programs and Routines Publication 1756 RM094A EN P May 2004 8 4 Optimizing an Application for Motion Control Notes Publication 1756 RM094A EN P May 2004 Chapter 9 Introduction Platform PanelView Plus Optimizing an Application for Use with HMI Rockwell Automation offers several HMI human machine interface platforms Description dedicated machine level HMI RSView ME open machine level HMI RSView SE Station single workstation supervisory level HMI RSView SE Distributed multi server multi client supervisory level HMI RSView32 single station or single server multi client supervisory level HMI RSLinx software software products that provide plant floor device connectivity for HMI applications includes e RSLinx Classic also known as RSLinx 2 x e RSLinx Enterprise Deciding how to implement HMI Method Benefits Considerations Single HMI e all HMI EOI support this method e single point of failure for visualization e limited number of controller connections e only one person can monitor a single display e no server to setup and manage a
16. on message communication and background tasks e Message communication is any communication that you do notconfigure through the 1 0 configuration folder of the project such as MSG instructions e Message communication occurs only when a periodic or event task is not running If you use multiple tasks make sure that their scan times and execution intervals leave enough time for message communication e System overhead interrupts only the continuous task e The system overhead time slice specifies the percentage of time excluding the time for periodic or event tasks that the controller devotes to message communication e he controller performs message communication for up to 1 ms at a time and then resumes the continuous task e Adjust the update rates of the tasks as needed to get the best trade off between executing your logic and servicing message communication e et output processing At the end of a task the controller performs overhead operations output processing for the output modules in your system This output processing may effect the update of the 1 0 modules in your system You can turn off output processing for a specific task which reduces the elapsed time of that task e et too many tasks If you have too many tasks then e The continuous task may take too long to complete e Other tasks may experience overlaps If a task is interrupted too frequently or too long it may not complete its execution
17. one of the tasks completes execution The Logix5000 controller has these types of tasks Publication 1756 RM094A EN P May 2004 2 4 Dividing Logic into Tasks Programs and Routines Priority Highest Lowest User Task Description na CPU overhead serial port and general CPU operations na Motion planner executed at coarse update rate na Redundancy task communications to 1757 SRM in redundant systems na Trend data collection high speed collection of trend data values Priority 1 Event Periodic na Priority 2 Event Periodic na Priority 3 Event Periodic na Priority 4 Event Periodic na Priority 5 Event Periodic na Priority 6 Event Periodic CompactLogix and FlexLogix controllers process I O as a periodic task based on the chassis RPI setting Priority 7 Event Periodic na Priority 8 Event Periodic na Priority 9 Event Periodic na Priority 10 Event Periodic na Priority 11 Event Periodic na Priority 12 Event Periodic DriveLogix communications to drives CompactLogix and FlexLogix communications and scheduled connection maintenance Priority 13 Event Periodic na Priority 14 Event Periodic na Priority 15 Event Periodic na Continuous Message handler based on system overhead timeslice Publication 1756 RM094A EN P May 2004 Dividing Logic into Tasks Programs and Routines 2 5 Managing User Tasks If you want logic to execute all of the time
18. per Module Connections local 1 0 module always a direct connection x 1 motion servo module x 3 ControlNet communication module x 0 EtherNet IP communication module x 0 DeviceNet communication module x 2 DH Remote 1 0 communication module x 1 RSLogix 5000 programming software access to controller x 1 total The communication module s you select determines how many remote connections are available for I O and information Use this table to tally remote connections Connection Type Device Connections Quantity x per Module remote ControlNet communication module X configured as a direct none connection 0 or configured as a rack optimized connection Total Connections distributed 1 0 module over ControlNet direct connection X remote EtherNet IP communication module X configured as a direct none connection 0 or configured as a rack optimized connection distributed 0 module over EtherNet IP direct connection X remote device over DeviceNet x 0 accounted for in rack optimized connection for local DeviceNet module other remote communication adapter X produced tag and first consumer X each additional consumer consumed tag X connected message CIP Data Table Read Write and DH X block transfer message X RSLinx software access for HMI or other software applications x 4 RSLinx Enterprise software for HMI or other software applications x
19. prescan on structured Use the bracketed assignment operator to force a value to be reset during prescan ext logic on I If you want a tag left in its last state use the non bracketed assignment operator 4 Embedded structured text follows the same rules as listed above et affects of prescan on sequential function chart logic MT em affects of prescan on array indexed values Array index values can fault the controller during prescan If an array index value is larger than the dimension of the array the controller will detect a major fault during prescan To avoid this make sure the index is always set properly or use a fault routine to handle this error during prescan See Prescan of an Array Index on page 3 6 Controller Postscan of SFC Logic Publication 1756 RM094A EN P May 2004 SFCs support an automatic reset option that performs a postscan of the actions associated with a step once a transition indicates that the step is completed Also every Jump to Subroutine JSR instruction causes the controller to postscan the called routine During this postscan e output energize OTE instructions are turned off and non retentive timers are reset e in structured text code use the bracketed assignment operator 2D to have tags reset e in structured text code use the non bracketed assignment operator to have tags left in their last state Chapter 3 Addressing Data Introduction Logix500
20. scheduling and no routing switch tables e There are several methods available to configure EtherNet IP device device network parameters for devices Not all methods are available at all times These methods are device and configuration dependent example 2 DHCP router Rockwell Automation BOOTP DHCP utility RSLinx software switch switch RSLogix 5000 software RSNetWorx for EtherNet IP software device device device device Application Ideas e connect many computers e default gateway to business systems e star topology best for few nodes and short distances Publication 1756 RM094A EN P May 2004 Guidelines for EtherNet IP Designing Networks 5 3 For EtherNet IP control you must use an industrial grade switch that supports Make sure the switch has the required features i full duplex on all ports IGMP snooping constrains multicast traffic to ports associated with a specific IP multicast group most switches require a router for IGMP snooping to function if you have a stand alone network make sure the switch supports IGMP snooping without a router present port mirroring VLAN virtual local area network to isolate traffic flow for different systems both autonegotiation and manual configuration of duplex and speed wire speed switching fabric SNMP Simple Network Management Protocol to obtain
21. the task interrupts the continuous task After executing the continuous task again for 4 ms the controller triggers the system overhead The triggers occur for event task 1 OCIO Event task 1 waits until the motion planner is done Lower priority tasks experience longer delays The continuous task automatically restarts Publication 1756 RM094A EN P May 2004 2 8 Dividing Logic into Tasks Programs and Routines Configuring a Continuous Task Configuring a Periodic Task Configuring an Event Task Use this trigger Module Input Data State Change The continuous task is created automatically when you open an RSLogix 5000 project A continuous task is similar to how logic executes on PLC 5 and SLC 500 processors A Logix5000 controller supports one continuous task but a continuous task is not required You can configure whether the task updates output modules at the end of the continuous task You can change the continuous task to either a periodic or event task The CPU timeslices between the continuous task and system overhead Each task switch between user task and system overhead takes additional CPU time to load and restore task information See Selecting a System Overhead Percentage on page 2 10 A periodic task executes automatically based on a preconfigured interval This task is similar to selectable timed interrupts in PLC 5 and SLC 500 processors You can configure whether the task upd
22. unique to ControlNet communications A scheduled connection lets you send and receive data repeatedly at a predetermined rate which is the requested packet interval RPI For example a connection to an I O module is a scheduled connection because you repeatedly receive data from the module at a specified rate Other scheduled connections include connections to e communication devices e produced consumed tags On a ControlNet network you must use RSNetWorx for ControlNet to enable all scheduled connections and establish a network update time NUT structure Some data types are a structure e A structure stores a group of data each of which can be a different data type e Within a structure each individual data type is called a member e Like tags members have a name and data type e You create your own user defined structure using any combination of individual tags and most other structures e To copy data to a structure use the COP instruction system overhead timeslice U Term unconnected message Specifies the percentage of controller time excluding the time for periodic tasks that is devoted to communication and background functions system overhead Definition An unconnected message is a message that does not require connection resources An unconnected message is sent as a single request response Publication 1756 RM094A EN P May 2004 Notes Publication 1756 RM094A EN P May 2004 L
23. 0 0 Data 2 C Local 0 0 Data 2 C BOOL Decimal drill 1 retract Local 0 0 Data 4 C Local0 0 Data 4 C BOOL Decimal FE hole position REAL 6 6 Float machine on BOOL Decimal EE north tank tanks 0 1 tanks 0 1 TANK north tank drain BOOL Decimal i For more information on I O tags see Chapter 6 Communicating with I O Publication 1756 RM094A EN P May 2004 3 12 Addressing Data Guidelines for Base Tags lt Create stand alone atomic tags The controller supports pre defined stand alone tags e Atomic tags are listed directly in the Tag Editor and Data Monitor and can be easily located by browsing the alphabetical list e Atomic tags can be created on line but the data type can only be modified off line e Using only atomic tags can impact HMI communications performance as more information must be passed and acted on lt Create user defined structures User defined structures data types let you organize your data to match your machine or process e One tag contains all the data related to a specific aspect of your system This keeps related data together and easy to locate regardless of its data type e Each piece of data member gets a descriptive name e You can use the structure to create multiple tags with the same data layout e User defined structure can only be modified off line e RSLinx optimizes user defined structures more than stand alone tags Use arrays l
24. 0 controllers support IEC 61131 3 atomic data types such as BOOL SINT INT DINT and REAL The controllers also support compound data types such as arrays predefined structures such as counters and timers and user defined structures e et atomic data type BOOL SINT INT DINT REAL Benefits e individual names e no limit to the number of tags e Jag Editor and Data Monitor can filter individual tags and display any references e always listed alphabetically in the Tag Editor and Data Monitor e full alias tag support both the base tag and its bits e can be added when programming online Considerations e each tag uses 32 bits of memory e require more communications overhead and potentially more controller memory than compound data types can only change a tags data type when programming offline the root tag is listed alphabetically in the Tag Editor and Data Monitor but the structure members are listed in the order in which they were defined in the structure MT en compound data type array structure Benefits allow for specific names and user defined organization consolidates information in controller memory optimizes communications time and memory impact arrays can be dynamically indexed can create new arrays when programming online alias support for user defined structures members of an array and bits of a member Considerations e 2 Mbyte data limit per user defi
25. 6 CPU Overhead Continuous task 2596 CPU overhead Periodic task CPU Overhead Example Continuous task 1096 CPU overhead The system overhead timeslice specifies the percentage of continuous task execution time that is devoted to communication and background functions System overhead functions include e communicating with programming and HMI devices such as RSLogix 5000 software e responding to messages e sending messages e serial port message and instruction processing The controller performs system overhead functions for up to 1 ms at a time If the controller completes the overhead functions in less than 1 ms it resumes the continuous task The following chart compares a continuous and periodic task Continuous task restarts Periodic task restarts Description In the top example the system overhead timeslice is set to 1096 Given 40 msec of code to execute the continuous task completes the execution in 44 msec During a 60 msec timespan the controller is able to spend 5 msec on communications processing Continuous task 2596 CPU overhead By increasing the system overhead timeslice to 2596 the controller completes the continuous task scan in 57 msec and spends 15 msec of a 60 msec timespan on communications processing Periodic task Publication 1756 RM094A EN P May 2004 Placing the same code in a periodic task yields even more time for communications processing The bottom example assumes th
26. 6 RM094A EN P May 2004 9 4 Optimizing an Application for Use with HMI Guidelines for RSLinx Software Use RSLinx software as the data server for multiple HMIs For multiple HMI stations e leverage remote OPC RSLinx Classic software or FactoryTalk RSLinx Enterprise software for data collection e only the RSLinx data server should have an active topic e do not configure or use topics on the HMI stations e RSLinx software does not need to be on the HMI stations Do not use too many RSLinx stations The performance of tag collection decreases as the more RSLinx stations collect data from the same controller Use an RSLinx Gateway station and have the other data collection stations use remote OPC for data collection Account for delay time when adding removing scanned tags When switching from one HMI screen to another it takes time to put items in the controller on scan and take items off scan Part of this time delay is due to the controller allocating system RAM for the optimization buffer To eliminate this delay when switching between HMI screens put the items in the HMI screens on scan and leave them on scan For example you can create a data log to keep the items on scan Then when switching between HMI screens data collection continues without interruption RSLinx Enterprise and RSView SE software account for this time delay When HMI screens change these applications deactivate tags rather than remov
27. A Tel 1 864 297 4800 Fax 1 864 281 2433 Europe Rockwell Automation Brihlstra amp e 22 D 74834 Elztal Dallau Germany Tel 49 6261 9410 Fax 49 6261 17741 Asia Pacific Rockwell Automation 55 Newton Road 11 01 02 Revenue House Singapore 307987 Tel 65 351 6723 Fax 65 355 1733 Publication 1756 RM094A EN P May 2004 PN 957867 08 Copyright 2004 Rockwell Automation Inc All rights reserved Printed in the U S A
28. Allen Bradley Logix5000 Controllers Design Considerations 1756 Lx 1769 Lx 1789 Lx 1794 Lx PowerFlex 700S Reference Manual Rockwell Automation Logix5000 Controllers Comparison s unno1 euj3 x yey uonounjjenuanbas e jeu3uonounjjenuanbas e yeya uoloun jeuanbas e yeya uonounjjenuanbas e yey volun jeuenbes e xyoojquonounj e xoojquonounj e Xoo quonounj e Xoojquonounj e Xoo quonounj e ixeppemonns e ixejpemonns e ixejpemmon s e ixejpemonns e 1X9 paunjonys e Jappe Aejal e Jappe Aejal e Jappe Aejal e Jappe Aejal e Jappe Aejal e s BenBue Burwwesbod el NIG e1 NIG suondo uoi e jejsut S00 X9 4190g u peppequie junow jaued auou junow jaued SISSBY 9G 10 pue Bununoui 9eji9jul 3ipneJp i sixe y2eqpao aveau Dojeue eoeyiojur Dojeue OMAS n 9 qeoi dde jou 9936j191ul S02343S 9 qeoi dde jou 9936j191ul S02343S yoddns uonoui pajeiBajul xurquouAs S8t H eunnoi Jappe ei snqpojv S8b Hd Ggt HQ enas sejtjoid 9ugu b unnoi Jeppe ei snqpoy unnoi Jeppe ei SNGPON Ggt Hd O e10ueg jesjewuf pue sjonpoud Ayed pug el ajqejreae eus jenas jenas eunnoi 19ppe ei SNGPON sn d AewuBiH eq ale suondo 13470 uuojle d 18N 3IA9 18N 3IA9 1 N 3IA9 1 N 3IAS 1194 10J S 1J01d pue sjonpoud jeNjonuo 18NI011u09 jeNIoQuo 18NI 01uo9 aiylaads aney suondo s u di 19NJ9uI3 di 19NJ9u13 di 19NJ9u13 d di 19NJ9uI3 suondo uoneaiunuiuioo ISV 40 L4G yod jenas Z Z St pue y
29. I Rate for 1 0 Modules When adding I O modules to a controller project you specify a Requested Packet Interval RPD rate Depending on the controller platform you can select an RPI rate per module ControlLogix or an RPI rate per controller CompactLogix and FlexLogix The RPI value is the rate at which the controller attempts to communicate with the module Specify an RPI at 50 of the rate you actually need Setting the RPI faster specifying a smaller number than what your application needs wastes network resources such as ControlNet schedule bandwidth network processing time and CPU processing time For example if you need information every 80 msec set the RPI at 40 msec The data is asynchronous to the controller scan so you sample data twice as often but no faster than you need it to make sure you have the most current data Group devices with similar performance needs onto the same module By grouping devices with similar performance needs on the same module you consolidate data transmission to one module rather than multiple modules This conserves network bandwidth Set the ControlNet network update time NUT equal to or less than the fastest RPI When configuring a ControlNet network set the network update time NUT equal to or less than the fastest RPI of the I O modules and produced consumed tags in the system For example if your fastest RPI is 10 msec set the NUT to 5 msec for more flexibility
30. I ad s e One tag contains all the data related to a specific aspect of your system This keeps or arrays related data together and easy to locate regardless of its data type e Each individual piece of data member gets a descriptive name This automatically creates an initial level of documentation for your logic e You can use the structure to create multiple tags with the same data lay out e RSLinx optimizes user defined structures more than stand alone tags If a message executes repeatedly cache the connection This keeps the connection open and Cache connections when optimizes execution time Opening a connection each time the message executes increases appropriate execution time If a message executes infrequently do not cache the connection This closes the connection upon completion of the message which frees up that connection for other uses Each message uses one connection regardless of how many devices are in the message Use one message instruction path To conserve connections you can configure one message instruction to sequentially multiple times for multiple read from or write to a different device each time it executes On each execution the devices instruction breaks its connection from one device and re establishes the connection to a subsequent device The system overhead timeslice percentage you configure for the controller determines the percentage of controller time excluding the time for periodic and eve
31. Net IP network ControlNet network or ControlLogix backplane A consumed tag must be e controller scope e same data type including any array dimensions as the remote tag produced tag See produced tag controller scope D Term direct connection E Data accessible anywhere in the controller The controller contains a collection of tags that can be referenced by the routines and alias tags in any program as well as other aliases in the controller Scope See program scope Definition A direct connection is a real time data transfer link between the controller and an I O module The controller maintains and monitors the connection with the I O module Any break in the connection Such as a module fault or the removal of a module while under power sets fault bits in the data area associated with the module See rack optimized connection Term Definition element An addressable unit of data that is a sub unit of a larger unit of data A single unit of an array or Structure explicit A connection that is non time critical and is request reply in nature Executing a MSG instruction or executing a program upload are examples of explicit connections Explicit refers to basic information source address data type destination address etc that is included in every message See implicit Publication 1756 RMO094A EN P May 2004 Term Definition implicit A connection that is time critical i
32. OS drives 1756 L60 controller with embedded SERCOS interface 1756 MOBSE 8 axes RA SERCOS drives 1756 M16SE 16 axes RA SERCOS drives 1756 MO2AE 2 axes RA and third party e analog command signal e quadrature encoder feedback 1756 HYD02 RA and third party e analog command signal e linear transducer feedback 1756 M02AS RA and third party e analog command signal e SSI feedback SoftLogix 1784 PM16SE 16 axes RA SERCOS drives e maximum of four 1784 PM16SE cards per computer e associate only one 1784 PM16SE card with one controller 1784 PMO2AE 2 axes RA and third party e maximum of four 1784 PMO2AE cards per computer e analog command signal e maximum of four 1784 PMO2AE cards can be associated e quadrature encoder feedback with one controller e cannot associate a 1784 PMO2AE motion card with the same controller as a 1784 PM16SE card Performance Limits The motion planner interrupts all other tasks regardless of priority e The number of axes and coarse update period for the motion group effect how long and how often the motion planner executes e If the motion planner is executing when a task is triggered the task waits until the motion planner is done e If the coarse update rate occurs while a task is executing the task pauses to let the motion planner execute Publication 1756 RM094A EN P May 2004 Optimizing an Application for Motion Control 8 3 Motion Event Task Triggers An event task exe
33. Publication 1756 RM094A EN P May 2004 6 8 Communicating with 1 0 Notes Publication 1756 RM094A EN P May 2004 Chapter 7 Communicating with Other Devices Introduction The MSG instruction asynchronously reads or writes a block of data to another device If the target device is a Select one of these message types Logix5000 controller CIP Data Table Read CIP Data Table Write 1 0 module that you configure using Module Reconfigure RSLogix 5000 software CIP Generic PLC 5 controller LC5 Typed Read LC5 Typed Write LC5 Word Range Read P P P PLC5 Word Range Write S S SLC controller MicroLogix controller LC Typed Read LC Typed Write Block transfer module Block Transfer Read Block Transfer Write PLC 3 processor PLC3 typed read PLC3 typed write PLC3 word range read PLC3 word range write PLC 2 processor PLC2 unprotected read PLC2 unprotected write Publication 1756 RM094A EN P May 2004 7 2 Communicating with Other Devices Caching Messages Some types of messages use a connection to send or receive data Some also give you the option of either leaving the connection open cache or closing the connection when the message is done transmitting The following table shows which messages use a connection and whether or not you can cache the connection This type of message Using this communication Usesa Which you method connection ca
34. R RE 3 11 Guidelines for Base Tags cedex c cope ge RE EIE REX 3 12 Grea ng Alias Tags uu fe ae ek Ree Ce EEUU ae C ERE z GA 3 13 Guidelines for Data Scope s a uu dedes ee 3 13 Chapter 4 Introduction ccc mes ua C oo e gun dos Vs Da Res ud Rc 4 1 Guidelines for Creating Produced and Consumed Tags 4 2 Guidelines for Specifying an RPI Rate lees 4 3 Guidelines for Managing Connections for Produced and Consumed Tags 4 3 Configuring an Event Task Based on a Consumed Tag 4 3 Comparing Messages and Produced Consumed Tags 4 4 Publication 1756 RM094A EN P May 2004 Table of Contents 2 Designing Networks Communicating with 1 0 Communicating with Other Devices Optimizing an Application for Motion Control Optimizing an Application for Use with HMI Optimizing an Application for Process Control Publication 1756 RM094A EN P May 2004 Chapter 5 Introduction 2 44 vest ER a eU E uL ut stes 5 1 Select Network us na vw ee C DDR A t MTM AT D AR REA 5 1 EtherNet IP Network Topology eee 5 2 Guidelines for EtherNet IP c yy eese iet es 5 3 ControlNet Network Topology lees 5 4 Guidelines for ControlNet ee 5 5 DeviceNet Network Topology lisse ess 5 6 Guidelines for DeviceNet sees 5 7 Chapter 6 Inttoduction 4s veh DEN eR SX HERES 6 1 Buffering VO Datass cs cO daw Oia Beales E ER 6 1 Guidelines for Specifying an RPI Rate fo
35. You can configure these user task Then use a continuous task Description The continuous task runs in the background Any CPU time not allocated to other operations or tasks is used to execute the continuous task e he continuous task runs all the time When the continuous task completes a full scan it restarts immediately e A project does not require a continuous task If used there can be only one continuous task e at a constant period e g every 100 ms e multiple times within the scan of your other logic periodic task A periodic task performs a function at a specific time interval Whenever the time for the periodic task expires the periodic task e interrupts any lower priority tasks e executes one time e returns control to where the previous task left off immediately when an event occurs event task An event task performs a function only when a specific event trigger occurs Whenever the trigger for the event task occurs the event task e interrupts any lower priority tasks e executes one time e returns control to where the previous task left off See Configuring an Event Task on page 2 8 for the triggers for an event task Some Logix5000 controllers do not support all triggers The user tasks you create show up in the Tasks folder of the controller These pre defined system tasks do not show up in the Tasks folder and they do not count toward the task limit of the controller
36. a according to similar update intervals To conserve network bandwidth use a greater RPI for less critical data lt Use one of these data types e DINT e REAL e array of DINTs or REALs e user defined structure To share data types other than DINT or REAL create a user defined structure to contain the required data Use the same data type for the produced tag and the corresponding consumed tag or tags Use a user defined structure to produce or consume INT or SINT data To produce or consume INT or SINT data create a user defined structure with INT or SINT members The members can be individual INTs or SINTs or the members can be INT or SINT arrays The resulting user defined structure can then be produced or consumed The data type in the producer and the consumer must match The data type for a produced or consumed tag must be the same in both the producer and the consumer Produce tags based on user defined structures to non Logix devices The controller produces tags in 32 bit words For devices that communicate in other word boundaries such as 16 bit words the resulting data in the target device can be misaligned To help avoid misalignment structure the produced data in a user defined structure Use a CPS instruction to buffer produced and consumed data Use the CPS instruction to copy the data to the outgoing tag on the producer side Then use another CPS instruction to copy the data into a buffe
37. al receiving of RSLinx connections 16 cached message buffers 16 cached block transfer buffers The cached buffers are outgoing buffers for cached messages and cached block transfers A cached connection helps message performance because the connection is left open and does not need to be reestablished next time it is executed If you cache more than 16 messages in either set of buffers the controller looks at the current buffers to determine how to deal with the additional cached messages The controller will look for a connection that has been inactive for the longest time and close that connection and allow a new one to take its place But if all 16 cached connections are in use the message will use one of the 10 unconnected out going buffers If all the unconnected buffers are in use the message instruction will error with code 301 No Buffer Memory or 302 Bandwidth Not Available With revision 12 and higher controller firmware you can cache 32 messages For optimum performance do not cache more than 32 messages If you cache more than 32 messages the controller looks for a connection that has been inactive for the longest time closes that connection and allows a new connection take its place The controller will close a cached message or block transfer depending on which has been inactive the longest If all 32 cached connections are in use the message will use one of the unconnected out going buffers The first time a cac
38. at that is similar to the Logix string data type The main difference is that the LEN field length in a PLC 5 SLC 500 processor is a 16 bit INT value whereas the LEN field in a Logix5000 controller is a 32 bit DINT field This difference can impact converted logic and data communications The Logix5000 controller will convert the LEN field to the appropriate value and size when a PLC 5 SLC 500 message format is used to read or write a string Addressing Data 3 11 Configuring Tags A tag is a text based name for an area of the controller s memory where data is stored Tags are the basic mechanism for allocating memory referencing data from logic and monitoring data If you want the tag to Then choose this type store a value for use by logic within the project Base use a different name for an existing tags data Alias can help simplify long pre determined tag names such as for I O data or user defined structures send broadcast data to another controller Produced receive data from another controller Consumed Program Tags MainProgram or Scope MainProgram x Show Show Al z Sort Tao Name x Alias For FE drill 1 DRILL STATION drill 1 depth limit Local2 l Data 3 C Local2l Data 3 C BOOL Decimal drill 1 forward Local 0 0 Data 3 C Local 0 0 Data 3 C BOOL Decimal drill 1 home limit Local 2 Data 2 C Local 2 Data 2 C BOOL Decimal drill 1 on Local
39. ates output modules at the end of the periodic task After the task executes it does not execute again until the configured time interval has elapsed If your application has a lot of communications such as message instructions or RSLinx communications use a periodic task rather than a continuous task This avoids the overhead associated with task switching which can improve performance An event task executes automatically based on a preconfigured event occurring You can configure whether the task updates output modules at the end of the task After the task executes it does not execute again until the configured event occurs again Each event task requires a specific trigger that defines when the task is to execute You can select from Description The input module digital or analog triggers the event task based on the change of state COS configuration for the module Enable COS for only one point on the module If you enable COS for multiple points a task overlap of the event task may occur The ControlLogix sequence of events modules 1756 IB16ISOE 1756 IH16ISOE use the Enable CST Capture feature instead of COS Consumed Tag Only one consumed tag can trigger a specific event task Use an IOT instruction in the producing controller to signal the production of new data Axis Registration 1 or 2 A registration input triggers the event task Axis Watch A watch position triggers the event task Motio
40. b_remote l Slot 10 cnb_remote l Slot 11 cnb_remote l Slot 12 cnb_remote l Slot 13 cnb_remote l Slot 14 cnb_remote l Slot 15 ch Clan er AEdtTags d 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 AB 1756_CNB_SLOT 1 0 AB 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 4B 1756_CNB_SLOT 1 0 AD 47EC CMD ci BE Communicating with 1 0 6 7 Controller Ownership When you choose a communication format you have to choose whether to establish an owner or listen only relationship with the module e The owner controller writes configuration data and can establish a connection to the et owner module e A controller using a listen only connection only monitors the module It does not write et listen only configuration data and can only maintain a connection to the 1 0 module when the owner controller is actively controlling the I O module There is a noted difference in controlling input modules versus controlling output modules Controlling This ownership input modules owner Description 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 controll
41. before it is triggered again e Controller communications might be slower e f your application is designed for data collection try to avoid multiple tasks Switching between multiple tasks limits communication bandwidth Publication 1756 RM094A EN P May 2004 Dividing Logic into Tasks Programs and Routines The following example depicts the execution of a project with these tasks Task Priority Period Execution time Duration motion planner n a 8 ms course update rate 1 ms 1 ms event task 1 1 n a 1 ms 1to 2 ms periodic task 1 2 12 ms 2 ms 2to4 ms 1 0 task n a to ControlLogix and 7 5 ms fastest RPI 1 ms 1to5 ms SoftLogix controllers system overhead n a time slice 2096 1 ms 1to 6 ms continuous task n a n a 20 ms 48 ms Task is interrupted suspended Legend Task executes motion i B B B B E B planner event task 1 periodic Hg task 1 c m NM EN F E T vem E i overhead 5 10 15 35 40 45 50 E j OS i continuous task 20 25 30 Description Initially the controller executes the motion planner and the I O task if one exists After executing the continuous task for 4 ms the controller triggers the system overhead The period for periodic task 1 expires 12 ms so
42. ct your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of our products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure www rockwellautomation com Corporate Headquarters Rockwell Automation 777 East Wisconsin Avenue Suite 1400 Milwaukee WI 53202 5302 USA Tel 1 414 212 5200 Fax 1 414 212 5201 Headquarters for Allen Bradley Products Rockwell Software Products and Global Manufacturing Solutions Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Rockwell Automation SA NV Vorstlaan Boulevard du Souverain 36 BP 3A B 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation 27 F Citicorp Centre 18 Whitfield Road Causeway Bay Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Headquarters for Dodge and Reliance Electric Products Americas Rockwell Automation 6040 Ponders Court Greenville SC 29615 4617 US
43. ction chart SFC repetitive sequences of operations batch process motion control sequencing via sequential function chart with embedded structure text state machine operations complex mathematical operations structured text specialized array or table loop processing ASCII string handling or protocol processing Publication 1756 RM094A EN P May 2004 Dividing Logic into Tasks Programs and Routines 2 13 Programming Methods Inline duplication e uses more memory e fastest execution time because all tag references are defined before run time e easiest to maintain because rung animation matches tag values e requires more time to create and modify Indexed routine e one copy of code is faster to develop e slowest execution time because all tag references are calculated at run time e can be difficult to maintain because the data monitor is not synchronized to execution JSR Jump To Subroutine Routine Mame Jam Input Par 1 Input Par Photoeye PE1 JSR Jump To Subroutine Routine Name Jam Input Par 1 Input Par Photaeye PE2 Buffered routine e one copy operation can occur faster than multiple index offsets e eliminates the need to calculate array offsets at run time e the amount of code increases but so do the benefits e can be difficult to maintain because the data monitor is not synchronized to execution jt
44. cutes automatically based on a preconfigured event occurring There are different motion based events To trigger an event task when registration input for an axis turns on or off Use this trigger Axis Registration 1or2 With these considerations In order for the registration input to trigger the event task first execute a Motion Arm Registration MAR instruction This lets the axis detect the registration input and in turn trigger the event task Once the registration input triggers the event task execute the MAR instruction again to re arm the axis for the next registration input If the scan time of your normal logic is not fast enough to re arm the axis for the next registration input consider placing the MAR instruction within the event task axis reaches the position that is defined as the watch point Axis Watch In order for the registration input to trigger the event task first execute a Motion Arm Watch MAW instruction This lets the axis detect the watch position and in turn trigger the event task Once the watch position triggers the event task execute the MAW instruction again to re arm the axis for the next watch position If the scan time of your normal logic is not fast enough to re arm the axis for the next watch position consider placing the MAW instruction within the event task motion planner completes its execution Motion Group Execution The coarse update period for the motion
45. direct connection to each 1 0 module There is no rack optimized overhead data to transfer Recommendation The best option for this example depends on the type of digital 1 0 modules in the system and other controller connections If the total system has many analog modules diagnostic modules fused output modules or produced consumed tags select Option 1 to conserve controller connections If there are plenty of controller connections available select Option 2 to reduce unnecessary network traffic Publication 1756 RM094A EN P May 2004 6 6 Communicating with 1 0 Creating Tags for 1 0 Data This address variable Each I O tag is automatically created when you configure the I O module through the programming software Each tag name follows this format Location SlotNumber Type MemberName SubMemberName Bit Is Location Identifies network location LOCAL local chassis or DIN rail ADAPTER_NAME identifies remote adapter or bridge SlotNumber Slot number of 0 module in its chassis Type Type of data input C configuration 0 output S status MemberName Specific data from the I O module such as Data and Fault depends on the module SubMemberName Specific data related to a MemberName Bit optional Specific point on the I O module depends on the size of the 1 0 module 0 31 for a 32 point module If you configure a rack optimized connection the software creates a rack object tag for the
46. e OR DINT FRD BCD to integer DINT Publication 1756 RM094A EN P May 2004 3 6 Addressing Data Guidelines for Array Indexes By determining the number of elements in an array at run time you can write reusable code Use the SIZE instruction to that adjusts itself to meet each instance where it is used determine the number of SIZE elements in an array Size in Elements Source Dim To Vary Size Immediate value references to array elements are quicker to process and execute faster than Use immediate values to indexed references reference array elements DINT tags execute the fastest SINT INT and REAL tags require conversion code that can Use DINT tags for array indexes aqq additional scan time to an operation The Logix5000 controller does not directly support the use of an array element as the index Avoid using array elements as to look up a value in another array To work around this you can create an alias to the indexes element and then use this as the index Or copy the element to a base tag and use that base tag as the index Prescan of an Array Index During prescan the controller resets state based on instructions such as outputs and timers If you use calculated array indexes based on program execution an Indexed address out of range error occurs because the program has not executed and the index was not initialized You can use a fault handler routine to address this e Place an unc
47. e code is in a 60 msec periodic task The code executes to completion and the goes dormant until the 60 msec time based trigger occurs While the task is dormant all CPU bandwidth can focus on communications Since the code only takes 40 msec to execute the controller can spend 20 msec on communications processing Depending on the amount of communications to process during this 20 msec window it can be delayed as it waits for other modules in the system to process all the data that was communicated The Logix5000 CPU timeslices between the continuous task and system overhead Each task switch between user task and system overhead takes additional CPU time to load and restore task information You can calculate the continuous task interval as ContinuousTime 100 SystemOverheadTimeSlice 1 Managing the System Dividing Logic into Tasks Programs and Routines 2 11 As the system overhead timeslice percentage increases time allocated Overhead Timeslice to executing the continuous task decreases If there are no communications for the controller to manage the controller uses the Percentage communications time to execute the continuous task e Increasing the system overhead timeslice percentage decreases execution time for the et impact on communications and continuous task while it increases communications performance scan time Increasing the system overhead timeslice percentage also increases the amount of time it takes
48. e them from scan Publication 1756 RM094A EN P May 2004 Comparison of RSLinx Classic and RSLinx Enterprise Comparison Supported platforms RSLinx Classic RSLinx 2 x Software e Windows 98 e Windows ME e Windows NT e Windows 2000 e Windows XP Optimizing an Application for Use with HMI 9 5 RSLinx Enterprise Software Windows CE Windows 2000 Windows XP Architecture single threaded multi threaded Data server OPC data server preferred data server for PLC SLC platforms and applications requiring complex network routings maximum 10 clients per data server Factory Talk Live data server preferred data server for Logix5000 platforms maximum 20 clients per data server PLC SLC systems maximum 20 controllers per data server via Ethernet maximum 20 controllers per data server via Ethernet Logix5000 systems maximum e 10 controllers per data server via Ethernet e 10 000 active on scan tags per data server e 3 RSLinx data servers per controller maximum 20 controllers per data server via Ethernet 20 000 active on scan tags per data server 3 RSLinx Enterprise data servers per controller User interface and yes currently no event logs Benefits e supports topic switching with redundant e uses 4 read and 1 write uni directional ControlLogix system support used defined tag optimization RSLinx Gateway consolidates multiple HMI requests to reduce network traffic work
49. em asynchronously to the program scan In addition to the visible fields within the message tag there are hidden attributes only referenced by the background operating system You can have more than 32 messages in a program The controller supports 32 active messages at a time If you determine that there are more than 32 messages you will not be able to keep them cached You will need extra programming to ensure that no more than 32 messages are active at the same time Prior to controller revision 12 the controller supported 16 active messages at a time You can use a message to send a large amount of data Even though there are network packet limitations such as 500 bytes on ControlNet and 244 bytes on DH the controller can send a large amount of data from a single MSG instruction When configuring the message select an array as the source destination tags and select the number of elements as many as 32 767 elements you want send The controller automatically breaks the array into small fragments and sends all the fragments to the destination On the receiving side the data appears in fragments so some application code may be required to detect the arrival of the last piece Publication 1756 RM094A EN P May 2004 Communicating with Other Devices 7 5 Guidelines for Managing Message Connections User defined structures let you organize your data to match your machine or process reate user defined structures
50. er 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
51. er For example consider using Tank North and Tank South rather than North Tank and South Tank Use leading zeroes 0 when numbers are part of tag names RSLogix 5000 software uses a simple sort to alphabetize tag names in the Tag Editor and Data Monitor This means if you have Tag1 Tag2 Tag11 and Tag12 the software displays them in order as Tag Tag11 Tag12 and then Tag2 If you want to keep them in numerical order name them Tag01 Tag02 Tag11 and Tag12 Publication 1756 RM094A EN P May 2004 Addressing Data 3 13 Creating Alias Tags An alias tag lets you create one tag that represents another tag e both tags share the same value as defined by the base tag e when the value of a base tag changes all references aliases to the base tag reflect the change 94 When assigning aliases avoid et An alias tag references a base tag e nesting aliases you cannot have an alias of an alias e using multiple aliases to the same tag On upload the software decompiles the program and uses the physical memory addresses to determine which tags are referenced in the code All references to a base tag reverts to an alias if one exists If multiple aliases point to the same tag RSLogix 5000 software uses the first alias tag alphabetically that it finds ere em Alias tags do not affect controller execution During download the program is compiled into machine executable code and physical memory addresses Wh
52. er application Maximum of two data servers per application e use one computer for each server Configure no more than 20 HMI clients per application Maximum of 20 HMI clients per application e RSLinx Classic supports a maximum of 10 HMI clients e RSLinx Enterprise supports a maximum of 20 HMI clients See the Comparison of RSLinx Classic and RSLinx Enterprise on page 9 5 Comparison of RSView32 and RSView Enterprise HMI product Benefits Considerations RSView32 e support Windows NT Windows 2000 and e RSView32 only supports development for Windows XP PC based HMIs e must use PanelBuilder software for PanelView terminals RSView Enterprise e supports Windows 2000 and Windows XP e does not support Windows NT e single RSView Studio development environment for PC based HMls PanelView Plus terminals and VersaView CE terminals e FactoryTalk enabled Publication 1756 RM094A EN P May 2004 Optimizing an Application for Use with HMI 9 3 How RSLinx Software Communicates with Logix5000 Controllers Important Unless otherwise indicated references to RSLinx software include both RSLinx Classic software and RSLinx Enterprise software RSLinx software acts as a data server to optimize communications to HMI applications RSLinx software groups data items into a single network packet to reduce the number of messages that get sent over the network and that need to be processed by a controller 1 Kbytes of Memor
53. erently during prescan than they do during the normal scan roduced tag A tag that a controller is making available for use by other controllers Produced tags are always at p controller scope See consumed tag program scope Publication 1756 RM094A EN P May 2004 Data accessible only within the current program Each program contains a collection of tags that can only be referenced by the routines and alias tags in that program See controller scope Term rack optimized connection Definition For digital 1 0 modules you can select rack optimized communication A rack optimized connection consolidates connection usage between the controller and all the digital 1 0 modules in the chassis or DIN rail Rather than having individual direct connections for each I O module there is one connection for the entire chassis or DIN rail See direct connection remote connection A connection to a module in a remote chassis or DIN rail Communication requires a communication module and or adapter requested packet interval RPI S Term scheduled connection When communicating over a the network this is the maximum amount of time between subsequent production of input data e Typically this interval is configured in microseconds e The actual production of data is constrained to the largest multiple of the network update time that is smaller than the selected RPI Definition A scheduled connection is
54. erring the full chassis information might require more system bandwidth than direct connections to a few modules For example Description Option 1 Select Rack Optimization for remote adapter s communication format This example uses 16 controller connections 15 for analog modules and 1 for the rack optimized connection This example also transfers e 12 bytes for rack optimized overhead e 12 bytes for the digital module e 12 bytes for each of the 15 analog modules for a total of 180 bytes Option 2 Select None for the remote adapter s communication format This example also uses 16 controller connections 1 direct connection to each I O module There is no rack optimized overhead data to transfer Recommendation Option 2 is recommended because it avoids unnecessary network traffic and thus improves network performance Remote 17 slot chassis Slot 0 1756 CNBR D Slots 1 8 analog modules Slots 9 16 digital modules Option 1 Select Rack Optimization for the remote adapter s communication format This example uses 9 controller connections 8 for analog modules and 1 for the rack optimized connection This example also transfers e 12 bytes for rack optimized overhead e 12 bytes for each of the 8 digital modules for a total of bytes 96 bytes e 12 bytes for each of the 8 analog modules for a total of 96 bytes Option 2 Select None for remote adapter s communication format This example uses 16 controller connections 1
55. es the chances of task overlap Consideration amount of code in the event task Additional considerations for event tasks Description Each logic element rung instruction structured text construct etc adds to scan time task priority If the event task is not the highest priority task a higher priority task may delay or interrupt the execution of the event task CPS and UID instructions If one of these instructions are active the event task cannot interrupt the currently executing task The task with the CPS or UID communication interrupts The following actions interrupt a task regardless of the priority of the task e arrival of scheduled module and consumed tag information via the backplane e serial port communication motion planner The motion planner takes precedence over an event task trends Trend data collection takes precedence over an event task Publication 1756 RM094A EN P May 2004 2 10 Dividing Logic into Tasks Programs and Routines Selecting a System Overhead Percentage f5 Controller Properties example D J x General SerialPort System Protocol User Protocol Major Faults Minor Faults Date Time Advanced SFCExecution Fie Nonvolatile Memory Memory Used Unused Total Controller Fault Handle Power Up Handler none System Overhead 20 ds Time Slice ES Security None E Continuous task 109
56. es for Arrays You can create arrays of most data types except for AXIS MOTION_GROUP and MESSAGE data types Type of Array Benefits Single 1 dimension e fully supported in user defined structures and e better support by native file instructions A subscript identifies an individual element within the array A subscript starts at 0 and extends to the number of elements minus 1 zero based e Single dimension arrays take less memory and execute faster than 2 dimension or 3 dimension arrays e Direct references to array elements execute faster than indexed references e An array can be as large as 2 Mbytes e f you create an array of structures the memory for each element is allocated based on the structure definition Considerations e multiple arrays cannot be indirectly referenced like in PLC or SLC processors i e arrays smallest impact execution time and memory for indexed references can create new arrays when programming online N N7 0 5 e BOOL arrays not directly supported by file instructions e can only be changed when programming offline Double 2 dimension and Triple 3 dimension can provide a more accurate data representation for a physical system can emulate PLC file word indirection with a 2 dimension array can create new arrays when programming online e larger impact execution time and memory for indexed references e file manipulation requires extra code in
57. es on the controller so that other devices can read or write data without having to know physical memory locations Many products only understand PLC SLC data tables so the Logix5000 controller offers a PLC SLC mapping function that lets you map Logix tag names to memory locations e You only have to map the file numbers that are used in messages the other file numbers do not need to be mapped e The mapping table is loaded into the controller and is used whenever a logical address accesses data e You can only access controller scoped tags global data When mapping tags e Do not use file numbers 0 1 and 2 These files are reserved for Output Input and Status files in a PLC 5 processor e Use PLC 5 mapping only for tag arrays of data type INT DINT or REAL Attempting to map elements of system structures may produce undesirable effects e Use these file types and identifiers For this Logix5000 array type Use this PLC file identifier INT array N or B DINT array L REAL array F Chapter 8 Introduction Coarse Update Rate Optimizing an Application for Motion Control The Logix5000 controller contains a high speed motion task which executes motion commands relay ladder and structured text and generates position and velocity profile information The controller sends this profile information to one or more motion modules RSLogix 5000 programming software provides complete axis configuration and motion prog
58. est replacement for Universal Remote 1 0 e backbone to multiple distributed DeviceNet networks e peer interlocking network e common devices include Logix5000 controllers PanelView terminals I O modules and drives Publication 1756 RM094A EN P May 2004 Guidelines for ControlNet Designing Networks 5 5 Use the installation publications when installing a ControlNet network Use these publications when installing a ControlNet network e ControlNet Coax Media Planning and Installation Guide publication CNET IN002 e ControlNet Fiber Media Planning and Installation Guide publication CNET IN001 Limit the number of nodes per ControlNet network to 40 ControlNet was designed with a limit of 99 nodes per network but this number of nodes decreases network performance A maximum of 40 nodes per network results in better performance and leaves bandwidth for other communications lt Adjust the default RSNetWorx settings Change these settings in the RSNetWorx for ControlNet software e UMAX highest unscheduled node on the network default is 99 the network takes the time to process the total number of nodes specified in this setting even if there are not that many devices on the network change to a reasonable level to accommodate the active devices on the network and any additional devices that might be connected e SMAX highest scheduled node on the network default is 1 this must be changed f
59. g an element in an array such as MyArray 20D uses less memory and executes faster than an indirect reference MyArray MyIndexp You can also indirectly address bits in a tag MyDint Index If you use indirect addresses use DINT tags because other data types require conversion and execute slower For each indexed access to data the controller recalculates the array index If you access a specific array element multiple times copy the data out of the array into a fixed tag and use that tag in subsequent logic You can also use an expression to specify the index value For example MyArray 10 MyIndex e An expression uses operators to calculate a value e The controller computes the result of the expression and uses it as the index e Valid operators include Operator Description Optimal Operator Description Optimal add DINT REAL LN natural log REAL subtract negate DINT REAL LOG log base 10 REAL multiply DINT REAL M0D modulo divide DINT REAL divide DINT REAL NOT bitwise complement DINT ee exponent x to y DINT REAL OR bitwise OR DINT ABS absolute value DINT REAL RAD degrees to radians DINT REAL ACS arc cosine REAL SIN sine REAL AND bitwise AND DINT SOR square root DINT REAL ASN arc sine REAL TAN tangent REAL ATN arc tangent REAL TOD integer to BCD DINT COS cosine REAL TRN truncate DINT REAL DEG radians to degrees DINT REAL XOR bitwise exclusiv
60. g digital output contacts with a periodic pulse Lead Lag LDLG provides a phase lead lag compensation for an input signal Function Generate FGEN converts an input based on a piece wise linear function Totalizer TOT provides a time scaled accumulation of an analog input value Deadtime DEDT performs a delay of a single input You select the amount of deadtime delay Discrete 2 State Device D2SD controls a discrete device which has only two possible states such as on off open closed etc Discrete 3 State Device D3SD Faceplates controls a discrete device having three possible states such as fast slow off forward stop reverse etc The RSLogix 5000 programming software includes faceplates for some function block instructions These faceplates are Active X controls that read the entire data structure for the associated instruction You can use these faceplates with RSView software or any other application that acts as an Active X container Taipei RSLogix 5000 programming software is not a valid Active X container Publication 1756 RM094A EN P May 2004 10 4 Dptimizing an Application for Process Control Publication 1756 RM094A EN P May 2004 The faceplates communicate with the controller via the RSLinx OPC server The RSLinx OPC server is not available in the RSLinx Lite software that comes with RSLogix 5000 programming software You have to purchase a package such as RSLinx OEM
61. gs Method Read Write Message For information on configuring an event task see Chapter 2 Dividing Logic into Tasks Programs and Routines Benefits e programatically initiated e communications and network resources only used when needed e support automatic fragmentation and reassembly of large data packets up to as many as 32 767 elements e some connections can be cached to improve re transmission time e Generic CIP message useful for third party devices Considerations e controller limited to 32 active messages active at the same time limit of 16 in revision 11 and earlier e delay may occur if resources are not available when needed e MSG instruction and processing impacts controller scan system overhead timeslice e data arrives asynchronous to program scan use CPS instruction to reduce impact no event task support e fragmentation and reassembly limited to exchanges between Logix5000 controllers Produced Consumed Tag e configured once and sent automatically based on Requested Packet Interval RPI e multiple consumers can simultaneously receive the same data froma single produced tag e can trigger an event task when consumed data arrives e ControlNet resources are reserved up front e does not impact the scan of the controller Publication 1756 RM094A EN P May 2004 e support limited to Logix5000 and PLC 5 controllers and the 1784 KTCS 1 0 Linx and select third party devices
62. he values of an array into tags and reference these buffer tags directly A user defined structure consolidates control data SBR Subroutine Input Par Jam Input Par Jam Photoeye Publication 1756 RM094A EN P May 2004 2 14 Dividing Logic into Tasks Programs and Routines Controller Prescan of Logic On power up the controller prescans logic to initialize instructions The controller resets all state based instructions such as outputs OTE and timers TON Some instructions also perform operations during prescan For example the ONSR instructions turns off the storage bit For information on prescan see e Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 e Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 e Logix5000 Controllers Process Control and Drives Instructions Reference Manual publication 1756 RM006 During prescan input values are not current and outputs are not written The controller resets non retentive 1 0 and internal values en affects of prescan on relay ladder logic e In addition to resetting non retentive I O and internal values the controller clears the et affects of prescan on function block diagram logic Enableln parameter for every function block diagram The controller resets bit tags and forces numeric tags to zero 0 sabi of
63. hed message is executed it uses one of the 10 out going unconnected buffers When the connection is established it will then move into the appropriate cached buffer area Publication 1756 RM094A EN P May 2004 7 4 Communicating with Other Devices In controllers with firmware revision 12 or earlier the maximum number of messages you can have active at the same time depends on the type of message If you are doing cached block transfers you have memory set aside for 16 cached block transfer connections If you are doing Logix to Logix or other message styles that can be cached you have another set of 16 cached connections You then still have the 10 unconnected out going buffers to use So you could have 42 messages active at once Using outgoing unconnected buffers Buffers Use 1 10 The first 10 buffers default are shared for unconnected messaging initiating connected messaging establishing I O connections and establishing produced consumed connections 11 The 11th buffer is dedicated to establishing I O and produced consumed connections 12 40 The 12th to the 40th buffers are used only for initiating connected messages and executing Guidelines for Messages unconnected messages To increase the outgoing buffers to a value higher than 11 execute a CIP generic message to configure that change Message tags must exist as controller scoped base tags The information in a message tag is accessed by the operating syst
64. icate with a PanelView terminal reuse the same tag name multiple times for different parts or processes within a controller program scope program tags have multiple programmers working on logic and you want to merge logic into one project Isolate portions of a machine or different stations into separate programs and use program scoped tags within each program This e provides isolation between programs e prevents tag name collisions e improves the ability to reuse code Publication 1756 RM084A EN P May 2004 3 14 Addressing Data Notes Publication 1756 RM094A EN P May 2004 Chapter 4 Introduction Sharing Tag Data with 0ther Controllers Produced and Consumed Tags Logix5000 controllers support the ability to produce broadcast and consume receive system shared tags For two controllers to share produced or consumed tags both controllers must be attached to the same control network such as a ControINet or Ethernet IP network You cannot bridge produced and consumed tags over two networks Logix5000 controllers can produce and consume tags over these networks as long as they support communications over these networks e the ControlLogix backplane e a ControlNet network e an EtherNet IP network If there are no other connections the controller supports Asa The controller supports producer number of produced tags lt 127 consumer number of consumed tags lt 250 or controller ma
65. ike files to quickly create a group of similar tags An array creates multiple instances of a data type under a common tag name e Arrays let you organize a block of tags that use the same data type and perform a similar function e You organize the data in 1 2 or 3 dimensions to match what the data represents e Arrays can only be modified off line e RSLinx optimizes array data types more than stand alone tags Minimize the use of BOOL arrays Many array instructions do not operate on BOOL arrays This makes it more difficult to initialize and clear an array of BOOL data Take advantage of program scoped tags If you want multiple tags with the same name define each tag at the program scope program tags for a different program This lets you re use both logic and tag names in multiple programs Avoid using the same name for both a controller tag and a program tag Within a program you cannot reference a controller tag if a tag of the same name exists as a program tag for that program Use mixed case and the underscore characters Although tags are not case sensitive upper case A is the same as lower case a mixed case is easier to read For example Tank 1 can be easier to read than tank1 d Consider alphabetical order RSLogix 5000 software displays tags of the same scope in alphabetical order To make it easier to monitor related tags use similar starting characters for tags that you want to keep togeth
66. ile the existence of an alias requires controller memory to store the name the program performs the same operation for a reference with an alias or its associated base tag te em Accessing alias tags from RSLinx software Because an alias tag appears as a stand alone tag to RSLinx software an alias tag that references a compound array or structure might require additional communication time When referencing tags from RSLinx software or other HMI it might be fastest to reference base tags directly Guidelines for Data Scope zc Controller ex amp le controller e ntroller T Controller Tags lt scope Controller Fault Handler I Power Up Handler B 63 Tasks Ea MainT ask BS MainProgram program A Program Tags 44 i Scope E MainRoutine 2 Unscheduled Programs Trends Data Types CR User Defined Predefined C Module Defined C 1 0 Configuration re Data scope defines where you can access tags When you create a tag you assign scope as either controller or program Controller scoped tags are accessible by all programs Program scoped tags are only accessible by the code within a specific program If you want to Then assign this scope use a tag in more than one program in the same project controller scope controller tags use a tag in a message MSG instruction produce or consume data use motion tags commun
67. in scheduling the network The RPI should be an even multiple of the NUT Set the RPI to a binary multiple of the NUT For example if the NUT is 10 msec select an RPI such as 10 20 40 80 160 etc msec Publication 1756 RM094A EN P May 2004 Communicating with I O 6 3 Communication Formats for The communication format determines whether the controller I 0 Modules connects to the I O module via a direct or a rack optimized connection The communication format also determines the type and quantity of information that the module will provide or use direct connection Each module passes its data to from the controller individually Communication modules bridge data across networks a 2 gt D n communication communication module module controller syndjno jeyifirp Local chassis Remote chassis Benefits Considerations e each module can determine its own rate RPI e requires additional connections and network resources e more data can be sent per module such as diagnostic and e this is the only method supported in the local chassis analog data e 0 data presented as individual tags e supports event task communications rack optimized connection The communications module in a remote chassis consolidates data from multiple modules into a single packet and transmits that packet as a single connection to the controller 1 1 1 communication communication module module syndul eyib
68. ip controller a d gx eo c gt k c n Local chassis Remote chassis Benefits Considerations e one connection can service a full chassis of digital modules e all modules are sent at the same rate e reduces network resources and loading e unused slots are still communicated still need a direct connection for analog and diagnostic data limited to remote chassis 1 0 data presented as arrays with alias tags for each module Publication 1756 RM094A EN P May 2004 6 4 Communicating with 1 0 The rack optimized format limits data to a single 32 bit input word per module in a chassis If you place a diagnostic module in a chassis the rack optimized format eliminates the value that the diagnostic module offers In this case it s better to use a direct connection so that all of the module s diagnostic information is passed to the controller Guidelines for Managing 1 0 Connections lt The type of I O module can determine the type of connection Analog modules always use direct connections except for 1771 analog modules which use connected messaging Digital modules can use direct or rack optimized connections Communication formats that include optimization in the title are rack optimized connections all other connection options are direct connections Select the communication format for a remote adapter based on the remote l 0 modules For a remote adapter Select If None the remo
69. lers FlexLogix Controllers Installation Instructions 1794 IN002 FlexLogix System User Manual 1794 UM001 SoftLogix Controllers SoftLogix Controllers Installation Instructions 1789 IN001 SoftLogix System User Manual 1789 UM002 RSLogix 5000 programming software includes PDF files of these publications in addition to online help and a tutorial Publication 1756 RM094A EN P May 2004 Rockwell Automation Rockwell Automation provides technical information on the web to assist you in using our products At http support rockwellautomation com you can Support find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone suppott for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3223 Monday Friday 8am 5pm EST Outside United Please conta
70. ms all operations Isolated tasks perform I O and communications and interact with networks These tasks simulate the backplane CPU For this controller The 1 0 task is priority The communications task is priority CompactLogix FlexLogix and DriveLogix 6 12 Publication 1756 RM094A EN P May 2004 1 2 Logix5000 Controller Resources SoftLogix controllers memory is in one contiguous section Logic Data and 1 0 Memory program source code 0 data T Windows tag data 1 0 force tables CPU operating system RSLinx tag group lists message buffers produced consumed For this controller SoftLogix The SoftLogix controller has a single CPU that works in conjunction with the Windows operating system to perform all operations Rather than using controller priority levels for I O and communications tasks the SoftLogix controller uses Windows priority levels for these tasks The 1 0 task is The communications task is Windows priority 16 Idle Windows priority 16 Idle For all controllers memory is used at run time for e message processing to buffer incoming and outgoing messages e RSLinx data handling to store tag groups e online edits to store edit rungs e graphical trends to buffer data Estimating memory use The following equations provide an estimate of the memory needed for a controller Controller tasks 4000 bytes minimum 1 needed Discre
71. n Group Execution The coarse update period for the motion group triggers the execution of both the motion planner and the event task Because the motion planner interrupts all other tasks it executes first EVENT instruction Publication 1756 RM094A EN P May 2004 Multiple EVENT instructions can trigger the same task Dividing Logic into Tasks Programs and Routines 2 9 For more information on event tasks see e Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 e Using Event Tasks with Logix5000 Controllers LOGIX WP003 Guidelines for Configuring an Event Task Place the 0 module being used to trigger an event in the same chassis as the controller Placing the I O module in a remote chassis adds additional network communications and processing to the response time Limit events on digital inputs to a single input bit on a module All inputs on a module trigger a single event so using multiple bits increases the chance of a task overlap Configure the module to detect change of state on the trigger input and turn off the other bits Setthe priority of the event task as the highest priority on the controller If the priority of the event task is lower than a periodic task the event task will have to wait for the periodic task to complete execution Limit the number of event tasks Increasing the number of event tasks reduces the available CPU bandwidth and increas
72. n cache CIP data table read or write CIP X X PLC2 PLC3 PLC5 or SLC all types CIP CIP with Source ID DH X X CIP generic N A your option your option block transfer read or write N A X X You can connect CIP generic messages but for most applications we recommend you leave CIP generic messages unconnected A cached connection remains open until one of the following occurs e The controller goes to Program mode e You rerun the message as uncached e Another message is initiated and a cached buffer is needed e An intermediate node in the connection goes down Message Buffers A Logix5000 controller has buffers for unconnected messages and for cached messages Buffers store incoming and outgoing message data until the controller can process the data Unconnected Buffers 3 k gt CIP Generic MSG Incoming Unconnected MSG 10 40 Outgoing Controller Connections Open Close Connections MSG and Block Transfer Instructions Communications Handler fe Uncached Connected CIP MSG or Block Transfer Cached Connected Data To and From 250 Cache Buffers MSG or Block Transfer Logix5000 Controller Connections 16 MSG Buffers Buffers 16 BT Buffers Revision 12 and higher controller firmware allows 32 cached shared between MSGs and block transfers Publication 1756 RM094A EN P May 2004 Buffer 10 outgoing unconnected buffers You can increa
73. n nature This includes I O and produced consumed tags Implicit refers to information source address data type destination address etc which is implied in the message but not contained in the message See explicit index A reference used to specify an element within an array L Term local connection Term member Term network update time NUT P Definition A connection to a module in a local chassis extended local chassis or any of the 1 0 banks configured for the controller Communication occurs across the backplane or virtual backplane and does not require an additional communication module or adapter Definition An element of a structure that has its own data type and name e Members can be structures as well creating nested structure data types e Each member within a structure can be a different data type Definition The repetitive time interval in which data can be sent on a ControlNet network The network update time ranges from 2ms 100ms Term Definition postscan A function of the controller where the logic within a program is examined before disabling the program in order to reset instructions and data prescan Prescan is an intermediate scan during the transition to Run mode e he controller performs prescan when you change from Program mode to Run mode e he prescan examines all programs and instructions and initializes data based on the results e Some instructions execute diff
74. ndirectly reference a bit in a DINT array using a serialized bit number For example Tag MyBits DINT 10 BitRef DINT EndTag OV 34 BitRef XIC MyBits BitRef 32 BitRef AND 31 where This expression Calculates the BitRef 32 element in the DINT array Note If the tag MyBits is an INT or SINT the divisor would be 16 or 8 respectively BitRef AND 31 bit within the element Note If the tag MyBits is an INT or SINT the mask value would be 15 or 7 respectively The Diagnostic Detect DDT and File Bit Compare FBC instructions provide a bit number as a result of their operation These instructions are limited to DINT arrays so you can use them to locate the bit number returned from the example above Publication 1756 RM094A EN P May 2004 3 10 Addressing Data Guidelines for String Data Types String data types are structures that hold ASCII characters The first member of the structure defines the length of the string the second member is an array that holds the actual ASCII characters Name emaitStind Description string type used for email source destination data Maximum Characters 512 Members Data Type Size 516 m Name Data Type Style Description LEN DINT Decimal DATA SINT 512 ASCII You can create a string data type that is longer or shorter than the default string data type The default string data type can contain as many as 82 characters
75. ned structure or array user defined structures are padded to enforce 32 bit data alignment alias tags cannot point to the root tag of an array Tag Editor and Data Monitor filtering limited can only create or change a user defined structure when programming offline can only change an array when programming offline Publication 1756 RM094A EN P May 2004 3 2 Addressing Data The Logix CPU reads and manipulates 32 bit data values All data starts at 32 bit offsets so the minimum memory allocation for a tag is 4 bytes When you create a standalone tag that stores data that is less than 4 bytes the controller allocates 4 bytes but the data only fills the part it needs Data type Bits 31 16 15 8 7 1 0 BOO mtued leet SINT not used 128 to 4127 INT not used 32 768 to 432767 DINT 2 147 483 648 to 2 147 483 647 REAL 3 40282347E to 1 17549435E 38 negative values 0 1 17549435E 39 to 3 40282347E positive values To manipulate SINT or INT data the controller converts the values to DINT values performs the programmed manipulation and then returns the result to a SINT or INT value This requires additional memory and execution time when compared to using DINT values for the same operation Guidelines for Data Types The Logix5000 controllers perform DINT 32 bit and REAL 32 bit math operations DINT Use DINT data types whenever data types use less memory and execute fa
76. nnections ControlLogix 1756 CNB 64 connections depending on RPI recommend using only 48 connections any combination of scheduled and message connections 1756 ENBT 128 connections all connections are message connections CompactLogix 1769 L32E L35E 32 connections over EtherNet IP only FlexLogix PowerFlex 700S with DriveLogix 1788 CNx CNxR 32 connections depending on RPI as many as 22 connections can be scheduled The remaining connections or all 32 if you have no scheduled connections can be used for message connections 1788 ENBT 32 connections all 32 connections are message connections SoftLogix5800 1784 PCICS 128 connections Publication 1756 RM094A EN P May 2004 127 of which can be scheduled connections Logix5000 Controller Resources 1 5 Determining Total The total connections for a Logix5000 controller include both local Connection Requirements and remote connections Tallying local connections is not an issue for FlexLogix or CompactLogix controllers because both support the maximum number of modules allowed in their systems The ControlLogix and SoftLogix controllers support more communication modules than the other controllers so you must tally local connections to make sure you stay within the 250 connection limit Use this table to tally local connections Connection Type Device Connections Total Quantity x
77. nt tasks that is devoted to communication and background functions This includes sending and receiving messages For information on specifying a system overhead percentage see Selecting a System Overbead Percentage on page 2 10 Publication 1756 RM094A EN P May 2004 7 6 Communicating with Other Devices Guidelines for Block Transfer Messages Distribute 1771 analog modules across multiple chassis Distributing 1771 analog modules across multiple chassis reduces the number of block transfers that a single 1771 ACN or 1771 ASB module needs to manage Isolate different 1771 chassis on different networks Isolating different chassis onto different networks diversifies the communications so that no single network or communication module has to deal with all of the communications Increase ControlNet unscheduled bandwidth If communicating over ControlNet increase the amount of ControlNet unscheduled bandwidth to permit additional time on the network for data exchange Increase the system overhead timeslice percentage Increase the Logix5000 controller s system overhead timeslice to allocate more CPU time to communication processing from the continuous task Mapping Tags PLC2 3 5 7 SLC Mapping x PLC 3 5 SLC Mapping Fie Number Caneel NENNEN Delete Map m PLC 2 Mapping Tag Name Publication 1756 RM094A EN P May 2004 A Logix5000 controller stores tag nam
78. od di I9NI9UI3 L 3GET 3Z8169 l OSV 40 140 13470 spleo juo euo suo Spje3uone3iunuluo2 88 JOJIO S e UOneJIUNWWOI 88 10 SJOSZ e Jeuas ZEZ SY Z 1E T 1 6941 e II0SV 40 140 OSV 40 140 OSV 10 L4d OSV 40 L4d uodjeueszez SH e nodjeueszez su e Jayndwos jeuosjed uo spuadap uod jenas ZEZ SY L 07T69 1 jenas zez Su uod spod uoneoiunuluo2 ur jinq ysej poedwog X9T 994 sah vzNGGT OG so EZNGGT 9G pue sixe sjioddns syse uaAa e peuinsuoo suoddns sysejjuo 9 e Juana Sujoddns syse JuaAe e SASE 9 378 T 69 1 Juana e Suoddns syse JuaAe e Snonuuo e ysejpoedwog ASET69LL sah ZCWGST 9S2 ysejpoedwog ACET 69L1 euou 9IINSST9SZ ysejpoedwog LET69Z1 uou S INSST 9SZ sah a vETVELL sah OET69ZL euou IINSST 98 Aioureui uorsuedxa sa sak c Tt6 l uou sak 021 694L euou ZLINGST 9SZ Aiouiaui Jasn o nnejoAuou SeJqyN 8 91 994 SI N y 791 994 SI N Z 191 994 S ING E VoNSS 987 S O S 9 sei Aqu GL EZINSST 994 S N v9 091 6841 sey Aqu GL 39 1 69 1 s 1 qy 0S CCWNGST 9S2 S O S G seq oo ACET 69LL sei Aq G 7 SLINSST 9S2 SIMIN 79 O T68 L seq ZLS VET69 1 sei Aqu S E S INSST 9SZ Mowaw uorsuedxe iw se1qy g9 seiAqy ZLS VEl y6 uonouiou sjo s Sel Aqy 9Gz 0 T69 1 seq GL LINSGT 95 Sei Aqy 9Gz Sei Aqy v9 1 v6ZL Seq Z OLT68ZL s 1 qy v9 021 6921 Sei Aqy 06 CLINGST 952 Ajouieui Jasn uononijsul AN3A3 pue 10661 Be peuinsuoo suoddns syse
79. ogix5000 Platform Logix5000 Controllers Available Publications Publications Logix5000 Controllers Quick Start 1756 QS001 Logix5000 Controllers System Reference Manual 1756 08107 EtherNet IP Modules in Logix5000 Control Systems User Manual ENET UMOO ControlNet Modules in Logix5000 Control Systems User Manual CNET UMOO1 DeviceNet Modules in Logix5000 Control Systems User Manual DNET UMOOA Logix5000 Controllers General Instructions Reference Manual 1756 RM003 Logix5000 Controllers Process Control and Drives Instructions Reference Manual 1756 RMO006 Logix5000 Controllers Motion Instructions Reference Manual 1756 RM007 Logix5000 Common Procedures Programming Manual 1756 PM001 Logix5000 Controllers Import Export Reference Manual 1756 RM084G Converting PLC 5 or SLC 500 Logic to Logix5000 Logic Reference Manual 1756 RM085 ControlLogix Controllers ControlLogix Controllers Installation Instructions 1756 IN101 ControlLogix System User Manual 1756 UM001 Controllogix Motion Module Setup and Configuration Manual 1756 UMO006 CompactLogix Controllers 1769 L31 CompactLogix Controllers Installation Instructions 1769 INO69 1769 L32 L35E CompactLogix Controllers Installation Instructions 1769 IN020 1769 120 L30 CompactLogix Controllers Installation Instructions 1769 IN047 1769 L31 L32E L35E CompactLogix System User Manual 1769 UM011 1769 L20 L30 CompactLogix System User Manual 1769 UM007 FlexLogix Control
80. ogram you can estimate the number of bytes it will take in a Logix5000 controller by number PLC SLC words 18 number of Logix5000 bytes A Logix5000 controller uses a connection to establish a communication link between two devices Connections can be e controller to local I O modules or local communication modules e controller to remote I O or remote communication modules e controller to remote I O rack optimized modules For more information on connections for I O see Chapter 6 Communicating with I O e produced and consumed tags For more information see Chapter 4 Sharing Tag Data with Otber Controllers e messages For more information see Chapter 7 Communicating with Otber Devices e access to RSLogix 5000 programming software e RSLinx software access for HMI or other software applications Publication 1756 RM094A EN P May 2004 1 4 Logix5000 Controller Resources These controllers support Controller Number of Connections ControlLogix 250 SoftLogix 1769 L31 L32E L35E CompactLogix 100 DriveLogix FlexLogix 1769 L20 L30 CompactLogix 17 The limit of connections may ultimately reside in the communication module you use for the connection If a message path routes through a communication module the connection related to the message also counts towards the connection limit of that communication module For this controller This communication device Supports this number of co
81. oller in the system with their respective RSLogix 5000 project file and perform a save This copies the ControlNet settings into the offline database file and ensures that future downloads of the controller permit it to go online without having to run RSNetWorx software Publication 1756 RM094A EN P May 2004 5 6 Designing Networks DeviceNet Network Topology DeviceNet network e Youneeda DeviceNet scanner to connect the controller to DeviceNet devices e You must use RSNetWorx for DeviceNet to configure devices and create the scanlist for the scanner e You can configure the network baud rate as 125K bit s default and a good starting point 250K bit s or 500K bit s e f each device on the network except the scanner sends lt 4 bytes of input data and receives lt 4 bytes of output data you can use the AutoScan feature on the scanner to configure the network Application Ideas e distributed devices e drives network e diagnostic information Publication 1756 RM094A EN P May 2004 Topology single network CPU scanner device device device device device several smaller distributed networks subnets CPU linking linking device device device device device device device device Guidelines for DeviceNet Designing Networks 5 7 Use the in
82. onditional rung with an OTE instruction referencing an internal bit in the first program of the first task During prescan the prescan bit will be turned off During normal scan the prescan bit will be on at all times e Indexed address out of range error occurs and the prescan bit is off reset the error and continue See the Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 for information and sample code to handle faults IMPORTANT This prescan condition no longer exists in controllers with firmware revision 13 and greater You do not need to program a fault handler routine to handle indexed address out of range errors Publication 1756 RMO084A EN P May 2004 Guidelinesfor User Defined Structures Addressing Data 3 7 User defined structures let you combine multiple data types into one structure All the elements in a structure align along 8 bit boundaries When you use the BOOL SINT or INT data types place members that use the same data Group members of the same data type within a structure type in sequence DATATYPE Sample DATATYPE Sample BOOL Bit1 BOOL Bit1 SINT Tiny Value BOOL Bit2 BOOL Bit2 SINT Tiny Value INT Small Value INT small Value DINT Big Value DINT Big Value REAL Float Value REAL Float Value END TYPE B END TYPE A Logix5000 controller aligns every data type along an 8 bit boundary for SINTs a 16 bit boundary for INTS or a 32 bit boundary
83. optimize data transfer between the controller and RSLinx or other operator interface use PLC mapped tags The RSLinx topic must have the Optimize Poke Packets enabled The RSView application must write the values through a DownloadAll command or the WritePendingValues VBA method Use RSLinx OPC services Use RSLinx OPC services to bundle multiple tag requests into a single message to reduce communications overhead OPC provides better optimization than DDE Referencing controller data from RSView This table shows how to reference data in RSView tag address Logix5000 Array Data Type Description PLC File Identifier RSView Tag Data Type INT 16 bit integer N Integer DINT 32 bit integer L Long Integer SINT 8 bit integer A Byte REAL floating point F Floating Point BOOL value of 0 1 or 1 B Digital Publication 1756 RM094A EN P May 2004 When addressing a Logix5000 string tag use the address syntax OPC TopiclStringTag Data 0 SC82 to address a SINT array The string data is stored in the SINT array Data of the string tag and you address the first element of this array Data 0 The maximum number of characters in a STRING tag is 82 If you need more characters than that create your own user defined structure to hold the characters See Guidelines for String Data Types on page 3 10 Chapter 10 Optimizing an Application for Process Control Introduction The Logix5000 controller in
84. or all systems set SMAX lt UMAX Design for at least 400 Kbytes of available unscheduled network bandwidth Leaving too little memory for unscheduled network bandwidth results in poor message throughput and slower workstation reponse Place DeviceNet DNB and serial MVI communication modules in the local chassis DeviceNet DNB and serial MVI communication modules have multiple 500 byte data packets that will impact scheduled bandwidth Placing these modules in the same chassis as the controller avoids this data being scheduled over the ControlNet network If you must place these communication devices in remote chassis configure the input and output sizes to match the data configured in RSNetWorx for DeviceNet software This reduces the amount of data that must be transmitted Limit 1756 CNB CNBR connections For best performance limit the 1756 CNB CNBR to 40 48 connections Add additional modules in the same chassis if you need more connections Adding more modules and splitting connections among the modules can improve system performance If the chassis that contains the CNB module also contains multiple digital 1 0 modules configure the CNB module s communication format for Rack Optimization Otherwise use None See the examples on page 6 5 If you change network settings resave each controller s project Any time you use RSNetWorx software and you save or merge your edits attach to each contr
85. r I O Modules 6 2 Communication Formats for I O Modules 6 3 Guidelines for Managing I O Connections 6 4 Guidelines for Managing I O Connections continued 6 5 Creating Tags for VO Data i deter ete Q EE E E Ae 6 6 Controller Ownership eee 6 7 Chapter 7 Introduction pee sex eh ea gh ee ede pps 7 1 Caching Messages 01 ee 7 2 Message Buffers i i es tate to or lene Son ete dh ak ate RUE ON 7 2 Guidelines for Messages n o naunau 7 4 Guidelines for Managing Message Connections 7 5 Guidelines for Block Transfer Messages _ 7 6 Mapping Tags i a rae dnd Vs gna M wa aaa sassa ss 7 6 Chapter 8 Introduction x4 us une de SR EMI ae ae RENE IR eon gr 8 1 Coarse Update Rate ttin uyana L q aa ak bc Pi y E ye e gs 8 1 A KISS senses cite Se seater ku Q A ie aaa E EEE u S e aus 8 2 Peiformance Limits e hoe ees E e ase ne E ROO RUE eH on 8 2 Motion Event Task Triggers ee 8 3 Chapter 9 Intr d ctioDne sacs 5 2449 mek Ae CASS ee ea a O ED 9 1 Guidelines for HMI Applications 0 as sas ay ea uA ie wq 9 2 Comparison of RSView32 and RSView Enterprise _ 9 2 How RSLinx Software Communicates with Logix5000 Controllers 9 3 Guidelines for RSLinx Software cess 9 4 Comparison of RSLinx Classic and RSLinx Enterprise 9 5 Guidelines for Configuring Controller Tags
86. r tag on the consumer side The CPS instructions provides data integrity for data structures greater than 32 bits Publication 1756 RM094A EN P May 2004 Guidelines for Specifying an RPI Rate Sharing Tag Data with Other Controllers Produced and Consumed Tags 4 3 When configuring produced and consumed tags you specify an Requested Packet Interval RPD rate The RPI value is the rate at which the controller attempts to communicate with the module You use RSNetWorx for ControlNet software to select the network update time NUT and Make sure the RPI is equal to or greater than the NUT the software schedules the network connections RSNetWorx cannot schedule a ControlNet network if a module and or produced consumed tag on the network has an PPI that is faster than the network update time The smallest fastest consumer RPI determines the RPI for the produced tag If multiple consumers request the same tag the smallest fastest request determines the rate at which the tag is produced for all the consumers Guidelines for Managing Connections for Produced and Consumed Tags To reduce network traffic minimize the size of produced and consumed tags Also minimize Minimize the use of produced and consumed tags the use of produced and consumed tags to high speed deterministic data such as interlocks When sending multiple tags to the same controller use an array or user defined structure to Use
87. ramming support For more information on motion see e The Motion Book e Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RM007 e ControlLogix Motion Module Setup and Configuration Manual 1756 UM006 The coarse update rate determines the periodic rate at which the motion task executes to compute the servo commanded position velocity and accelerations to be sent to the motion modules when executing motion instructions To calculate the coarse update rate e 2 task execution time number of actions for every axis e divide the result by 1000 and round to the nearest msec If the coarse rate is too small the controller might not have time to execute non motion logic As a general rule one millisecond per axis is required by the motion task in order to allow the controller reasonable execution time The motion planner takes almost its entire minimum coarse iteration time The coarse iteration time is minimally set 1 msec per axis So if you have a periodic task running every 5 msec and 2 axes of motion the motion planner runs twice consuming close to 4 of the 5 msec In this case it s possible to never finish executing the periodic task Publication 1756 RM094A EN P May 2004 8 2 Optimizing an Application for Motion Control Axis Limits Controller Supported Motion Modules and Axes Applications ControlLogix 1756 MO03SE 3 axes RA SERCOS drives 1756 Le0MOSSE 3 axes RA SERC
88. remote communication module You can reference the rack optimized I O module individually or by its element within the rack object tag For example a remote ControlNet communication module remote cnb has an 1 0 module in slot 1 This is the individual tag created for the 1 0 module in remote slot 1 This is the entry in the rack object ta for the remote communication module Show Show All Scope csv_examples contn _ gt Sort Tag Name mi P Tag Name cnb_remote 1 C _ cnb_remote 1 l amp Alias For Base Tag Type Style 04 AB 1756_DI C 0 4B 1756_CNB_SLOT I 0 cnb remotel Slot 1 cnb_remote Slot 1 Li cnb remote 1 l Fault cnb remote l Slot 1 Fault DINT Binary Li cnb_remote 1 l Data cnb_remote l Slot 1 Data DINT Binary m cnb_remote l 4B 1756_CNB_17SLOT 1 0 _ cnb_remote SlotStatusBits DINT Binary E cnb_remote l Slot AB 1756_CNB_SLDT I 0 17 _ cnb_remote l Slot 0 4B 1756_CNB_SLOT 1 0 L1 cnb_remote l Slot 1 4B 1756_CNB_SLOT I 0 m cnb_remote l Slot 1 Fault DINT Binary m cnb_remote l Slot 1 Data DINT Binary that identifies the 1 0 module in remote slot 1 Publication 1756 RM094A EN P May 2004 JN Monitor Tags cnb_remote l Slot 2 cnb_remote l Slot 3 cnb_remote l Slot 4 cnb_remote l Slot 5 cnb_remote l Slot 6 cnb_remote l Slot 7 cnb_remote l Slot 8 cnb_remote l Slot 3 cn
89. s and Routines 2 2 Specifying Task Priorities eese 2 3 Managing User Tasks sese 2 5 Factors that Affect Task Execution lese 2 6 Configuring a Continuous Task ee 2 8 Configuring a Periodic Task usce deut pon ep 2 8 Configuring an Event Task lees 2 8 Guidelines for Configuring an Event Task 2 9 Selecting a System Overhead Percentage 2 10 Managing the System Overhead Timeslice Percentage 2 11 Developing Application Code in Routines 2 12 Programming Methods I ee RA S T P a RUN 2 13 Controller Prescan of Logic cles 2 14 Controller Postscan of SFC Logic eee 2 14 Chapter 3 Introduction ds a sS unos oH ARE h ukukuqa A E IER E 3 1 Guidelines Tor Data Types yu ya Sin De eros bed ad ee ERE 3 2 ATLAY Site Sie oe Vp ATC Sep red e eir UR ee ED E E d 3 3 Guidelines Tot ATfAayS r is Sasa pps b RE sede Pe pee eee eas 3 4 Indirect Addressing of Arrays lees 3 5 Guidelines for Array Indexes s s scs pudore E BG ee ee 3 6 Prescam ofan Aray Index sac ad i aes hakuya RETE Ya RE 3 6 Guidelines for User Defined Structures 3 7 Selecting a Data Type for Bit Tags ee 3 8 Serial Bit Addressing oed s ke uH ar de ere 3 9 Guidelines for String Data Types lle 3 10 PLC 5 SLC 500 Access of Strings eee 3 10 Gonfisuring Tags ais i esce goce Roten RE REY e
90. s support 32 bit tags and structures e cannot use FBC DDT bit file instructions e consolidates multiple bits into a single word Publication 1756 RM094A EN P May 2004 Serial Bit Addressing Addressing mode serial bit In PLC 5 or SLC software this addressing mode is represented as Bit Addressing Data 3 9 The BOOL P data table in the PLC 5 and SLC 500 processors supports two addressing modes that can address the same bit Description Serial bit addressing provides the ability to reference all bits as a contiguous list array of bits For example if you wanted to reference the 3rd bit in the 2nd word of a B file you specify B3 18 This method similar to a BOOL array in a Logix5000 controller where you would specify FaultBit 18 word bit In PLC 5 or SLC software this addressing mode is represented as Word Bit Word bit addressing identifies a bit within a specific word For example B3 1 2 is the same as B3 18 from the serial bit example This method is similar to accessing the bits of a SINT INT DINT array in a Logix5000 controller where you would specify FaultTable 1 2 The Logix5000 controller supports both of these addressing modes but you cannot use both to reference bits in the same array due to conformance with the IEC 61131 3 standard Choose the method that best meets your application needs You can copy data between arrays using both methods You can also use an expression to i
91. s to the execution of logic an I O value in the controller can change in the middle of a scan If you reference an I O tag multiple times and the application could be impacted if the value changes during a program scan you must copy the I O value into a buffer tag prior to the first reference of that tag in your code In your code reference the buffer tag rather than the I O tag Use the synchronous copy CPS instruction to buffer I O data While the CPS instruction copies data no I O updates or other tasks can change the data Tasks that attempt to interrupt a CPS instruction are delayed until the instruction is done Buffer I O data to e prevent an input or output value from changing during the execution of a program I O updates asynchronous to the execution of logic copy an input or output tag to a member of a structure or element of an array e prevent produced or consumed data from changing during the execution of a program ensure all produced and consumed data arrives or is sent as a group not mixed from multiple transfers only use the CPS instruction if the I O data that you want to buffer is greater than 32 bits or 4 bytes in size If you have a user defined structure with members that represent I O devices you must use logic to copy the data into the members of the structure from the corresponding I O tags Publication 1756 RM094A EN P May 2004 62 Communicating with 1 0 Guidelines for Specifying an RP
92. s with integrated OPC server connections fewer than RSLinx software automatically handles Logix tag changes FactoryTalk Live consolidates multiple HMI requests to reduce network traffic Considerations requires HMI to be restarted if Logix5000 controller is reloaded with changes to tags on scan uses 4 bi directional connections does not support topic switching with redundant ControlLogix system optimization limited to array tags does not yet support OPC ActiveX faceplates require a separate OPC server Publication 1756 RM094A EN P May 2004 9 6 Optimizing an Application for Use with HMI Guidelines for Configuring Controller Tags Use INT data types with third party products Most third party operator interface products do not support DINT 32 bit data types However there are additional performance and memory use considerations when using INT data types See Guidelines for Data Types on page 3 2 RSView supports native Logix5000 data types including BOOL SINT INT DINT and REAL structures and arrays G Group related data in arrays Most third party operator interface products do not support user defined structures Arrays also ensure that data is in contiguous memory which optimizes data transfer between the controller and RSLinx or other operator interface Arrays of tags transfer more quickly and take up less memory than groups of individual tags Map tags to PLC addresses To
93. se this to 40 by using a CIP Generic message instruction See the MSG section in the Logix 5000 Controllers General Instructions Reference Manual publication 1756 RM003 Communicating with Other Devices 7 3 Description The outgoing unconnected buffers are for e establishing I O connections to local 1 0 modules and remote devices on ControlNet EtherNet IP and Universal remote 1 0 networks e executing unconnected PLC2 PLC3 PLC5 or SLC all types messages over Ethernet or ControlNet CIP and CIP with Source ID e initiation of messaging over DH uses 2 buffers one to open the connection and one to transfer data e initiation of uncached block transfers e initiation of uncached CIP read write message instructions e initiation of cached block transfers e initiation of cached CIP read write messages instructions e CIP Generic message instructions 3 incoming unconnected buffers The incoming unconnected buffers are for e initial receiving of a cached CIP message instruction e receiving an uncached CIP message instruction e receiving a message over DH e receiving a CIP Generic message instruction e receiving a read or write request from a ControlNet PanelView unconnected messaging e initial receiving of a read request from an Ethernet PanelView connected messaging e receiving a write request from an Ethernet PanelView unconnected messaging e receiving a initial request from RSLogix 5000 to go online e initi
94. stallation publications when installing a DeviceNet network Use this publication when installing a DeviceNet network e DeviceNet Cable System Manual publication DN UM072 Place DeviceNet DNB communication modules in the local chassis Placing DNB modules in the local chassis maximizes performance especially in ControlLogix systems Size the input and output image for the DNB modules to the actual devices that are connected plus 20 for future growth If you have to place DNB modules in remote chassis sizing the input and output images is critical for best performance Verify the total network data does not exceed the maximum DNB data table size A DNB supports e 124 32 bit input words e 123 32 bit output words e 32 32 bit status words You can use RSNetWorx for DeviceNet software offline to estimate network data Use a second DNB if there is more network data than one module can support Set up slaves first Configure a device s parameters before adding that device to the scanlist You cannot change the configuration of many devices once they are already in the scanlist If you configure the scanner first there is a chance that the scanner configuration will not match the current configuration for a device If the configuration does not match the device will not show up when you browse the network Leave node address 63 open to add nodes Devices default to node 63 out of the box Leave node address 63
95. statistical information about a device IEEE 802 1D spanning tree protocol to support redundant backbone connections for improved fault tolerances IEEE 802 1P frame prioritization IP address blocking to restrict traffic to a specific range auto restore of switch configuration for replacement per port broadcast and multicast storm control port trunking for applications with multiple switches method for backing up configuration information These Encompass partners have switches that meet the required features Cisco Consider using switches from Hirschmann and N Tron Encompass partners Publication 1756 RM094A EN P May 2004 5 4 Designing Networks ControlNet Network Topology ControlNet network Topology e ControlNet allows both I O and messaging on the same wire e Multiple controllers and their respective 1 0 can also be placed on the same ControlNet wire e When new 1 0 is added or an existing 1 0 module s communication structure is changed you must use RSNetWorx for ControlNet software to reschedule the network e f the network timing changes every device with scheduled traffic on the network is affected e To reduce the impact of changes place each CPU and its respective 1 0 on isolated ControlNet networks e Place shared O and produced consumed tags on a common network available to each CPU that needs the information Application Ideas ControlNet ControlNet e default Logix network e b
96. ster than other data types Use possible e DINT for most numeric values and array indexes e REAL for manipulating floating point analog values e SINT 8 bit and INT 16 bit primarily in user defined structures or when communicating with an external device that does not support DINT values SINT INT DINT REAL memory reserved for a stand alone tag 4 bytes 4 bytes 4 bytes 4 bytes memory reserved for data in a user defined structure 1 byte 2 bytes 4 bytes 4 bytes 8 bit aligned 16 bit aligned 32 bit aligned 32 bit aligned memory used to access a tag in an ADD instruction 236 bytes 260 bytes 28 bytes 44 bytes execution time on a 1756 163 controller required to 3 31 usec 3 49 usec 0 26 usec 1 45 usec perform an ADD instruction i When using BOOL values group them into DINT arrays to best use controller memory and to lt Group BOOL values into arrays make the bits accessible via FBC or DDT instructions Publication 1756 RM094A EN P May 2004 Addressing Data 3 3 Arrays An array allocates a contisuous block of memory to store a specific data type as a table of values e Tags support arrays in one two or three dimensions e User defined structures can contain a single dimension array as a member of the structure 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
97. stimate the number of loops based on taskexecution time execution time of periodic tasks in msec 2 This leaves sufficient time for the controller to manage other logic in lower priority tasks Estimating number of loops The number of loops depends on the execution time of the periodic task as well as the controller Periodic Task Execution Times msec Controller 10 20 40 100 250 500 1000 1756 L55 6 13 26 64 161 322 644 1756 L6x 18 36 72 180 450 899 1799 Publication 1756 RM094A EN P May 2004 Advanced Process Instructions Instruction Alarm ALM Optimizing an Application for Process Control 10 3 Description provides alarming for any analog signal Enhanced PID PIDE provides enhanced capabilities over the standard PID instruction The instruction uses the velocity form of the PID algorithm The gain terms are applied to the change in the value of error or PV not the value of error or PV Ramp Soak RMPS provides for a number of segments of alternating ramp and soak periods Scale SCL converts an unscaled input value to a floating point value in engineering units Position Proportional POSP opens or closes a device by pulsing open or close contacts at a user defined cycle time with a pulse width proportional to the difference between the desired and actual positions Split Range Time Proportional SRTP takes the 0 100 output of a PID loop and drives heating and coolin
98. t a time Multiple Independent HMI e all HMI EOI support this method e more controller connections are required e the same HMI screens can be viewed at e additional burden on controller to service all multiple stations communications program scan impact e multiple people can monitor different parts of e no sharing of data system simultaneously e adding additional HMIs has larger increase e each HMI gets its own data on system e no server to setup and manage Client Server HMI e the same HMI screens can be viewed at e additional server computer to administer multiple stations e server collects data for multiple clients e server is a single point of failure for all HMls e little communications overhead savings if e fewer controller connections required each client wants different data e impact on system is smaller than with e adds communications multiple HMIs Most third party HMIs are limited to direct communications similar to the multiple HMI method above Publication 1756 RM094A EN P May 2004 9 2 Optimizing an Application for Use with HMI Guidelines for HMI Applications On one machine the maximum is Limit the number of servers on e one HMI server one machine e one data server Configure no more than two HMI servers per application Maximum of two HMI servers per application e Use one computer for each server e maximum of 20 000 tags per HMI server Configure no more than two data servers p
99. te I O points _ 400 bytes Analog I O points 2600 7 bytes DeviceNet modules 7400 7 bytes Other communication modules 2000 bytes Motion axis 8000 J bytes Total bytes Publication 1756 RM094A EN P May 2004 1The first DeviceNet module is 7400 bytes Additional DeviceNet modules are 5800 bytes each 2Count all the communication modules in the system not just those in the local chassis This includes device connection modules adapter modules and ports on PanelView terminals Reserve 20 3096 of the controller memory to accommodate growth Logix5000 Controller Resources 1 3 RSLinx use of Logix5000 controller memory The amount of memory RSLinx needs depends on the type of data RSLinx reads The following equations provide an estimate of the memory needed for RSLinx communications RSLinx overhead per connection 1345 bytes 4 connections by default Individual tags _ 45 bytes Arrays structures 0 1 bytes Total J bytes Using Connections for Communications Consolidating tags into an array or a structure reduces the communications overhead and the number of connections needed to obtain the data PLC SLC memory comparison The Logix5000 controllers used compiled instructions to provide faster execution times than PLC or SLC processors The compiled instructions use more memory when compared to the instructions in PLC and SLC processors If you have a PLC SLC pr
100. te chassis contains only analog modules diagnostic digital modules fused output modules or communication modules Rack Optimized the remote chassis only contains standard digital input and output modules no diagnostic modules or fused output modules Listen Only Rack Optimized you want to receive I O module and chassis slot information from a rack optimized remote chassis owned by another controller Use rack optimized connections to conserve connection use If you are trying to limit the number of controller and network connections rack optimized connections can help Publication 1756 RM094A EN P May 2004 Communicating with I O 6 5 Guidelines for Managing 1 0 Connections continued In some cases all direct connections work best Example Remote 17 slot chassis Slot 0 1756 CNBR D Slots 1 15 analog modules Slot 16 standard digital module For a remote adapter module configured for rack optimized connections there is always data sent for each slot in the chassis even if a slot is empty or contains a direct connection module There are 12 bytes of data transferred for rack optimized overhead between the controller and the remote adapter module In addition the remote adapter module sends 8 bytes per slot to the controller the controller sends 4 bytes per slot to the remote adapter For a small number of digital modules in a large chassis it might be better to use direct connections because transf
101. tegrates a function block diagram editor and several process control instructions The controller can generally execute more loops than typical applications require Comparison of PID and The function block PIDE instruction offers additional enhancements PIDE Instructions over the relay ladder PID instruction Enhanced PID PIDE Standard PID velocity form algorithm which works on change in error value position form algorithm which works on error values This algorithm is the same type as used in most DCS systems The algorithm also makes it easier to implement adaptive gains full set of modes limited set of modes e program operator control e auto mode e cascade ratio mode e software manual mode similar to PIDE manual mode e auto mode e manual mode similar to PIDE hand mode e manual mode e override mode e hand mode available selection of timing modes no timing modes e periodic e oversample e real time sampling handling for PV CV faults no handling for PV CV faults The PIDE block has built in PVFault and CVFault members full bumpless transfer into and out of cascade mode no bumpless transfer into or out of cascade mode Publication 1756 RM094A EN P May 2004 10 2 Optimizing an Application for Process Control Guidelines for Programming PID Loops Configure the periodic tasks to execute at the desired rate Place PID loops in a periodic task Estimate the number of PID loops that can be executed as E
102. to execute a continuous task increasing overall scan time 1600 14000 o 1400 Tags Per 12000 Second g 1209 i 10000 1000 8000 8 E 800 Program Scan i 6000 o 600 Time 2 eo a 400 M z E s 200 2000 0 0 sie ge ale wie wir wll wir wir wi SPS S GG CFs System Timeslice Individual applications may differ but the overall impact on communications and scan time remains the same The above data is based on a ControlLogix5555 controller running a continuous task with 5000 tags no arrays or user defined structures Publication 1756 RM084A EN P May 2004 2 12 Dividing Logic into Tasks Programs and Routines Developing Application Each routine contains logic in one programming language Choose a Code in Routines programming language based on the application In general if a section of your code represents Then use this language continuous or parallel execution of multiple operations not sequenced ladder logic boolean or bit based operations complex logical operations message and communication processing machine interlocking operations that service or maintenance personnel may have to interpret in order to troubleshoot the machine or process servo motion control continuous process and drive control function block diagram loop control calculations in circuit flow high level management of multiple operations sequential fun
103. ult to debug e may need to disable output processing on some tasks to improve performance e tasks can be inhibited to prevent execution Publication 1756 RM094A EN P May 2004 e data spanning multiple programs must go into controller scoped area e listed in the Controller Organizer in the order of execution e subroutines with multiple calls can be difficult to debug e data can be referenced from program scoped and controller scoped areas e calling a large number of routines impacts scan time e listed in the Controller Organizer as Main Fault and then alphabetically Specifying Task Priorities Dividing Logic into Tasks Programs and Routines 2 3 Each task in the controller has a priority level that determines which task executes when multiple tasks are triggered A higher priority task such as 1 interrupts any lower priority task such as 15 The continuous task has the lowest priority and is always interrupted by a periodic or event task This Logix5000 controller Supports this many user tasks And has this many priority levels ControlLogix 32 15 1769 L35E CompactLogix 8 15 1769 L32E CompactLogix 6 15 1769 L20 L30 L31 CompactLogix 4 15 FlexLogix 8 15 PowerFlex 700A with DriveLogix 8 15 SoftLogix5800 32 3 If a periodic or event task is executing when another is triggered and both tasks are at the same priority level the tasks timeslice execution time in 1 msec increments until
104. unused so you can add a new devices to the network Then change the address of the new device Leave node address 62 open to connect a computer Always leave at least one open node number to let a computer be attached to the network if needed for troubleshooting configuration etc Don t forget to set the scanner run bit For the scanner to be in Run mode the controller must be in Run mode and the logic in the controller must set the scanners run bit Local 5 0 CommandR egister Run MM D Make sure you have the most current EDS files for your devices RSNetWorx for DeviceNet software uses EDS file to recognize devices If the software is not properly recognizing a device you are missing the correct EDS file s For some devices you can create an EDS file by uploading information from the device Or you can get EDS files from http www ab com networks eds Publication 1756 RM094A EN P May 2004 5 8 Designing Networks Notes Publication 1756 RM094A EN P May 2004 Chapter 6 Introduction Buffering 1 0 Data Communicating with 1 0 In Logix5000 controllers I O values update at a period Requested Packet Interval RPD that you configure via Module Property dialog in the I O configuration folder of the project The values update asynchronously to the execution of logic The module sends input values to the controller at the specified RPI Because this transfer is asynchronou
105. valid subscript range DINT x where x 0 6 two dimension Tag name Type Dimension O0 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 Dimension1 Dimension 2 three d array DINT 2 3 4 2 3 4 LH ill 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 The data type you select for an array determines how the contiguous block of memory gets used BOOL 96 12 bytes f 3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 D ojojo BOOL arrays use 32 bit 1 oj 3 7 7 6 5 4 3 2 1 0 7 3 2 7 4 3 2 increments of memory 6 6 5 5 5 5 5 5 4 4 4 4 4 4 4 4 4 4 3 3 3 3 3 3 3 3 3 2 s 5 4 3 2 a s 7 5 5 4 3 2 1 0 2 8 7 6 5 4 3 2 9 8 s s s s s e o s 7 7 7 7 7 7 7 7 7 7 8 8 6 6 3 2 9 8 7 6 5 4 3 2 aj e 7 6 5 4 3 2 1 0 9 8 7 6 SINT 10 12 bytes of memory 2 bytes unused SINT arrays are padded to use any left over bytes INT arrays are padded to use any left over bytes DINT 3 12 bytes and REAL 3 12 bytes DINTandREALanaysuse 3 Woyteinrements of a Publication 1756 RM094A EN P May 2004 3 4 Addressing Data Guidelin
106. ware described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Identifies information about practices or circumstances WARNING that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you ATTENTION e identify a hazard e avoid a hazard e recognize the consequence TNA a Wai Labels may be located on or inside the drive to alert people that dangerous voltage may be present BURN HAZARD Labels may be located on or inside the drive to alert people that surfaces may be dangerous temperatures Logix5000 Controller Resources Dividing Logic into Tasks Programs and Routines Addressing Data Sharing Tag Data with 0ther Controllers Produced and Consumed Tags Table of Contents Chapter 1 Introduction pa seors pasasaq tale dase eo ales eere Ss d 1 1 Using Connections for Communications 1 3 Determining Total Connection Requirements lesen 1 5 Chapter 2 Introduction ttp eed n e VM RR IS E an e RR RUE ty 2 1 Deciding When to Use Tasks Program
107. ximum The total combined number of consumed and produced tags that a controller supports is produced tags consumed tags other connections lt 250 or controller maximum IMPORTANT The actual number of produced and consumed tags that you can configure in project depends on the connection limits of the communication module through which you produce or consume the tags Publication 1756 RMO094A EN P May 2004 Sharing Tag Data with Other Controllers Produced and Consumed Tags Guidelines for Creating Produced and Consumed Tags You cannot bridge produced and consumed tags over different networks For two controllers to share produced or consumed tags both controllers must be attached to the same network You can produce and consume tags over ControlNet or EtherNet IP networks Create the tag at controller scope You can only produce and consume share controller scoped tags Limit the size of the tag to lt 500 bytes If you transfer a tag with more than 500 bytes create logic to transfer the data in packets If you consume a tag over a ControlNet hop the tag must be lt 480 bytes This is a limitation of the ControlNet network not the controller Combine data that goes to the same controller If you are producing several tags for the same controller e Group the data into one or more user defined structures This uses less connections than producing each tag separately e Group the dat
108. y Needed When RSLinx software first connects to a Logix5000 controller it queries the tag database and uploads definitions for all controller scoped tags If there are multi layer user defined structures that are controller scoped RSLinx software just queries the upper layer When the HMI client requests data RSLinx software queries the definitions for program scoped tags and the lower layers of multi layer user defined structures RSLinx software receives requests for data items from local or remote HMI EOI clients and combines multiple requests in optimized packets Each data item is a simple Logix tag array or user defined structure Each optimized packet can be as large as 480 bytes of data and can contain one or more data items The Logix5000 controller allocates unused system RAM to create an optimization buffer to contain the requested data items a single optimization buffer can contain as much data as will fit into a single 480 byte packet optimization is limited to 480 bytes currently RSLinx Enterprise only provides optimization for array tags if you use RSLogix 5000 software to monitor controller RAM you can see used memory increase the controller creates an optimization buffer for each RSLinx optimization packet in the scan 45 0 40 0 35 0 30 0 Standalone tags 260 20 0 15 0 10 0 Optimized 50 array tags 0 0 1 100 500 1000 Tags on Scan in RSLinx Publication 175

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