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ControlLogix Controllers User Manual

1. 1769 ADN Adapter with Compact 1 0 Modules DeviceNet Network 1769 L35E CompactLogix with 1769 SDN Module ESSEN EtherNet IP Network ControlLogix Controller with 1756 ENBT and 1756 DNB Modules ECCE C e WN FlexLogix with 1788 DNBO Daughtercard Workstation The ControlLogix controller in this example uses these connections Example Connection Types Connection Type Device Connections Total Quantity per Device Connections Controller to local 1 0 modules 4 1 1 Controller to 1756 ENBT module 0 0 Controller to 1756 DNB module 2 2 Controller to RSLogix 5000 programming software 1 1 Message to CompactLogix controller 2 1 2 Produced tag 1 1 Consumed by FlexLogix controller 1 1 Total 8 Publication 1756 UM001G EN P January 2007 Chapter 5 Place Configure and Monitor 1 0 Modules Introduction This chapter explains how to p
2. bu Publication 1756 UMO001G EN P January 2007 44 Communicate over Networks Communicate Over a Universal Remote 1 0 Network For the controller to control I O over a universal remote I O network you must perform this procedure 1 Configure the remote I O adapter 2 Lay out the remote I O network cable 3 Connect the remote I O network cable 4 Configure the scanner channel As you design your remote I O network remember that e all devices connected to a remote I O network must communicate using the same communication rate These rates are available for remote I O 57 6 Kbps 115 2 Kbps 230 4 Kbps e you must assign unique partial and full racks to each channel used in remote I O scanner mode Both channels of a 1756 DHRIO module cannot scan the same partial or full rack address Both module channels can communicate to 00 37 octal or 40 77 octal but each channel can only communicate with one address at a time in whichever of these two ranges it falls a channel can have up to 32 rack numbers with 32 physical devices connected to it a channel can have a maximum of 16 block transfer connections Additional Resources For additional information consult these publications e ControlLogix Data Highway Plus Universal Remote I O Module User Manual publication 1756 UM514 e Process Remote I O Interface Module User Manual publication 175
3. Ez Space Parts Phase Y Y Eg MainProgram Equipment phase instructions control the transitions between states and handle faults PSC POVR PCLF PRNP PATT PCMD PFL PXRQ PPD PDET B My Equipment Program Other code controls the specific actions of your equipment Water Feed Conveyor Enable Axes L e Publication 1756 UM001G EN P January 2007 State Model Overview Configure PhaseManager 85 A state model defines what your equipment does under different conditions such as run hold and stop PhaseManager States State Description Acting Does something or several things for a certain time or until certain conditions are met An acting state runs once or repeatedly Waiting Shows that certain conditions are met and the equipment is waiting for the signal to go to the next state PhaseManager State Transitions Start Running Resetting Hold Hold Restarting Your equipment can go from any state in the box to the stopping or aborting state Restart Acting states represent the things your Reset Reset Stopping Aborting wetting Stop Abort equipment does at a given time Abort Waiting stat
4. Notes Publication 1756 UM001G EN P January 2007 Appendix A LED Indicators Introduction This appendix explains the LED indicators for ControlLogix controllers Topic Page RUN LED Indicator 131 1 0 LED Indicator 131 FORCE LED Indicator 132 RS232 LED Indicator 132 BAT LED Indicator 132 OK LED Indicator 133 RUN LED Indicator Condition Indicates Recommended Action Off The controller is in Program or Test mode Change the controller mode Solid green The controller is in Run mode 1 0 LED Indicator Condition Indicates Recommended Action Off e Either there are no devices in the I O e Add the required devices to the 1 0 configuration of the configuration of the controller controller e The controller does not contain a project e Download the project to the controller controller memory is empty Solid green The controller is communicating with all the None devices in its I O configuration Flashing green One or more devices in the I O configuration Go online with RSLogix 5000 programming software and check the of the controller are not responding 1 0 configuration of the controller Flashing red The chassis is bad Replace the chassis Publication 1756 UM001G EN P January 2007 132 LED Indicators FORCE LED Indicator Color Description Recommended Action Off e No tags contain I O force values None e O forces are inactive disabled Solid a
5. 6 Connect the 1757 SRM redundancy modules in both chassis 7 Add I O modules operator interfaces and other devices to the ControlNet network Redundant System Primary Controller Secondary Controller HMI Device Remote Controller Publication 1756 UM001G EN P Month Year 114 Configure Redundancy Items in Primary and Secondary Chassis ControlLogix controller Communication modules System Considerations Consideration As of firmware revision 13 you can use these combinations of ControlLogix controllers in a redundant chassis e one 1756 L55 controller e two 1756 L55 controllers e one 1756 L6x controller When configured for redundancy the secondary controller automatically receives and buffers data A redundant controller uses twice as much data memory and I O memory space as a nonredundant controller The controllers synchronize data transfers to support a bumpless switchover e A redundant controller has a significantly longer scan time than a nonredundant controller e The scan time can affect high speed processes requiring fast lt 50 ms program scans e Minimize the scan time impact by packing data into arrays and structures so the data transfer from primary to secondary controller is more efficient You do not need a special version of RSLogix 5000 software for redundancy e Only controllers 1756 CNB and 1756 CNBR modules 1756 ENBT modules and one 1
6. Tag Test Increment 1 0 Revs Test Marker sitive Test Feedback Test Command amp Feedback Drive Polarity program mode Modifying polarity determined after executing the Test DANGER These tests may cause axis motion with the controller in A Command amp Feedback test may cause axis runaway condition Cancel Apply Help 2 Click the Hookup tab 3 In the Test Increment box type the number of revolutions you want the axis to turn during each test 4 Click Test Marker to check the channels for proper connection and phasing 5 Click Test Feedback to test the polarity of the feedback 6 Click Test Command amp Feedback to test the drive s polarity 7 Click OK Additional Resources For additional information consult the Logix5000 Motion Module User Manual publication 1756 UM006 Publication 1756 UM001G EN P January 2007 106 Develop Motion Applications Tune Each Axis Publication 1756 UM001G EN P January 2007 You need to tune each axis ATTENTION When you tune an axis it moves even with the controller in Remote Program mode In that mode your code is not in control of the axis Before you tune an axis make sure no one is in its path To tune each axis perform this procedure 1 In Motion Groups within RSLogix 5000 programming software click motion_group and then right click an axis and select Properties amp Motion Groups Ca motion group
7. With version 16 of RSLogix 5000 programming software you can design and configure sets of commonly used instructions to increase project consistency Similar to the built in instructions contained in Logix5000 controllers these instructions you create are called Add On Instructions Add On Instructions reuse common control algorithms With them you can e ease maintenance by animating logic for a single instance e protect intellectual property with locking instructions e reduce documentation development time You can use Add On Instructions across multiple projects You can define your instructions obtain them from somebody else or copy them from another project Publication 1756 UMO001G EN P January 2007 74 Develop Applications Publication 1756 UM001G EN P January 2007 Once defined in a project Add On Instructions behave similarly to the built in instructions in Logix5000 controllers They appear on the instruction tool bar for easy access as do internal RSLogix 5000 software instructions Save Time With Add On Instructions you can combine your most commonly used logic into sets of reusable instructions You save time when you create instructions for your projects and then share them with others Add On Instructions increase project consistency since commonly used algorithms all work in the same manner regardless of who implements the project Use Standard Editors You create Add On Instructions by using on
8. quipment Phases er s RSLogix 5000 1 meaty Phase Sat eT ting 1 Take ownership of the equipment phase 2 Give a command Stop Abort Complete Stopping Aborting Auto P ause Stopped Aborted Pause Compare PhaseManager to You can compare PhaseManager state models to other state models Other State Models S88 PackML PhaseManager Idle Starting Ready Resetting Idle Running Complete Producing Running Complete Pausing Paused Standby Subroutines or breakpoints Holding Held Holding Held Holding Held Restarting None Restarting Stopping Stopped Stopping Stopped Stopping Stopped Aborting Aborted Aborting Aborted Aborting Aborted Publication 1756 UM001G EN P January 2007 88 Configure PhaseManager Minimum System E Requirements Equipment Phase Instructions Publication 1756 UM001G EN P January 2007 To develop PhaseManager programs you need a ControlLogix controller firmware revision 16 0 or later e a communication path to the controller e RSLogix 5000 software version 16 0 or later To enable PhaseManager support you need the full or professional editions of RSLogix 5000 programming software or RSLogix 5000 with PhaseManager software 9324 RLDPMENE The controller supports several equipment phase ladder diagram LD and structured text ST instructions PhaseManager Instructions Instruction In
9. 7 aie ee nM Allen Bradley ControlLogix Controllers 1756 L55M12 1756 L55M13 1756 L55M14 1756 L55M16 1756 L55M22 1756 L55M23 1756 L55M24 1756 L61 1756 L62 1756 L63 1756 L64 1756 L60M03SE Firmware Revision 16 User Manual r e 5 E TES MEN n CE mi Rockwell Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls Publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices 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
10. In the Name box type the name of the new drive 6 In the Node box select the node number of the drive in the SERCOS ring 7 Click OK Additional Resources For additional information consult these publications Motion Analyzer Selection Guide publication PST SG003 e ControlLogix Selection Guide publication 1756 SG001 e Logix5000 Motion Module User Manual publication 1756 UM006 Publication 1756 UM001G EN P January 2007 Develop Motion Applications 95 To set the data rate and cycle time for each SERCOS interface module in your project perform this procedure Set Up Each SERCOS Interface Module 1 In the I O configuration tree in RSLogix 5000 programming software right click your module and select Properties A 6 1 0 Configuration 1756 Backplane 1756 413 fa 0 1756 L55 My Controller 12 1756 MOBSE My SERC Ele SERCOS Network fl 1 2094 aco9 mo2 M l 2 2094 AMO1 My Dr J New Module Copy Ctrl C Cross Reference Ctri E The Module Properties dialog appears Wil Module Properties Local 5 1756 MOBSE 15 1 General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Data Rate B x Mb Cycle Time Transmit Power High X Transition To Phase 4 a Status Offline Cancel Apply Help 2 Click the SERCOS Interface tab 3 From the Data Rate pull down menu choose Auto Detect Publication 1756 UM001G EN P January 2
11. Specify ASCII user protocol settings 7 Click OK 35 Publication 1756 UM001G EN P January 2007 36 Communicate over Networks Publication 1756 UM001G EN P January 2007 The controller supports several ladder diagram LD and structured text ST instructions to manipulate ASCII characters Read and Write ASCII Characters Instruction Code ABL Command Determine when the buffer contains termination characters ACB Count the characters in the buffer ACL Clear the buffer Clear out ASCII Serial Port instructions that are currently executing or are in the queue AHL Obtain the status of the serial port control lines Turn on or off the DTR signal Turn on or off the RTS signal ARD Read a fixed number of characters ARL Read a varying number of characters up to and including the first set of termination characters AWA Send characters and automatically append one or two additional characters to mark the end of the data AWT Send characters Create and Modify Strings of ASCII Characters Instruction Code Command CONCAT Add characters to the end of a string DELETE Delete characters from a string FIND Determine the starting character of a sub string INSERT Insert characters into a string MID Extract characters from a string Convert Data to or from ASCII Characters Instruction Code Command STOD Convert the ASCII representation of an integer value to
12. The Module Reconfigure message then sends the new alarm value to the module The ONS instruction prevents the rung from sending multiple messages to the module while the reconfigure 5 is on reconfigure 5 reconfigure 5 MOV LONS Move Source 60 Dest Local4 C ChOConfig HAlarmLimit 75 06 change_Halarm EN MSG Type Module Reconfigure Message Control change Halarm E ND Publication 1756 UMO001G EN P January 2007 66 Place Configure and Monitor 1 0 Modules Notes Publication 1756 UM001G EN P January 2007 Chapter 6 Develop Applications Introduction This chapter explains how to develop applications Topic Page Manage Tasks 67 DevelopPrograms 68 Organize Tags 72 Select a Programming Language 73 Monitor Controller Status 75 Monitor Connections 76 Select a System Overhead Percentage 79 Additional Resources For additional general information consult these publications Logix5000 Controllers Common Procedures Programming Manual publication 1756 PMO001 e Logix5000 Controllers Design Considerations Reference Manual publication 1756 RM094 Manage Tasks A Logix5000 controller lets you use multiple tasks to schedule and prioritize the execution of your programs based on specific criteria This multitasking allocates the controller s processing time among the different operations in your application e The controller executes only one task at
13. 0 1756 L55 CN l ENNNNNNNNNNNNUNM 1 1756 CNBJD d ControlNet B 517564 B 61756 1751 B 717854 rere EE Properties Alt Enter The Controller Properties dialog appears f Controller Properties CNET messaging General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time I SFC Execution File Redundancy Nonvolatile Memory Memory Controller Fault Handler knon Ooo O O Power Up Handler none M System Overhead m Time Slice 10 p x During unused System Overhead Time Slice Run Continuous Task Reserve for System Tasks eg Communications Security z Match Project to Controller Serial Number Cancel Help 2 Click the Advanced tab 3 Specify the system overhead settings System overhead functions include e communication with programming and HMI devices such as RSLogix 5000 programming software e responding to messages e transmission of messages Publication 1756 UMO001G EN P January 2007 80 Develop Applications Click OK The controller performs system overhead functions for up to 1 ms at a time If the controller completes the overhead functions in less than 1 ms it resumes the continuous task As the system overhead percentage increases time allocated to executing the continuous task decreases If there is no communication for the controller to manage the controller uses t
14. 6 weeks 6 weeks 6 weeks 6 weeks 6 weeks e The maximum temperature 2 54 cm 1 in below the chassis 45 C 113 F e You cycle power to the controller 3 times per day e he controller contains an 8 MB project Under these conditions the battery will last at least 20 months before the BAT light turns red Publication 1756 UMO001G EN P January 2007 128 Maintain the Battery Maintain a 1756 BATM Use the l Re E us e E one series A controller The battery module is hi recommended for the Battery Module higher memory controllers T nx Controller Project 1756 BATM Battery Module 1756 L55M12 p gt Permitted 1756 L55M13 gt Permitted 1756 L55M14 pr Highly recommended 1756 L55M16 p gt Highly recommended 1756 L55M22 Stored in nonvolatile memory Not required but permitted 1756 L55M23 Stored in nonvolatile memory Not required but permitted Not stored in nonvolatile memory Permitted 1756 L55M24 Stored in nonvolatile memory Not required but permitted Not stored in nonvolatile memory Highly recommended 1756 163 Stored in nonvolatile memory Not required but permitted requires a 1784 CF64 Industrial CompactFlash card Not stored in nonvolatile memory Highly recommended When the 1756 BATA battery is about 5096 discharged the controller provides these warnings e Solid red BAT LED e Minor fault type 10 code 10 C
15. BA2 Battery Life Use this table to estimate how much time will elapse before the battery becomes low BAT LED solid red on 1756 L6x series B controllers 1756 L6x series B controllers only Temperature 2 54 cm 1 in Below the Chassis Max Worst case Estimates of 1756 BA2 Battery Life Power Cycles Battery Life Before the BAT LED Turns Red Project Size 1MB 2MB 4 MB 8 MB 16 MB 0 40 C 32 104 F 3 per day 3 years 3 years 26 months 20 months 10 months 2 per day or less 3 years 3 years 3 years 31 months 16 months 41 45 C 105 8 113 F 3 per day 2 years 2 years 2 years 20 months 10 months 2 per day or less 2 years 2 years 2 years 2 years 16 months 46 50 C 114 8 122 F 3 per day or less 16 months 16 months 16 months 16 months 10 months 51 55 C 123 8 131 F 3 per day or less 11 months 11 months 11 months 11 months 10 months 56 60 C 132 8 140 F 3 per day or less 8 months 8 months 8 months 8 months 8 months Publication 1756 UM001G EN P January 2007 Estimate Warning Time Maintain the Battery 127 Use this table to estimate the battery life after the low battery warning BAT LED solid red Use these times whether or not the controller has power There is always a small drain on the battery IMPORTANT When you power up the controller see if there is a low battery warning If you get a low battery war
16. Choose your coarse update period IMPORTANT The coarse update period is the interval between updating your axes positions and scanning your code a Set the coarse update period to 10 ms b Leave at least half the controller s time for the scanning of all your code c Set the coarse update period to a multiple of the cycle time of the motion module Example If the cycle time is 2 ms set the coarse update period to 8 ms 10 ms 12 ms and so on 2 In RSLogix 5000 programming software right click Motion Groups and select New Motion Group hs e Ur New Group Add O Data T oe Us Cg sti fim c Publication 1756 UM001G EN P January 2007 98 Develop Motion Applications The New Tag dialog appears Name My Molion Grup ok Loc Description Hp Usage Type Base m Alias For Data Type MOTION GROUP i Scope g My Controller M Style iv Open MOTION GROUP Configuration 3 In the Name box enter the tag name From the Data Type pull down menu choose MOTION GROUP 5 Click OK The Motion Group Wizard dialog appears Motion Group Wizard My Motion Group Axis Assignment Unassigned Assigned Add gt lt Remove Cancel Finish Help 6 Click Next Publication 1756 UM001G EN P January 2007 Develop Motion Applications 99 The Motion Group Wizard Attributes dialog appears Motion Group Wizard My_Motion_Group
17. Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 1756 UM001G EN P January 2007 Supersedes Publication 1756 UM001F EN P May 2005 PN 953014 93 Copyright 2007 Rockwell Automation Inc All rights reserved Printed in the U S A
18. MSO Initialize_Pushbutton My Axis X Servo ctionStatus Motion Servo On Axis My Axis x E Motion Control My Axis X n If Home Pushbutton on and the axis hasn t been homed My Axis X AxisHomedsStatus off then The MAH instruction homes the axis Home Pushbutton My Axis X AxisHomedStatus Es MAH Motion Axis Home Axis My Axis x E Motion Control My Axis X Home Publication 1756 UMO001G EN P January 2007 110 Develop Motion Applications If Jog_Pushbutton on and the axis on My Axis X ServoActionStatus on then The MAJ instruction jogs the axis forward at 8 units second Jog Pushbutton My Axis X Servo amp ctionStatus MAJ E d Motion Axis Jog EN Axis My Axis X E CONS Motion Control My Axis X Jog ER2 Direction My Axis X Jog Direction P3 oe Speed My_Axis_X_SetUp ManuallogSpeed amp 0e Speed Units Units per sec More gt gt If Jog_Pushbutton off then The MAS instruction stops the axis at 100 units second2 Make sure that Change Decel is Yes Otherwise the axis decelerates at its maximum speed Jog_Pushbutton MAS Motion Axis Stop EN Axis My Axis X E PCDN2 Motion Control My Axis X MAS ER2 Stop Type Jog IP25 Change Decel Yes PCo Decel Rate My Axis X Setlp ManuallogDecel 100 0 Decel Units Units per sec2 If Move Command on and the axis on My Axis X ServoActionStatus on then The MAM instruction moves the axis
19. O SI 15 0F 47 2F 0 79 4F 0 111 6F ctrl P DLE 16 10 0 48 30 P 80 50 p 112 70 ctrl Q DC1 17 11 1 49 31 0 81 51 q 113 71 ctrl R DC2 18 12 2 50 32 R 82 52 r 114 72 ctrl S DC3 19 13 3 51 33 S 83 53 S 115 73 ctrl T DC4 20 14 4 52 34 T 84 54 t 116 74 ctrl U NAK 21 15 5 53 35 U 85 55 u 117 75 ctrl V SYN 22 16 6 54 36 V 86 56 V 118 76 ctrl W ETB 23 17 7 55 37 W 87 57 Ww 119 77 ctrl X CAN 24 18 8 56 38 X 88 58 X 120 78 ctrl Y EM 25 19 9 57 39 Y 89 59 y 121 79 ctrl Z SUB 26 1A 58 3A Z 90 5A 2 122 7A ctrl ESC 2 1B 59 3B 91 5B 123 7B ctrl FS 28 1C lt 60 3C 92 5C 124 7C ctrl GS 29 1D B 61 3D 93 5D 125 7D ctrI RS 30 1E gt 62 3E i 94 5E 126 7E ctrl JUS 31 1F 63 3F 95 5F DEL 127 STF Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the web to assist you in using our products At http support rockwellautomation com you can 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 support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automati
20. P January 2007 Place Configure and Monitor I O Modules 57 Configure Distributed l on To communicate with distributed I O modules over an EtherNet IP an EtherNet IP Network For a typical distributed 1 0 network 1768 ENBT Module Controller network add an EtherNet IP adapter and I O modules to the I O Configuration folder of the controller Within the I O Configuration folder organize the modules into a hierarchy of tree branch and parent child Configuring 1 0 on an EtherNet IP Network Remote Adapter you build the 1 0 configuration in this order 1 Add the remote adapter for the distributed 1 0 chassis or DIN rail 2 Add the distributed 1 0 modules zz Controller example 1768 Controller Tags E3 Controller Fault Handler 3 Power Up Handler E Tasks 5 amp 8 MainTask Cg MainProgram C3 Unscheduled Programs Phases E Motion Groups C3 Ungrouped Axes 73 Trends amp Data Types Cj User Defined Oi Strings Oi Predefined Oa Module Defined amp 1 0 Configuration ffl 1768 Bus E 1 1768 ENBT A ethernetip1 gy Ethernet g 1768 ENBT A ethernetip1 1794 AENT A flex enet SJ FlexBus 8 0 1794 IE8 B analog 1 1794 0616 4 outputi amp 9 2 1794 VHSCJA high speed fa 0 1768 143 example 1768 1769 Bus fa 0 1768 143 example 1768 Additional Resources For additional information consult EtherNet IP Communication Modules
21. The axis moves to the position of 10 units at 1 unit second Move Command My Axis X Servo amp ctionStatus AM Motion Axis Move EN Axis My Axis x E EDN Motion Control My Axis X Move ER2 Move Type 0 IP25 l Position 10 Speed My Axis X Setllp AutoSpeedCommand 10 Speed Units Units per sec Additional Resources For additional information consult these publications Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 e Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RM007 Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 Publication 1756 UM001G EN P January 2007 Chapter 9 Introduction ControlLogix Redundancy Overview Configure Redundancy This chapter explains how the ControlLogix redundancy system uses an identical pair of ControlLogix chassis to keep your machine or process running if a problem occurs with any equipment in a redundant chassis Topic Page ControlLogix Redundancy Overview 111 Build a Redundant System ControlNet Considerations in Redundant Systems EtherNet IP Considerations in Redundant Systems Redundancy and Scan Time N N n N a N N ao c oj gt 99 Minimum System Requirements Additional Resources For additional information consult the ControlLogix Redundancy System User Manua publication 1756 UM523 Redundancy provides for hi
22. The primary controller crossloads any tag to which an instruction wrote a value even the same value since the last crossload e Crossloading also requires a small amount of overhead time to tell the secondary controller which program the primary controller is executing At a minimum a ControlLogix redundancy system must contain these items Item ControlLogix chassis ControlLogix power supply ControlLogix controller ControlLogix ControlNet communication module Notes Both chassis must be the same size e Use either 1756 L55 1756 L61 1756 L62 1756 L63 or 1756 L64 controllers e Use the same catalog number and memory size controllers in each chassis Use series D modules ControlLogix 10 100 Mbps Ethernet IP communication module e Optional e You can use a second pair of 1756 ControlNet communication modules for HMI workstation communication 1757 system redundancy module 1757 system redundancy cable Standard lengths are available Additional ControlNet nodes Publication 1756 UM001G EN P Month Year e Place all 1 0 in remote chassis or din rails e Use a ControlNet network for all 1 0 e Add at least 2 nodes to each ControlNet network in addition to the redundant chassis pair Chapter 10 Introduction SIL 2 Overview SIL 2 Certification This chapter explains how ControlLogix system components are type approved and certified for use in SIL 2 applications accor
23. a DH 485 network you need a 1761 NET AIC interface converter for each controller you want to put on the DH 485 network You can have two controllers for each 1761 NET AIC converter but you need a separate cable for each controller Connect the serial port of the controller to either port 1 or port 2 of the 1761 NET AIC converter Use the RS 485 port to connect the converter to the DH 485 network Cable Selection Connection Required Cable Port 1 1747 CP3 DB 9 RS 232 DTE connection or 1761 CBL ACOO Port 2 1761 CBL APOO Mini DIN 8 RS 232 connection or 1761 CBL PM02 Communicate over Networks 39 To communicate with DH 485 devices perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click your controller and select Properties B 7 1756 PLs e J Mew Me Properties Alt Enter The Controller Properties dialog appears Controller Properties PLSSampleProject Date Time Advanced SFCExecution File Redundancy Nonvolatile Memory Memory General Setial Port System Protocol User Protocol Major Faults Minor Faults Mode Sys zi Baud Rate 19200 x Data Bits B z Parity Noe gt Stop Bits 1 Control Line No Handshake gt 2 RTS Send Delay D K20ms RTS Off Delay O 20m DCD Wait Delay x1 sec Cancel Help 2 Click the Serial Port tab 3 From the Mode pull down menu choose System 4 Spe
24. a time e One task can interrupt another execution and take control e In any given task only one program executes at a time Publication 1756 UM001G EN P January 2007 68 Develop Applications DevelopPrograms The controller operating system is a preemptive multitasking system that is IEC 1131 3 compliant This environment provides e tasks to configure controller execution e programs to group data and logic e routines to encapsulate executable code written in a single programming language Program Development Overview Control Application Controller Fault Handler Task 8 Task 1 Configuration Status Watchdog Program 32 Program 1 Program local Main Routine Tags Fault Routine Other Routines Controller global Tags 1 0 Data System shared Data Publication 1756 UM001G EN P January 2007 Develop Applications 69 Define Tasks A task provides scheduling and priority information for a set of one or more programs You can configure tasks as continuous periodic or event Types of ControlLogix Controller Tasks Task Execution Task Type Description All of the time Continuous The continuous task runs in the background Any CPU time not allocated to other operations such as motion commun
25. and lets you do one activity State model e A state model divides the operating cycle of your equipment into a series of states Each state is an instant in the operation of the equipment the actions or conditions of the equipment at a given time e The state model of an equipment phase resembles that of the S88 and PackML state models State machine An equipment phase includes an embedded state machine that e calls the main routine state routine for an acting state e manages the transitions between states with minimal coding e makes sure that the equipment goes from state to state along an allowable path PHASE tag When you add an equipment phase RSLogix 5000 programming software makes a tag for the equipment phase The tag uses the PHASE data type Publication 1756 UM001G EN P January 2007 84 Configure PhaseManager PhaseManager Overview A PHASE tag gives you the status of an equipment phase s Controller Name Data Type 8m Controller Tags Add Water PHASE Add_Water State DINT zz Tasks Add Water Running BOOL N fia MainTask _ Add Water Holding BOOL m Add Water Reestarting BOOL An equipment phase directs one activity of your equipment E Add Water Phase A state model divides the activity into a series of states C OC XX OC ay Mix Phase f Running State Routine How to add ee Drain Phase a a l NET Ds Gas SPC
26. card stores the firmware for projects gt 12 0 Depending on the current revision of the controller you may be able to use the CompactFlash card to update the firmware of the controller and load the project Maintain Nonvolatile Memory 121 Use a CompactFlash If the revision of the project or projects on your CompactFlash card Reader are 2 12 then the card is formatted using the FAT16 file system You do not have to manage the files on a CompactFlash card The card automatically loads the project that you most recently stored For additional flexibility the file system also lets you e manually change which project loads from the CompactFlash card e manually change the load parameters for a project A sample controller project that reads and writes a CompactFlash card is available with RSLogix 5000 Enterprise programming software See the section Sample Controller Projects on pg 71 Additional Resources For additional information consult the Logix5000 Controllers Common Procedures Programming Manual 1756 PM001 Publication 1756 UMO001G EN P January 2007 122 Maintain Nonvolatile Memory Notes Publication 1756 UM001G EN P January 2007 Chapter 12 Introduction Maintain the Battery This chapter explains how to maintain the batteries supported by ControlLogix controllers Controller Series ControlLogix5550 gt ControlLogix5555 ControlLogix5560M03SE Supported Battery 1756 BA1 ControlLogix5561
27. connections to network e communication devices e produced consumed tags On a ControlNet network you must use RSNetWorx for ControlNet software to enable all scheduled connections and establish a network update time NUT Scheduling a connection reserves network bandwidth to specifically handle the connection Unscheduled An unscheduled connection is a message transfer between controllers that is triggered by the requested packet interval RPI or the program such as a MSG instruction Unscheduled messaging lets you send and receive data when you need to Unscheduled connections use the remainder of network bandwidth after scheduled connections are allocated Publication 1756 UMO001G EN P January 2007 28 Communicate over Networks DeviceNet Network Communication Publication 1756 UM001G EN P January 2007 The 1756 CNB and 1756 CNBR communication modules support 64 CIP connections over a ControlNet network However for optimal performance only configure 48 connections for each module Additional Resources For additional information consult these publications e ControlNet Modules in Logix5000 Control Systems User Manual publication CNET UM001 e Logix5000 Controllers Design Guidelines Reference Manual publication 1756 RM094 The DeviceNet network uses the Common Industrial Protocol CIP to provide the control configuration and data collection capabilities for industrial devices The DeviceNet network uses th
28. in Logix5000 Control Systems User Manual publication ENET UMOO01 Publication 1756 UMO001G EN P January 2007 58 Place Configure and Monitor 1 0 Modules Configure Distributed l on To communicate with the I O modules over a ControINet network add a ControlNet bridge ControlNet adapter and I O modules to the a ControlNet Network I O Configuration folder of the controller Within the I O Configuration folder organize the modules into a hierarchy of tree branch and parent child Configuring 1 0 on a ControINet Network For a typical distributed 1 0 network Local Controller Communication Module Remote 1 0 Adapter Module Device you build the 1 0 configuration in this order fea Controller cnet_example Controller Tags 2 Controller Fault Handler EI Power Up Handler Tasks MainTask Cg MainProgram EI Unscheduled Programs Motion Groups 5 Ungrouped Axes 3 Trends Data Types Cj User Defined ER Strings Oi Predefined 4 Module Defined 23 1 0 Configuration 9 1756 Backplane 1756 410 fa 0 1756 L61 cnet_example P 1 1756 CNB E cnb1 ControlNet BJ 1 1756 CNBJE cnb1 2 1794 ACN15 C flex adapter FlexBus amp 0 1794 1A8 A inputi 1 1794 OB16 A outputi amp 2 1794 IF4I A analog 1 Add the local communication module bridge 2 Add the remote adapter for the distributed 1 0 chassis or DIN rail 3 Add the 1
29. memory The 1756 DNB module supports up to e 124 DINTs of input data e 123 DINTs of output data Additional Resources For more information consult these publications e DeviceNet Modules in Logix5000 Control Systems User Manual publication DNET UM004 Logix5000 Controllers Design Considerations Reference Manual publication 1756 RM094 Communicate over Networks 31 Serial Network The ControlLogix controller has one built in RS 232 port Communication Functions Required e Communicates between a controller and other Built in serial port Mode DFI point to point DF1 compatible devices using DF1 protocols e Uses modems e Controls SCADA applications e Controls ASCII devices e Requires additional RS 232 connections 1756 MVI e Requires RS 422 and or RS 485 connections 1756 MVID Limit the length of RS 232 serial cables to 15 2 m 50 ft DF1 Modes for Logix5000 Controllers Functions Communication between the controller and one other DF1 protocol compatible device This is the default system mode Default parameters are e Baud Rate 19200 Data Bits 8 e Parity None e Stop Bits 1 e Control Line No Handshake e RTS send Delay 0 e RTS Off Delay 0 This mode is typically used to program the controller through its serial port DF1 master e Control of polling and message transmission between the master and slave nodes mode e he master slave network includes one controller configure
30. pepe ost DeyelopPrtOGPIms v uu we Et aue st S a s f a Define Tasks oroia Nys V Hd dta a quee ER ae MAR ES i ae Define Protams Es SOYXENEIZXPATETAS UP UYNYRES pad D fine ROWLINES osea merde en ce etae e Sample Controller Projects 4 4 qud oo eee Additional Resources pee ho Oy eae ee ek xs i Ok No rt hs Oi ATP REN ead Select d Programming Language x eed eee ea de es Add On Instructions s eda a POR SR a EDS Configure PhaseManager Develop Motion Applications Table of Contents 7 Additional Resources as ucro reo RES RAEUPIR ER dee 8 75 Monitor Controller Status 2 4 2 ded dore oe deri ERE ee BY 75 Additional Resoufces 14 ape xd e backed a 76 Monitor Connections rs 2 4 0844 Seno Ic Sorel ene bop de 76 Determine if Communication Has Timed Out with Any PNG VCC peen oeer i dodo i ban aco ay do Moe cde 76 Determine if Communication Has Timed Out with a Specific I O Module qae aou de ped ahaa n i d 77 Interrupt the Execution of Logic and Execute the Dat Heller acea a OE EE OER CEU RD 78 Select a System Overhead Percentage 79 Chapter7 TOCCOCIHIGL OR as o estere ce o ts o e ar Rd Get ERR Rd 83 Additional Resources wor Ko ia dco eder Weve ROO RECS 83 PhaseManager Overview oaov ya BAS WR EXG ERE rS 83 State Model OVerviesv o soam e DAP X eR S FS REC RES 85 How Equipment Changes States llle 86 Manually Change States us cutus PLANO o KP a 87 Compare PhaseManager to Other State Models 87
31. performance make sure ethe maximum station address is the highest node number being used on the network ethat all the devices on the same DH 485 network have the same selection for the maximum station address The token hold factor is the number of transmissions plus retries that an address holding a token can send onto the data link each time that it receives the token Publication 1756 UM001G EN P January 2007 Communicate over Networks 41 c In the Token Hold Factor box enter a token hold factor value from 1 4 The default is 1 6 Click OK Additional Resources For more information consult Data Highway Data Highway Plus Data Highway II Data Highway 485 Cable Installation Manual publication 1770 6 2 2 DH Network For DH network communication use a 1756 DHRIO module to exchange information between Communication i e PLC controllers and SLC controllers ControlLogix controllers and PLC or SLC controllers e ControlLogix controllers Functions Required Module e Share data with program maintenance on a plantwide and 1756 DHRIO cell level basis e Send data regularly e Transfer information between controllers You can connect a maximum of 32 stations to a single DH link e Channel A supports 57 6 Kbps 115 2 Kbps and 230 4 Kbps e Channel B supports 57 6 Kbps and 115 2 Kbps Publication 1756 UMO001G EN P January 2007 42 Communicate over Networks ControlLogix DH Network Com
32. provide us feedback Ty You can complete this form and mail or fax it back to us or email us at RADocumentComments ra rockwell com Pub Title Type ControlLogix Controllers Firmware Revsion 15 User Manual Cat No 1756 L55Mx 1756 L6x Pub No 1756 UMO001G EN P Pub Date January 2007 Part No 953014 93 Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall Usefulness 1 2 3 How can we make this publication more useful for you 2 3 Can we add more information to help you Completeness all necessary information procedure step illustration feature is provided ere example guideline other explanation definition Technical Accuracy 1 2 3 Can we be more accurate all provided information is correct text illustration Clarity 1 2 3 How can we make things clearer all provided information is easy to understand Other Comments You can add additional comments on the back of this form Your Name Your Title Function Would you like us to contact you regarding your comments Location Phone No there is no need to contact me Yes please call me Yes please email me at Yes please contact me via Return this form to Rockwell Automation Technical Communications 1 Allen Bradley Dr Mayfield Hts OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication C
33. reconfigure 1 0 module 64 redundancy considerations 114 ControlNet network 114 EtherNet IP network 115 example system 112 overview 111 requirements 113 switchover 112 redundant media 111 relay ladder 73 requested packet interval 55 RIO see universal remote l O 43 RPI 55 RS 232 DF1 Device driver 17 S safety integration level see SIL 2 117 sample controller projects 71 scheduled connections 27 select programming language 73 system overhead percentage 79 send messages 49 sequential function chart 73 SERCOS interface drive add to controller 93 SERCOS interface modules choose 91 set up 95 serial cable 15 Publication 1756 UM001G EN P January 2007 communicate with ASCII device ASCII device 34 communicate with DF1 device 32 controller communication 31 controller connection 15 DH 485 network configuration 37 driver 17 Modbus support 37 select controller path 19 set up axis 101 SERCOS module 95 SFC 73 SIL 2 certification example application 118 overview 117 SSV instruction 75 ST 73 state model 85 overview 85 status 75 structured text 73 system overhead percentage 79 system requirements PhaseManager 88 T tag organize 72 task 67 tune axis 106 U universal remote I 0 module capability 44 overview 43 unscheduled connections 27 update 63 How Are We Doing ANB Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to
34. s RSLinx Professional File Edit View West Station DDE OPC Security ol amp S RSWho Configure Drivers Configure Shortcuts ls fa The Configure Drivers dialog appears Configure Drivers r Available Driver Types lose RS 232 DF1 devices Add New RS 232 DF1 devices Help Ethernet devices Ethemet IP Driver 1784 KT KTX D PK TX D PCMK for DH DH 485 devices 1784 KTC X for ControlNet devices Status DF1 Polling Master Driver 1784 PCC for ControlNet devices 1784 PCIC S for ControlNet devices 1747 PIC AIC Driver DF1 Slave Driver 5 8 SD SD2 for DH devices Virtual Backplane SoftLogix58xx DeviceNet Drivers 1784 PCD PCIDS 1770 KFD SDNPT drivers PLC 5 DH Emulator driver SLC 500 DH485 Emulator driver SoftLogix5 driver Remote Devices via Linx Gatewa 2 From the Available Driver Types pull down menu choose the RS 232 DF1 Device driver 3 Click Add New The Add New RSLinx Driver dialog appears Add New RSLinx Driver Choose a name for the new driver 15 characters maximum AB_DF1 1 4 Type the driver name and click OK Publication 1756 UM001G EN P January 2007 18 Directly Connect to the Controller via the Serial Port 5 Specify the serial port settings a From the Comm Port pull down menu choose the serial port on the workstation to which the cable is connected b From the Device pull down menu choose Logix 5550 Serial Port c Click Auto Configure Co
35. slot in the stream of data flowing across the ControlNet network The timing of this slot may not coincide with the exact value of the RPI but the control system guarantees that the data transfers at least as often as the RPI Change of State COS Digital 1 0 modules use COS to determine when to send data to the controller If a COS does not occur within the RPI the module multicasts data at the rate specified by the RPI Because the RPI and COS functions are asynchronous to the logic scan it is possible for an input to change state during program scan execution If this is a concern buffer input data so your logic has a stable copy of data during its scan Use the Synchronous Copy CPS instruction to copy the input data from your input tags to another structure and use the data from that structure Communication Format Many I O modules support different formats The communication format that you choose also determines data structure of tags e connections network usage e ownership whether the module returns diagnostic information Electronic Keying When you configure a module you specify the slot number for the module However it is possible to purposely or accidentally place a different module in that slot Electronic keying lets you protect your system against the accidental placement of the wrong module in a slot The chosen keying option determines how closely any module in a slot must match the configurat
36. that case you may need to same componm change locaticnr ce make cther modificazcas ar necemary Yora cani une the RSLegjx SWO Compase utliey factaded on your RSLogix SW softwase CD to compene the sample project Sle with an empty fie new pooject fie Tha wil help yos to ES nents yors need to modify Reser to the online hp inciused wich the RSLogex 5000 Compare wakey f inforrnanon on pericemisg the eempawon Sample Projects Cig oc any of te ndadal vendee nace to vee the bet of umple peoyece they have poceided Soc d release Additional Resources For more information consult Logix5000 Controllers Design Considerations Reference Manual publication 1756 RM094 Publication 1756 UM001G EN P January 2007 72 Develop Applications Organize Tags With a Logix5000 controller you use a tag alphanumeric name to address data variables In Logix5000 controllers there is no fixed numeric format The tag name itself identifies the data This lets you e organize your data to mirror your machinery e document your application as you develop it Tag Organization Overview Program Tags MainProgram Scope MainProgram Show Show All v Sot Tag Nar Alias For Type Base Tag north tank mix BOOL north_tank_pressure REAL Analog 0 Device 3 north tank temp REAL cone shots DINT recipe TANK 3 Integer Value r
37. 0 controllers produce consume e Bridge ControllVet links to route messages to devices on other networks e Perform same functions as a 1756 CNB module 1756 CNBR e Support redundant ControlNet media Publication 1756 UMO001G EN P January 2007 26 Communicate over Networks Required Software for ControlNet Communication Software Functions Requirement RSLogix 5000 e Configure ControlLogix projects e Define ControlNet communication RSNetWorx e Configure ControlNet devices by IP addresses for ControlNet and or host names Yes e Schedule a network RSLinx e Configure communication devices e Provide diagnostics e Establish communication between devices The 1756 CNB and 1756 CNBR ControlNet communication modules support messaging produced consumed tags and distributed I O share a common application layer with DeviceNet and EtherNet IP networks require no routing tables support the use of coax and fiber repeaters for isolation and increased distance e support redundant media 1756 CNBR module only In this example e the controllers produce and consume tags e the controllers initiate MSG instructions that send and receive data or configure devices e the personal computer uploads and downloads projects to the controllers e the personal computer configures devices on a ControlNet network and it can configure the network itself Publication 1756 UM001G EN P January 2007 CompactLog
38. 0 module Additional Resources For additional information consult ControlNet Modules in Logix5000 Control Systems User Manual publication CNET UM001 Publication 1756 UM001G EN P January 2007 Place Configure and Monitor I O Modules 59 Configure Distributed 1 0 on a DeviceNet Network To communicate with the I O modules over a DeviceNet network add the DeviceNet bridge to the I O Configuration folder of the controller You define a scanlist within the DeviceNet scanner to communicate data between devices and the controller Configuring Distributed 1 0 on a DeviceNet Network For a typical distributed 1 0 network Single Network Controller Scanner Device Device Device Device Device Several Smaller Distributed Networks subnets Controller Linking Linking Device Device Device Device Device Device Device Device you build the 1 0 configuration in this order Add the local communication module bridge Cx Controller dnet_example Controller Tags Controller Fault Handler Power Up Handler Jj Tasks MainTask C MainProgram EI Unscheduled Programs C3 Motion Groups 5 Ungrouped Axes C3 Trends 3 Data Types Cg User Defined Cg Strings E Predefined C Module Defined 3 1 0 Configuration amp 17
39. 007 96 Develop Motion Applications From the Cycle Time pull down menu choose the cycle time Baud Rate Number of Drives Type of Drive Cycle Time of Drive on Ring 4 MB 10r2 Kinetix 6000 0 5 ms 3or4 1 ms 5 8 2 ms 9 16 Not possible You must have 2 motion modules 1 4 Not Kinetix 6000 1 ms 5 8 2 ms 9 16 Not possible You must have 2 motion modules 8 MB 1 4 Kinetix 6000 0 5 ms 5 8 1 ms 9 16 2 ms 1 8 Not Kinetix 6000 1 ms 9 16 2 ms 5 Click OK Publication 1756 UM001G EN P January 2007 Develop Motion Applications 97 Add the Motion Group You can add a motion group to set up the motion planner Motion Planner Part of the controller that takes care of position and velocity information for your axes Coarse Update Period How often the motion planner runs When the motion planner runs it interrupts all other tasks regardless of their priority Motion Planner Scans of your code System overhead and so on 0 ms 10 ms 20 ms 30 ms 40 ms In this example the coarse update period 10 ms Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner Add only one motion group for the project RSLogix 5000 software does not let you add more than one motion group To add a motion group to set up the motion planner perform this procedure 1
40. 008 l 3 L To communicate with ASCII devices perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click your controller and select Properties B 7 1756 Pisj D Properties N Alt Enter Publication 1756 UM001G EN P January 2007 2 3 5 Communicate over Networks The Controller Properties dialog appears Mode Baud Rate 19200 Data Bits 8 2 Parity None j Stop Bits 1 2j Control Line No Handshake X yi RTS Send Delay 0 x20 ms RTS Off Delay 0 x20 ms DCD Wait Delay sl sec Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory General Serial Port System Protocol User Protocol Major Faults Minor Faults 5 Controller Properties PLSSampleProject Bx Click the Serial Port tab Cancel Apply Help From the Mode pull down menu choose User Specify ASCII communication settings Click the User Protocol tab Controller Properties PLSSampleProject General Serial Port System Protocol User Protocol Major Faults Minor Faults Protocol a Read Write Buffer Size B zi Bytes Termination Character 1 r 2 SFF Append Character 1 St 2 I I XON XOFF Echo Mode Delete Mode f Ignore h C CRT C Printer Date Time Advanced SFCExecution File Redundancy Nonvolatile Memory Memory Cancel Amb Heb 6
41. 25 C 77 F 13 days 27 days 17 16 hours 0 C 32 F 6 days 12 days 36 7 hours 1756 L55M22 Use the values for the 1756 L55M13 controller 1756 L55M23 1756 L55M24 Use the values for the 1756 L55M14 controller 1756 L63 60 C 140 F 22 days 43 days 23 6 hours 25 C 77 F 21 days 42 days 17 28 hours 0 C 32 F 14 days 28 days 17 2 5 days Publication 1756 UM001G EN P January 2007 126 Maintain the Battery Worst case Estimates of 1756 BATM Battery Life Controller Temperature Time Before BAT LED Turns On Time after BAT LED turns on Power off 100 Power off 50 Yearly ann rowers NDN decrease 1756 L55M12 60 C 140 F 190days 396 days 11 190 days 1756 L55M13 25 C 77 F 299 days 562 days 5 299 days 0 C 32 F 268 days 562 days 6 268 days 1756 L55M14 60 C 140 F 130 days 270 days 11 139 days 25 C 77 F 213 days 391 days 5 228 days 0 C 32 F 180 days 381 days 6 193 days 1756 L55M16 60 C 140 F 71 days 160 days 13 76 days 25 C 77 F 133 days 253 days 5 142 days 0 C 32 F 105 days 220 days 6 112 days 1756 L55M22 Use the values for the 1756 L55M13 controller 1756 L55M23 1756 L55M24 Use the values for the 1756 L55M14 controller 1756 L63 60 C 140 F 98 days 204 days 11 104 days 25 C 77 F 146 days 268 days 5 157 days 0 C 32 F 105 days 222 days 6 113 days Estimate 1756
42. 5 configure 53 connection use 56 COS 55 determine update 63 direct connection 56 distributed via ControlNet 58 distributed via DeviceNet 59 electronic keying 55 module capability 53 monitor 53 monitor connection 77 place 53 rack optimized 56 reconfigure module 64 RPI 55 install 13 L ladder diagram 73 language 73 LED Indicators 131 BAT 132 FORCE 132 I 0 131 OK 133 RS232 132 RUN 131 M maintain battery 123 make controller CST master 90 manage controller communication 47 tasks 67 Index 137 message cache 49 overview 21 reconfigure I O module 65 Modbus support 37 monitor connections 76 controller status 75 motion applications 89 motion control choose a motion module 91 coarse update period 97 execution 97 overview 89 program 109 set the coordinated system time master 90 motion group set up 97 motion instructions overview 109 motion planner set period 97 network communication 21 networks overview 21 nonvolatile memory load considerations 120 overview 119 supported controller 120 0 obtain axis information 108 organize tags 2 P PhaseManager 83 change states 87 compare to other state models 87 equipment phase instructions 88 minimum system requirements 88 state models 85 produce data connection use 48 overview 21 program motion control 109 Publication 1756 UM001G EN P January 2007 138 Index programming language 73 rack optimized connection 56 receive messages 49
43. 56 Backplane 1756 410 fa 0 1756 L61 dnet_example BJ 1 1756 DNB dnb1 zz DeviceNet Additional Resources For additional information consult DeviceNet Communication Modules in Logix5000 Control Systems User Manual publication DNET UM004 Publication 1756 UM001G EN P January 2007 60 Place Configure and Monitor 1 0 Modules Address l O Data I O information is presented as a set of tags e Each tag uses a structure of data The structure depends on the specific features of the I O module The name of the tags is based on the location of the I O module in the system An I O address follows this format Location Slot Type Member SubMember jr te Optional Where Definition Location Network location LOCAL same chassis or DIN rail as the controller ADAPTER NAME identifies remote communication adapter or bridge module Slot Slot number of O module in its chassis or DIN rail Type Type of data input 0 output C configuration S status Member Specific data from the I O module depends on what type of data the module can store e For a digital module a Data member usually stores the input or output bit values e For an analog module a Channel member CH usually stores the data for a channel SubMember Specific data related to a Member Bit Specific point on a digital 1 0 module depends on the size of the I O module 0 31 for
44. 56 Backplane 1756 A17 fa 0 1756 L55 Kinetix600 BJ 13 1756 MossE Ma sc The Select Module dialog appears Wil Select Module Module Description Other 1394C SJTOS D 1394 460VAC SERCOS System Module 5kw PS 1394C SJT10 D 1394 460VAC SERCOS System Module 10kW PS 1394C SJT22 D 1394 460VAC SERCOS System Module 22kw PS Kinetix 6000 230VAC IAM 3kw PS 94 Cont 174 Peak 2094 ACOS MPS Kinetix 6000 230VAC IAM 3kW PS 54 Cont 104 Peak 2094 ACO9 MO2 Kinetix 6000 230VAC IAM 6kw PS 15A Cont 304 Peak 2094 AC16 M03 Kinetix 6000 230VAC IAM 15kW PS 24A Cont 49A P 2094 AC32 M05 Kinetix 6000 230VAC IAM 23kW PS 49A Cont 98A P 2094 AMO1 Kinetix 6000 230VAC AM 94 Cont 17A Peak 2094 AM02 Kinetix 6000 230 AC AM 15A Cont 304 Peak 2094 AMO3 Kinetix 6000 230VAC AM 244 Cont 494 Peak 2094 AMO0S Kinetix 6000 230VAC AM 49A Cont 98A Peak By Category By Vendor 2 Double click Other 3 Select your drive Choose from these SERCOS interface drives e 1394 e Kinetix 6000 e Ultra3000 e 8720MC 4 Click OK Publication 1756 UM001G EN P January 2007 94 Develop Motion Applications The New Module dialog appears New Module Type 2094 4C05 M01 Kinetix 6000 230VAC IAM 3kw PS 94 Cont 174 Peak Vendor Allen Bradley Name Node Description Revision ja 1 il Electronic Keying Compatible Keying Open Module Properties Cancel Help 5
45. 7 UM007 Publication 1756 UM001G EN P January 2007 Communicate over Networks 45 Foundation Fieldbus Foundation Fieldbus is an open interoperable fieldbus designed for process control instrumentation Application Required Linking Device e Bridge an EtherNet IP network to Foundation Fieldbus 1757 FFLD e Connect via a low speed serial H1 and high speed Ethernet HSE network connections e Access devices directly via an OPC server e Connect via low speed serial H1 connections 1788 CN2FF e Bridge a ControlNet network to a Foundation Fieldbus e Support redundant ControlNet media Foundation Fieldbus distributes and executes control in the device The Foundation Fieldbus linking device e bridges from an Ethernet IP network to an H1 connection e accepts either HSE or EtherNet IP messages and converts them to the H1 protocol Foundation Fieldbus Overview ControlLogix Controller with a 1756 ENBT Module RSFieldbus p 7AV dc 1757 FFLD Linking Device Power Field Device Additional Resources For additional information consult these devices e RSFieldbus User Manual publication RSFBUS UMO001 e Foundation Fieldbus Linking Device User Manual publication 1757 UM010 Publication 1756 UMO001G EN P January 2007 46 Communicate over Networks HART Highway HART is an open protocol designed for process control instrumentation Addressable Remote Transducer Protocol Func
46. 757 SRM redundancy module can reside in a redundant controller chassis e As many as two EtherNet IP modules can reside in a redundant chassis e As many as five communication modules can reside in a redundant chassis such as two EtherNet IP modules and three ControlNet modules e To connect to other networks bridge through another ControlLogix chassis e Use a separate network for HMI and 1 0 communication 1 0 modules All 1 0 is remote from the redundant controller chassis Redundant power supplies The 1756 PA75R and 1756 PB75R redundant power supplies provide reliable chassis power ControlNet Considerations You can have as many as five ControlNet communication modules in in Redundant Systems a redundant chassis You can use 1756 CNB and 1756 CNBR Controlnet Modules You must have at least two ControlNet nodes external to the redundant controller chassis to avoid timeouts on switchover The lowest ControlNet node must be outside the redundant controller chassis Publication 1756 UM001G EN P Month Year Configure Redundancy 115 EtherNet IP Considerations You can have as many as two EtherNet IP modules in the redundant in Redundant Systems chassis You can use 1756 ENBT EtherNet IP and 1756 EWEB EtherNet IP Web Server modules In a redundant system use EtherNet IP for HMI communication or inter controller messaging only HMI can talk directly to the primary controller You no longer need RSLinx Alias
47. A ControlLogix5562 ControlLogix5563 1756 BA1 ControlLogix5561 B ControlLogix5562 ControlLogix5563 ControlLogix5564 1756 BA2 Topic Page Check If the Battery Is Low 124 Estimate 1756 BA1 Battery Life 124 Estimate 1756 BA2 Battery Life 1756 L6x series B controllers 126 only Maintain a 1756 BATM Battery Module 128 Store Batteries 129 Publication 1756 UM001G EN P January 2007 124 Maintain the Battery Check If the Battery Is Low BAT LED Estimate 1756 BA1 Battery Life Publication 1756 UM001G EN P January 2007 When the battery is about 95 discharged the controller gives these low battery warnings e Solid red BAT LED e Minor fault type 10 code 10 To prevent possible battery leakage even if the BAT LED is off replace a battery according to this schedule 1 in below the chassis is 0 35 C 32 95 F 3 years 36 40 C 96 8 104 F 3 years 41 45 C 105 8 113 F 2 years 46 50 C 114 8 122 F 16 months 51 55 C 123 8 131 F 11 months 56 60 C 132 8 140 F 8 months To estimate how long a 1756 BA1 battery will support controller memory on 1756 L55Mx all series and 1756 L6x series A controllers perform this procedure 1 Determine the temperature 2 54 cm 1 in below the chassis 2 Determine the weekly percentage of time that the controller is turned on EXAMPLE If a controller is off ei
48. Attribute Coarse Update Period 2 0 al ms in 0 5 increments Auto Tag Update Enabled Zi General Fault Type Non Major Fault v Scan Times elapsed time Max us Last us Cancel Finish Help 7 In the Coarse Update Period box enter the intervals at which you want to run your motion planner 8 Click Finish Publication 1756 UMO001G EN P January 2007 100 Develop Motion Applications Add Your Axes To add an axis for each of your drives perform this procedure 1 Decide which data type to use Motion Module 756 MO3SE 756 MO8SE 756 M16SE 1 1 1 1 1756 M08SEG 756 L60MO3SE Data Type AXIS SERVO DRIVE AXIS GENERIC DRIVE 2 In Motion Groups within RSLogix 5000 programming software right click My Motion Group and select New Axis and then the type of axis you want to add S Motion Groups E Ungrouped A 73 Add On Instructi 3 Data Types E User Defined Cg Strings Cj Add On Defir E Predefined fa erin we New Coordinate System Monitor Group Tag Fault Help The New Tag dialog appears Name My Axis 2 Description Type Alias For Usage ase Data Type AXIS SERVO DRIVE gu Scope 3g My Controller M Style Open AXIS_SERVO_DRIVE Configuration SERCOS Interface AXIS CONSUMED XIS SERVO AXIS SERVO DRIVE AXIS GENERIC AXIS GENERIC DRIVE AXIS VIRTUAL 3 In the Name box enter the name of yo
49. Eos OX Foe Pe See 9x25 28 DeviceNet Network Communication 28 Connections over DeviceNet llle 30 Additional Resources ouaaa XE ESE ek Pale Ses Ves 30 Serial Network Communication uem ki ae eR RR amp 6 31 Communicate with DF1 Devices 0 32 Communicate with ASCII Devices 34 Modbus Support ae arenas tc pd SAEPE een St 37 DH 485 Network Communication sees 37 Additional Resources aos dev AG YES Ra 41 DH Network Communication o oo tek x YE we Ya 41 Communicate over a DH Network 42 Universal Remote I O Communication 43 Communicate Over a Universal Remote I O Network 44 Foundation Peldbusz c lt 2 5 4424 2 2 sip or 4 eR EPIS 45 Additional Resources 1 cod ques eee UE BA 45 HART Highway Addressable Remote Transducer Protocol 46 Additional Resources s aed ews peu oe SPE ees 46 Chapter 4 Introduction d 30r 2934 onto eS dee Burn E Bor deese bU eds 47 Connection Overview v v Ces sure aah wx RD E a 47 Additional Resources ro atr e OAR oe dc edic sca 47 Publication 1756 UMO001G EN P January 2007 6 Table of Contents Place Configure and Monitor 1 0 Modules Develop Applications Publication 1756 UM001G EN P January 2007 Produce and Consume Interlock Data Additional Resources coii d rto ote Qi cce doe e d Send and Receive Messages vox ee ee ex xn oet eo dg Determine Whether to Cache Mess
50. Execution of Logic and Execute the Fault Handler To interrupt the execution of logic and execute the fault handler perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click the module and select Properties 1 NT contr P New Module 8c Copy Ctrl C Offline Cross Reference CtrltE Properties Alt Enter Bum The Module Properties dialog appears lil Module Properties Local 1 1756 CNB D 5 1 General Connection RSNetworx Module Info Backplane Requested Packet Interval RPI ms ri I Major Fault On Controller If Connection Fails While in Run Mode Module Fault Status Offline Cancel Help 2 Click the Connection tab 3 Select the Major Fault If Connection Fails While in Run Mode check box 4 Develop a routine for the Controller Fault Handler Publication 1756 UM001G EN P January 2007 Develop Applications 79 Select a System Overhead Percentage The Controller Properties dialog lets you specify a percentage for the system overhead or time slice The system overhead time slice specifies the percentage of controller time excluding the time for periodic and event tasks devoted to communication and background functions To select a system overhead percentage slice perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click the controller and select Properties
51. Message Function Execution Repeatedly Cache the connection This keeps the connection open and optimizes execution time Opening a connection each time the message executes increases execution time Infrequently Do not cache the connection This closes the connection upon completion of the message which frees up that connection for other uses Publication 1756 UM001G EN P January 2007 50 X Manage Controller Communication Additional Resources For additional information consult these publications e Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 Calculate Connection Use The total connection requirements of a ControlLogix system include both local and remote connections Local Connections Local Connection Type Device Connections Total Quantity per Device Connections Local I O module always a direct connection 1 1756 M16SE 1756 MO08SE 1756 MO2AE servo module 3 1756 CNB 1756 CNBR ControlNet communication module 0 1756 ENBT EtherNet IP communication module 0 1756 EWEB EtherNet IP web server module 0 1756 DNET DeviceNet communication module 2 1756 DHRIO DH Universal remote I O communication module 1 Total Publication 1756 UM001G EN P January 2007 Manage Controller Communication 51 The number of connections the module itself supports determines how many remo
52. Minimum System Requirements 9 44 4 sat AER UE Ree 88 Equipment Phase Instructions 0 0 0 00 0005 88 Chapter 8 IOCOOHCUON e s Rees p cETAPITEPUTESGO UPPER ESE SS BA 89 Make the Controller the CST Master 90 Multiple Controllers in the Chassis 90 Add the Motion Modules eod qua xm eh eke eee Shee 91 Additional Information seed peace Eb eor e is d 92 Add SERCOS Interface Drives 2 52 9 ae hk kde EE REP Ober 93 Additional Resources i neu Sieh CX RE RE SA RR 94 Set Up Each SERCOS Interface Module 95 Add the Motion Group i e 97 Add Your 0 o RR RR NIIS Re ea SLE 100 Seb Up BACH ARIS oat os ty a te EE OR ES C CLAU 101 Check the Wiring of Each Drive 104 Additional Resources iy us ee Tab aci eee 105 Titio Each Xissiy a eb reb Be 106 Additional Resources ev rxsir334 94 ta ae iX ee se eS os 107 Obtain Axis Information 233 4 es qe aseo m p ERE 108 Program Motion Control L4 oo acp Re OE Reo 109 Additional Resources uoo fee ees rem v EEG 110 Publication 1756 UM001G EN P January 2007 8 Table of Contents Configure Redundancy SIL 2 Certification Maintain Nonvolatile Memory Maintain the Battery LED Indicators Publication 1756 UM001G EN P January 2007 Chapter 9 TAG OOMCHOR Eso 0 Ce e c ak DOR ERA A Re CURA EE 111 Additional Resources ade eed ted X pe ees 111 ControlLogix Redundancy Overview 111 Build a Redundant S
53. Nonvolatile and Logic Backup Memory 1756 L55M12 750 KB 208 KB no 1756 L55M13 1 5 MB 208 KB no 1756 L55M14 3 5 MB 208 KB no 1756 L55M16 7 5 MB 208 KB no lt 3 5 MB of data 1756 L55M22 750 KB 208 KB Integrated 1756 L55M23 1 5 KB 208 KB Integrated 1756 L55M24 3 5 KB 208 KB Integrated 1756 161 2 MB 478 KB CompactFlash card 1756 62 4 MB 478 KB CompactFlash card 1756 L63 8 MB 478 KB CompactFlash card 1756 L64 16 MB 478 KB CompactFlash card 1756 L60MO3SE 750 KB 478 KB CompactFlash card n CompactFlash is optional and does not come wit h the controller e RSLogix 5000 programming software e 1756 ControlLogix I O modules that reside in a 1756 chassis e different communication modules for EtherNet IP ControlNet DeviceNet DH and Universal remote I O networks e other networks via third party devices such as Foundation Fieldbus and the Highway Addressable Remote Transducer HART e a built in serial port on every ControlLogix controller ControlLogix System Overview 13 The ControlLogix controller divides resources between a Logix CPU and a backplane CPU Logix CPU and Backplane CPU Logic and Data Memory 1 0 Memory Program Source Code 1 0 Data Logix E Backplane Tag Data CPU 1 0 Force Tables CPU RSLinx Tag Group Lists Message Buffers Produced consumed Tags The Logix CPU executes application code and mess
54. O2 2 Axis Hydraulic Servo Allen Bradley 1756 MO2AE 2 Axis Analog Encoder Servo Allen Bradley 1756 M0245 2 Axis Analog SSI Servo Allen Bradley 1756 MO3SE 3 Axis SERCOS Interface Allen Bradley 1756 M SSE 8 Axis SERCOS Interface 1756 MO8SEG 8 Axis Generic SERCOS Interface Allen Bradley 1756 M165E 16 Axis SERCOS Interface Allen Bradley Y 4 gt Find Add Favorite By Category Favorites Cancel Help 2 Double click Motion 3 Select the motion module you want to add Publication 1756 UM001G EN P January 2007 92 Develop Motion Applications Click OK The New Module dialog appears 5 In the Name box type the name of the new module 6 In the Slot box enter the slot the new module will occupy 7 Leave Open Module Properties unchecked 8 Click OK Additional Information For additional information consult these publications Motion Analyzer Selection Guide publication PST SG003 e ControlLogix Selection Guide publication 1756 SG001 Publication 1756 UM001G EN P January 2007 Develop Motion Applications 93 Add SERCOS Interface Drives With the addition of SERCOS interface modules to a controller s I O configuration you can use RSLogix 5000 programming software to set up the modules To add SERCOS interface modules perform this procedure 1 In the I O configuration tree in RSLogix 5000 programming software right click the SERCOS network and select New Module IO Configuration E39 17
55. Programming Motion Planner 1756 SERCOS Interface Module SERCOS Interface Drive Position Velocity Position Velocity Publication 1756 UM001G EN P January 2007 90 Develop Motion Applications Make the Controller the CST Master Publication 1756 UM001G EN P January 2007 You must make one module in the chassis the master clock for motion control This module is called the coordinated system time CST master Motion modules set their clocks to the master In most cases make the controller the CST master To make the controller the CST master perform this procedure 1 In RSLogix 5000 programming software right click the controller and select Properties Controller CNET maccacinal Contre EP verify Contrc Power Generate Report Tasks Print EA mainte 4 m Properties Alt Enter The Controller Properties dialog appears f Controller Properties My Controller General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory ae ee e lv Make this controller the Coordinated A DANGER If CST master is cleared online System Time master active axes in any controller in this chassis or chassis synchronized by SynchLink may Q Is the master experience unexpected motion Synchronized with a master Duplicate master detected Tim
56. To Other I p Safety l l related l l l ControlLogix l l Remote 1 0 l l Chassis I l ee er ere A ue mas mes ee ee d l Tr ppp a Cont SINE ENEINOI To Nonsafety related Systems Outside the ControlLogix Portion of the SIL2 certified Loop Publication 1756 UM001G EN P January 2007 Chapter 11 Maintain Nonvolatile Memory Introduction This chapter explains how to maintain nonvolatile memory The 1756 L6x controllers support the 1784 CF64 CompactFlash card for nonvolatile memory The 1756 L55M22 1756 M23 and 1756 M24 controllers have built in nonvolatile memory Nonvolatile memory lets you keep a copy of your project on the controller The controller does not need power to keep this copy You can load the copy from nonvolatile memory to the controller s user memory e each time you apply power whenever there is no project in the controller and you apply power e at any time via RSLogix 5000 programming software Topic Page Choose a Controller That Has Nonvolatile Memory 120 Use a CompactFlash Reader 121 IMPORTANT ae memory stores the contents of the user memory when you store the project e Changes made after storing a project are not reflected in nonvolatile memory e f you change to the project but do not store those changes you overwrite them when you load the project from nonvolatile memory If this occurs you have to upload or download the project to go online e f you want to st
57. Topics Redundancy does not support EtherNet IP for I O control or producing and consuming data IP Address Swapping Firmware version 13 supports IP address swapping in redundant systems Configure the primary and secondary EtherNet IP modules with the same IP address The primary EtherNet IP module takes the IP address the secondary module takes that address plus one in the last address segment Primary Chassis IP Address Secondary Chassis IP Address On switchover the EtherNet IP modules swap IP addresses HMI devices automatically continue to communicate with the primary controller Because of the way EtherNet IP modules work during a switchover communication between the controller and an HMI device halts for several seconds typically less than a minute while the IP address propagates Use a dedicated ControlNet network instead of an EtherNet IP network if you need a bumpless HMI connection Publication 1756 UM001G EN P Month Year 116 Configure Redundancy Redundancy and Scan Time Minimum System Requirements Quantity 2 2 2 The primary controller stops at the end of every program to crossload fresh data to the secondary controller This keeps the secondary controller up to date and ready to take over It also increases the scan time when compared to a nonredundant system The amount of time a crossload consumes depends on how much data the primary controller has to crossload
58. a 32 point module Publication 1756 UM001G EN P January 2007 Place Configure and Monitor I O Modules 61 Add 1756 1 0 at Runtime With RSLogix 5000 programming software version 16 you e can only add 1756 I O modules to the Controller Organizer at runtime e can remotely add the 1756 I O modules to the local chassis via the unscheduled portion of a ControlNet network e can remotely add the 1756 I O modules to the local chassis via the unscheduled portion of an EtherNet IP network ControlNet 1 0 Considerations When you add ControlNet I O at runtime e remember that the ControlNet I O modules you add can be added to existing rack optimized connections or added as direct connections You cannot create new rack optimized connections when adding ControlNet I O modules at runtime disable the Change of State COS feature on digital input modules because it can cause inputs to be sent more quickly than the RPI dedicate one ControlNet network to I O communication only On the dedicated I O network make sure there is no HMI traffic no MSG traffic no programming workstations e RPIs faster than 25 ms for unscheduled modules will overload the 1756 CNB or 1756 CNBR communication module so use a NUT if 10 ms or more keep the SMAX and UMAX values as small as possible e you can add I O modules until you reach 759 utilization of the 1756 CNB or 1756 CNBR communication module a uti
59. a SINT INT DINT or REAL value STOR Convert the ASCII representation of a floating point value to a REAL value DTOS Convert a SINT INT DINT or REAL value to a string of ASCII characters RTOS Convert a REAL value to a string of ASCII characters UPPER Convert the letters in a string of ASCII characters to upper case LOWER Convert the letters in a string of ASCII characters to lower case DH 485 Network Communication Communicate over Networks 37 Additional Resources For additional information consult these publications e Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 Modbus Support To use Logix5000 controllers on the Modbus protocol establish a serial port connection and execute a specific ladder logic routine The controller project is available with RSLogix 5000 programming software Additional Resources For additional information consult Using Logix5000 Controllers as Masters or Slaves on Modbus Application Solution publication CIG AP129 For DH 485 communication use the serial port of the controller The controller can send and receive messages to and from other controllers on a DH 485 network The DH 485 connection supports remote programming and monitoring via RSLogix 5000 programming software However excessive traffic over a DH 485 connection can adversely affect overall performance a
60. a Update the controller with the correct firmware just out of the box firmware update NOT a new controller Major fault occurred Clear the fault previously in operation Solid red The controller detected a non recoverable fault so it Clear the fault cleared the project from memory Solid green The controller is OK None Hashing green The controller is storing or loading a project to or from nonvolatile memory If the controller has a CompactFlash card leave the card in the controller until the OK LED turns solid green Publication 1756 UMO001G EN P January 2007 134 LED Indicators Notes Publication 1756 UM001G EN P January 2007 Numerics 1756 HYD02 add to controller 91 1756 M02AE add to controller 91 1756 M02AS add to controller 91 1756 MO3SE add to controller 91 set up 95 1756 M08SE add to controller 91 set up 95 1756 M16SE add to controller 91 set up 95 A add axes 100 add motion group 97 add motion modules 91 add SERCOS drives 93 Add On Instructions 73 add on instructions 73 address data 60 AOI 73 ASCII characters 36 axis check wiring 104 set up 101 axis information obtain 108 battery catalog number 123 check if low 124 estimate 1756 BA1 124 estimate 1756 BA2 126 maintain 1756 BATM 128 storage 129 build redundant system 113 C cable serial 15 cache message 49 calculate connection use 50 catalog number 12 Index change equipment phase 87 change of state 55 c
61. age Connections Calculate Connection Use 0 0 0 0 00 ce ee Connections Example uio do cet REC eM RR e e d Chapter 5 Introduction xod o US Pate S etos o d fete Mog taa Eg Ace Select I O Modules BS pen ast tore EE por Red Additional Resoutees a sos net euo ty cR da Place Local I O Modules d 4s cu Rte deae o vr PR c eata Additional Resources esu 0 44 eS RUM ESRVEPIY ES eas CODISUEC VO AA Dae ip GF see tp en CU dao e de CAP e edet ten e o Bik I O Connections X eaae aci doo NEED o CHER eG dox Additional Resources at ge3 oet XP ERR YT bes ose Configure Distributed I O on an EtherNet IP Network Additional Resources estia nave x eec ee o Configure Distributed I O on a ControlNet Network Additional Resources adeste v un Reb dr RIEN d Configure Distributed I O on a DeviceNet Network Additional Resources 19 2 S wR Raa ena Address DX Data s 5d 684 458 p NP ES PRECES ER Add 1756 I O at Runtime leen ControlNet I O Considerations 000 EtherNet IP I O Considerations 0000 Determine When Data Is Updated Reconfigure an I O Module usque d acces acacoe a e ded Reconfigure a Module via RSLogix 5000 Programming Software vbs ta yq bee eS PSS Reconfigure an I O Module via a MSG Instruction Chapter 6 Introduction 3 2 m Lo ped D RA Lc e apt ee Sed Additional Resources wa opt wea C CHE Aa Nianase TAS Si equ ore der dos d ow ot PER REI
62. ages The backplane CPU communicates with I O and sends and 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 Design When you design a ControlLogix system select e I O devices e motion control and drives requirements e communication modules e controllers e chassis e power supplies e software Install Hardware To install a ControlLogix controller e install memory options on a 1756 L55 install a memory board for additional memory on a 1756 L6x install a 1784 CF64 CompactFlash card for nonvolatile memory See the chapter Maintain Nonvolatile Memory connect the battery See the chapter Maintain the Battery e install the controller in the chassis Publication 1756 UMO001G EN P January 2007 14 ControlLogix System Overview e make serial connections See the chapter Directly Connect to the Controller via the Serial Port e load controller firmware e make additional network connections See the chapter Communicate over Networks Publication 1756 UM001G EN P January 2007 Chapter 2 Directly Connect to the Controller via the Serial Port Introduction This chapter explains how to connect the controller to the serial port and how to upload and download a project to the controller Topic Page Connect the Controller to via the Serial Port 15 Configure the Ser
63. anges to your instructions and protects your intellectual property Additional Resources For additional information consult the Logix5000 Controllers Execution Time and Memory Use Reference Manual publication 1756 RM087 The ControlLogix controller uses Get System Value GSV and Set System Value SSV instructions to get and set change controller data The controller stores system data in objects There is no status file as in the PLC 5 processor The GSV instruction retrieves the specified information and places it in the destination The SSV instruction sets the specified attribute with data from the source When you enter a GSV SSV instruction the programming software displays the valid object classes object names and attribute names for each instruction For the GSV instruction you can get values for all the available attributes For the SSV instruction the software displays only those attributes you are allowed to set Some object types appear repeatedly so you may have to specify the object name For example there can be several tasks in your application Each task has its own TASK object that you access by the task name You can access these object classes e AXIS e MODULE e CONTROLLER e MOTIONGROUP e CONTROLLERDEVICE e PROGRAM e CST e ROUTINE e DF1 e SERIALPORT e FAULTLOG e TASK e MESSAGE e WALLCLOCKTIME Publication 1756 UMO001G EN P January 2007 76 Develop Applications Additional Resources F
64. ansfer the open project to the controller Download Publication 1756 UM001G EN P January 2007 20 Directly Connect to the Controller via the Serial Port Notes Publication 1756 UM001G EN P January 2007 Chapter J Communicate over Networks Introduction This chapter explains over what networks you can communicate Network Support Example Control distributed remote 1 0 e EtherNet IP network ControlLogix Controller e ControlNet network e DeviceNet network Control Network e Universal remote I 0 network e Foundation Fieldbus network Distributed remote e HART network 1 0 Platform Produce consume interlock data between controllers ControlLogix Controller e EtherNet IP network e ControlNet network Control Network Other Logix5000 Controller Send and receive messages to and from other devices e This includes access to the controller via RSLogix 5000 a JEE kl programming software ControlLogix Controller e EtherNet IP network aa e ControlNet network Control Network e DeviceNet to devices only network e serial network Other Remote e DH network Devices e DH 485 network Topic Page EtherNet IP Network Communication 22 ControlNet Network Communication 25 DeviceNet Network Communication 28 Publication 1756 UMO001G EN P Janua
65. ar to a program file or subroutine in a PLC or SLC processor Each program has a main routine This is the first routine to execute when the controller triggers the associated task and calls the associated program Use logic such as the Jump to Subroutine JSR instruction to call other routines You can also specify an optional program fault routine The controller executes this routine if it encounters an instruction execution fault within any of the routines in the associated program Develop Applications n Sample Controller Projects RSLogix 5000 Enterprise programming software includes sample projects that you can copy and then modify to fit your application To obtain a list of sample projects perform this procedure 1 In RSlogix 5000 programming software from the Help menu choose Vendor Sample Projects Contents Instruction Help Release Notes Online Books Vendor Sample Projects n 2 Scroll down to select the appropriate set of sample projects RSLogix 5000 Programming Software Vendor Sample Projects About the RSLogix 5000 Sample Projects Yose RS Logis 5000 eofrwane comer wich many sample pocject yra can wee oo make it easier to ceste your com peojecir if youwish Por instance you can we them as example oo follow when coating your own peojecte You Harting pout See your ows applications by cenamang them and then adding your own application code copy end paste posject components from one pacj
66. choose System 4 Specify DF1 communication settings 5 Click the System Protocol tab f Controller Properties PLSSampleProject Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory General SerialPort System Protocol User Protocol Major Faults Minor Faults Error Detection Protocol DF1 Point to Point kd pec C CRC Station Address 0 chabert V Enable Duplicate Detection NAK Receive Limit 3 ENQ Transmit Limit 3 ACK Timeout 50 x20 ms Embedded Responses Autodetect Cancel s Hee Publication 1756 UM001G EN P January 2007 34 Communicate over Networks 6 From the Protocol pull down menu choose DF1 Point to Point 7 Specify DF1 system protocol settings 8 Click OK Additional Resources For additional information consult these publications Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 e SCADA System Application Guide publication AG UM008 Communicate with ASCII Devices When you configure the serial port for user mode you can use it to e read ASCII characters from a weigh scale module or bar code reader e send and receive messages from an ASCII triggered device such as a MessageView terminal Ol O sc hm le PET Lm x SER ER kx TT Lud i po E tz EN le EE GOGG00000
67. cify DH 485 communication settings The baud rate specifies the communication rate for the DH 485 port All devices on the same DH 485 network must be configured for the same baud rate a From the Baud Rate pull down menu choose 9600 or 19200 kbps Publication 1756 UM001G EN P January 2007 40 Communicate over Networks Click the System Protocol tab f amp Controller Properties PLSSampleProject Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory General SerialPort System Protocol User Protocol Major Faults Minor Faults Error Detection Protocol 00 cox Station Address Max Station Address 31 LEl Eb Token Hold Factor 1 Cancel Ap Heb 5 Specify system protocol settings The station address specifies the node address of the controller on the DH 485 network a From the Station Address pull down menu choose a station address number from 1 31 decimal To optimize network performance assign station addresses in sequential order Assign initiators such as personal computers the lowest station address numbers to minimize the time required to initialize the network The maximum station address specifies the maximum node address of all the devices on the DH 485 network b From the Max Station Address pull down menu choose a maximum station address number from 1 31 decimal To optimize network
68. d as the master node and up to 254 slave nodes Link slave nodes using modems or line drivers e A master slave network can have node numbers from 0 254 Each node must have a unique node address Also at least 2 nodes must exist to define your link as a network one master and one slave station being the two nodes DF1 slave e Using a controller as a slave station in a master slave serial communication network e When there are multiple slave stations on the network link slave stations using modems or line drivers to the master When you have a single slave station on the network you do not need a modem to connect the slave station to the master You can configure the control parameters for no handshaking You can connect 2 255 nodes to a single link In DF1 slave mode a controller uses DF1 half duplex protocol e One node is designated as the master and it controls who has access to the link All the other nodes are slave stations and must wait for permission from the master before transmitting User e Communication with ASCII devices e his requires your program to use ASCII instructions to read and write data from and to an ASCII device DH 485 Communication with other DH 485 devices multi master token passing network allowing programming and peer to peer messaging Publication 1756 UMO001G EN P January 2007 32 Communicate over Networks Communicate with DF1 Devices You can configure the controller as a master or slave on a ser
69. der A B and Z You must manually move the channels are connected and phased axis for this test properly for marker detection Test feedback Verify the polarity of the feedback You must manually move the axis for this test Test command Verify the polarity of the drive and feedback ATTENTION These tests move the axis even with the controller in Remote Program mode e Before you do the tests make sure no one is in the path of the axis e Do not change the polarity after you do the tests or you may cause an axis runaway condition To check the wiring of each drive perform this procedure 1 In Motion Groups within RSLogix 5000 programming software click motion_group and then right click an axis and select Properties Motion Groups ca motion group 15 axis sui Ungroug 73 Add On Inst Monitor Axis Tag 3 Data Types z Cg User De Fault Help Cg Strings Cj Add on O Predefir Cut Ctri x Oj Module Copy Ctrl C Trends 3 1 0 Configul GiB 1768 Bu Delete Del ERI rei dl Motion Direct Commands e Cross Reference Ctrl E cription 5 State Print gt lule Name innel Prope Ges Alt Enter Develop Motion Applications 105 The Axis Properties Dialog appears e Axis Properties My Axis X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions
70. ding to IEC 61508 and AK applications in line with DIN V19250 SIL requirements are based on the standards current at the time of certification Topic Page SIL 2 Overview 117 SIL 2 Application 118 IMPORTANT For a list of ControlLogix system components that meet SIL 2 requirements see Using ControlLogix in Sil 2 Applications Reference Manual publication 1765 RM001 A Safety Integration Level SIL is a numeric designator assigned to a safety system that indicates that system s ability to perform its safety function The SIL 2 TYPE certification of ControlLogix products by TUV an internationally recognized and accredited test laboratory certification center assures the suitability of ControlLogix products for use in up to a SIL 2 safety application TUV certification is based primarily on compliance with IEC 61508 Functional Safety of Electrical Electronic Programmable Electronic Safety Related Systems requirements It also includes a number of application independent standards DIN V 19250 and VDE 0801 application dependent standards prEN 50156 for ESD applications DIN EN 54 for fire and gas application and environmental and electrical safety standards IEC 61131 2 EN 50178 EN 50081 2 and EN 61000 2 2000 These requirements consist of mean time between failures MTBF probability of failure failure rates diagnostic coverage and safe failure fractions that fulfill SIL 2 criteria The results make the ControlLogix system s
71. e ControlLogix system The ControlLogix system provides sequential process motion and drive control together with communication and I O in a chassis based system A simple ControlLogix system consists of a stand alone controller and I O modules in a single chassis ControlLogix Controller zje For a more flexible system use e multiple controllers in a single chassis 1756 1 0 modules in the Same chassis as the ControlLogix Controller e multiple controllers joined across networks e I O from multiple platforms that is distributed in many locations and connected over multiple I O links ControlLogix System Overview 1756 1 0 Modules in the Same Chassis as the ControlLogix Controller Communication Interface Computers Other Controllers Modules in the Same Chassis as the ControlLogix Controller EtherNet IP Link ControlNet Link SERCOS Link SERCOS Drives DeviceNet Link Universal remote 1 0 Link Remote 1 0 Modules lt _ _ _ ee Drives Publication 1756 UM001G EN P January 2007 12 Controllogix System Overview Publication 1756 UM001G EN P January 2007 The ControlLogix controller is part of the Logix5000 family of controllers A ControlLogix system includes e the ControlLogix controller is available in different combinations of user memory Controller Memory for Data 1 0
72. e of three RSLogix 5000 software programming editors e Standard Ladder e Function Block Diagram e Structured Text Once you have created instructions you can use them in any RSLogix 5000 editor Export Add On Instructions You can export Add On Instructions to other projects as well as copy and paste them from one project to another Give each instruction a unique name so that you don t accidentally overwrite another instruction of the same name Use Context Views Context views let you visualize an instruction s logic for a specific instant simplifying online troubleshooting of your Add On Instructions Each instruction contains a revision a change history and an auto generated help page Create Custom Help When you create an instruction you enter information for the description fields in software dialogs information that becomes what is known as Custom Help Custom Help makes it easier for users to get the help they need when implementing the instructions Monitor Controller Status R5V Get System Value Class name Instance name Attribute Name Dest SV Set System Value Class name Instance name Attribute Name Source Develop Applications 75 Apply Source Protection As the creator of Add On Instructions you can limit users of your instructions to read only access or you can bar access to the internal logic or local parameters used by the instructions This source protection lets you prevent unwanted ch
73. e proven Controller Area Network CAN technology which lowers installation costs and decreases installation time and costly downtime A DeviceNet network provides access to the intelligence present in your devices by letting you connect devices directly to plant floor controllers without having to hard wire each device into an I O module DeviceNet communication requires a 1756 DNB DeviceNet communication module The DeviceNet network uses the Common Industrial Protocol CIP to provide the control configuration and data collection capabilities for industrial devices Functions Required Module e Control I O modules 1756 DNB e Require an adapter for distributed 1 0 on DeviceNet links e Communicate with other DeviceNet devices messages e Link an EtherNet IP network to a DeviceNet network 1788 EN2DN e Require multiple networks e Link a ControlNet network to a DeviceNet network 1788 CN2DN e Require multiple networks Communicate over Networks 29 Required Software for DeviceNet Communication Software RSLogix 5000 Functions Requirement e Configure ControlLogix projects e Define EtherNet IP communication RSNetWorx for DeviceNet e Configure DeviceNet devices Define the scan list for those devices Yes RSLinx Configure communication devices Provide diagnostics Establish communication between devices The DeviceNet communication module e supports messaging to devices not contro
74. ecipe number DINT Storage Bit replace bit BOOL Counter d M HH running hours COUNTER Timer 9 running_seconds TIMER start BOOL Digital I O Device A stop BOOL Monitor Tags Edit Tags 4 When you create a tag you assign these properties to the tag e tag type e data type e scope Publication 1756 UM001G EN P January 2007 Develop Applications 73 Select a Programming Language Required Language Ladder diagram LD The ControlLogix controller supports these programming languages both online and offline Logix5000 Programming Languages Programs Continuous or parallel execution of multiple operations not sequenced Boolean or bit based operations Complex logical operations Message and communication processing Machine interlocking Operations that service or maintenance personnel may have to interpret in order to troubleshoot the machine or process Function block diagram FBD Sequential function chart SFC Structured text ST Continuous process and drive control Loop control Calculations in circuit flow High level management of multiple operations Repetitive sequence of operations Batch process Motion control using structured text State machine operations Complex mathematical operations Specialized array or table loop processing ASCII string handling or protocol processing Add On Instructions
75. ect to motes Along weh the ample pecject pooraded by Rockeel Automaane are many provided by other vendan that may eart yos zs curating pacyects oo ne with that particular vezdod r quoreded at examples only and mest be weed with care Rafer to the Disclaimer at the end of thir the Hind User Licezae Agpeemenz RULA awh ps 1 Rleare Notes Se additonal n pe upamu fos speci q p me pirea please conti the parola vendoc foc anneunnce Remember thet a with any sew pocggam yos th ample poogram to make certan chat if weeks weh pout apphicance bescer actually emplemenncg itn pour scum operations Mewe irtee te te neon vecti Woskng With Sample Proper Se icematen ans recocsnendanoer os how so effectreety une there sample peces Working With Sample Projects Imponane Hefore you begin wing a tampir pocjoct make a copy of she pecyect save st with anew name asd make any edite you need to make to dus enamed pacyect By dong thet you ase matang certam that you have a backup copy of the anginal sample project that will be poeserved for fume sse RS Logat sample preria may induce a mandet of component that you wil need to copy isderdzaly i coder fec the sample piect components to functen propesy a your appicaten These Say incinde but are not berated oc omodhder data oper sostines Y pou are opang ines an exerting ponyen confir may occu with omp aene thar deeady exis cc de location oc tre of modules does nox match the kanon aneamed an the vample pmpa n
76. er hardware faulted Cancel 2 Click the Date Time tab 3 Select the Make this controller the Coordinated System Time master check box 4 Click OK Multiple Controllers in the Chassis If you have more than one controller in the chassis designate one controller as the CST master You cannot have more than one CST master for the chassis Add the Motion Modules Develop Motion Applications 91 Each ControlLogix controller controls up to 16 motion modules IMPORTANT For your motion modules use the firmware revision that matches that of your controller See the release notes for your controller s firmware revision Required Motion Modules Used with Equipment Feedback Type Rockwell Automation SERCOS interface drives gt gt gt gt Required Motion Module 1756 MO3SE 3 axes 1756 MO8SE 8 axes 1756 M16SE 16 axes 1756 L60MO3SE 3 axes Quadrature feedback LDT feedback SSI feedback Analog command signal 1756 MO2AE 1756 HYD02 1756 M02AS To add motion modules perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click your module and select New Module 1756 Backnlane 1756 A7 M fa po 17 5 New Module M 8 uz The Select Module dialog appears lll Select Module E3 Module Description Vendor Analog Communications Controllers Digital Drives Motion 1756 HYD
77. erNet IP Port PowerFlex 700S AC Drive with DriveLogix EtherNet IP Network Overview FlexLogix Controller with 1788 ENBT Module eee eee Distributed 1 0 J ControlLogix Controller with 1756 ENBT 1756 ENBT Module as an adapter with 1756 I 0 Modules x xem 1794 AENT Adapter with 1794 1 0 Modules Switch 1734 AENT Adapter with 1734 1 0 Modules mmm Mi Te VAN TN im mmm Workstation Connections Over an EtherNet IP Network You indirectly determine the number of connections the controller uses by configuring the controller to communicate with other devices in the system Connections are allocations of resources that provide more reliable communication between devices compared to unconnected messages All EtherNet IP connections are unscheduled An unscheduled connection is triggered by the requested packet interval RPD for I O control or the program such as a MSG instruction Unscheduled messaging lets you send and receive data when needed The 1756 EtherNet IP communication modules support 128 CIP Common Industrial Protocol connections over an EtherNet IP network Publication 1756 UM001G EN P January 2007 ControlNet Network Communication Communicate over Networks 25 Additional Resources For additional information consult these publicatio
78. es represent the condition of your equipment when it is between acting states Stopped Aborted With a state model you define the behavior of your equipment PhaseManager State Models State Question to be asked Stopped What happens when you turn on power Resetting How does the equipment get ready to run Idle How do you tell that the equipment is ready to run Running What does the equipment do to make product Holding How does the equipment temporarily stop making product without making scrap Held How do you tell if the equipment is safely holding Restarting How does the equipment resume production after holding Complete How do you tell when the equipment is done with what it had to do Stopping What happens during a normal shutdown Aborting How does the equipment shut down if a fault or failure occurs Aborted How do you tell if the equipment is safely shut down Publication 1756 UM001G EN P January 2007 86 Configure PhaseManager How Equipment Changes States The state model s arrows show the states through which your equipment progresses e Each arrow is called a transition A state model lets the equipment make only certain transitions This restrict ion standardizes the equipments behavior so that other equipment using the same model will behave the same Done No command Use PSC instruction instead Your equipment can go
79. examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual we use notes to make you aware of safety considerations Identifies information about practices or circumstances 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 identify a hazard avoid a hazard and recognize the consequence ATTENTION THe Wai Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present FITLTNILVZUDE Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt gt eiie Introduction Updated Information Summary of Changes The release of this document contains new and updated information To find new and updated information look for change bars as shown next to this parag
80. ference Manual publication 1756 RM094 Manage Controller Communication 49 Send and Receive Messages Messages transfer data to other devices such as other controllers or operator interfaces Some messages use unscheduled connections to send or receive data These connected messages can leave the connection open cache or close the connection when the message is done transmitting Each message uses one connection regardless of how many devices are in the message path To conserve connections configure one message to read from or write to multiple devices Message Types Message Type Communication Connected Message Can Method Message Be Cached CIP data table read or write N A Yes Yes PLC 2 PLC 3 PLC 5 or SLC CIP No No all types CIP with Source ID No No DH Yes Yes CIP generic N A Optional Yes Block transfer read or write N A Yes Yes You can connect CIP generic messages However for most applications we recommend you leave CIP generic messages unconnected V Consider caching only if the target module requires a connection Each message uses one connection regardless of how many devices are in the message path You can programmatically change the target of a MSG instruction to optimize message transfer time Determine Whether to Cache Message Connections When you configure a MSG instruction you can choose whether or not to cache the connection Caching Message Connections
81. from any state in the box to the stopping or aborting state way PhaseManager Transition Commands p Transition Command Start Hold Running Holding Resetting Hold Restart i Reset Type of Transition Reset Stopped Fault specific use of the abort command Abort Aborted Description Command A command tells the equipment to do something For example the operator pushes the start button to begin production and the stop button to halt production PhaseManager uses these commands Reset Stop Restart Start Hold Abort Done Equipment goes to a waiting state when it is finished with what it is doing You do not give the equipment a command Instead you set up your code to signal when the equipment is finished Fault A fault tells you that something out of the ordinary has happened You set up your code to look for Publication 1756 UM001G EN P January 2007 faults and take action if it finds any If you want to shut down your equipment as quickly as possible when it detects a fault set up your code to look for that fault and give the abort command if it finds it Configure PhaseManager 87 Manually Change States With RSLogix 5000 programming software you can manually change an equipment phase To manually change a PhaseManager state perform this procedure Current Equipment Phase fY Equipment Phase Monitor My Phase
82. gesEtherNet IP links to route messages to devices on other networks e Does not support I O or produced consumed tags Communicate over Networks 23 Required Software for EtherNet IP Communication Software Functions Requirement RSLogix 5000 e Configure ControlLogix projects Yes e Define EtherNet IP communication RSLogix 5000 Assign IP addresses to devices on an BOOTP DHCP Utility EtherNet IP network RSNetWorx for e Configure EtherNet IP devices by IP M EtherNet IP addresses and or host names e Provide bandwidth status RSLinx e Configure communication devices Yes e Provide diagnostics e Establish communication between devices The EtherNet IP communication modules e support messaging produced consumed tags HMI and distributed I O encapsulate messages within standard TCP UDP IP protocol e share a common application layer with ControlNet and DeviceNet networks e connect via RJ 5 cable e support half full duplex 10 MB or 100 MB operation e support standard switches In this example e The controllers produce and consume tags e The controllers initiate MSG instructions that send and receive data or configure devices e The personal computer uploads and downloads projects to the controllers e The personal computer configures devices on an EtherNet IP network Publication 1756 UMO001G EN P January 2007 24 Communicate over Networks CompactLogix Controller with Integrated Eth
83. gher system availability by switching control to a secondary controller chassis if anything in the primary controller chassis fails The redundant system switches from primary to secondary due to power loss to primary chassis hardware or firmware failure of any module in the primary chassis a major fault in the user program on the primary controller e disconnection of a ControlNet tap or ControlNet cable to a 1756 CNB module in the primary chassis e disconnection of an Ethernet patch cable from a 1756 ENBT or 1756 EWEB module in the primary chassis e removal of any module in the primary chassis e a user command that causes a switchover Publication 1756 UM001G EN P Month Year 112 Configure Redundancy ControlLogix Redundancy System Overview Network 1 EtherNet IP or ControlNet network for HMI Communication Network 2 ControlNet Network for I 0 Communication 6 Identical Pair of J ControlLogix Chassis that E ean oo Control Yo
84. gt a 15 axis 3 Unaroug Add On Inst Monitor Axis Tag amp Data Types Of User De Fault Help E Strings lear Axis Fault Cy Add On E Predefir Cut Ctrlex Og Module Copy Ctrl C EI Trends amp 1 0 Configui Pa d fis 1768 Bu Delete Del ERI rei a Motion Direct Commands e l Cross Reference Ctrl E cription s State Print lule Name ee innel The Axis Properties dialog appears Axis Properties My Axis X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit 1 0 Revs Speed 10 0 Revs s Torque Force oo Rated Direction Forward Unidirectional Damping Factor a Tune Position Eror Integrator Velocity Error Integrator Velocity Feedforward Acceleration Feedforward Start Tuning DANGER This tuning procedure may cause axis t motion with the controller in program mode Friction Compensation r Output Filter OK Cancel Help Develop Motion Applications 107 2 Click the Tune tab 3 In the Travel Limit box type the number of revolutions to which you want to limit your axis during its tuning In the Speed box type the number of revolutions per second to which you want to limit your axis during its tuning 5 Click Start Tuning 6 Click OK Additional Resources For additional i
85. hassis 54 coarse update period set 97 communication ControlNet network 25 determine timeout with any device 76 determine timeout with 1 0 module 77 DeviceNet network 28 DH network 41 DH 485 network 37 EtherNet IP network 22 format 55 Foundation Fieldbus 45 HART 46 serial 31 universal remote 0 43 CompactFlash load considerations 120 overview 119 reader 121 supported controller 120 configuration folder 55 configure ControllVet 1 0 module 58 DeviceNet I O module 59 I O module 55 SERCOS interface modules 95 serial driver 17 configure PhaseManager 83 connect DeviceNet network 28 DH network 41 DH 485 network 37 EtherNet IP network 22 Foundation Fieldbus 45 HART 46 RIO 43 serial 15 31 connection calculate use 50 consume data 48 ControlNet network 27 determine timeout with any device 76 determine timeout with 1 0 module 77 DeviceNet network 30 EtherNet IP network 24 1 0 module 56 monitor 76 produce data 48 Publication 1756 UM001G EN P January 2007 136 Index connections example 52 consume data connection use 48 overview 21 control distributed 1 0 overview 21 controller battery module 128 catalog number 12 check battery 124 communication 47 CompactFlash 120 consume data 21 control distributed 0 21 design 13 estimate battery life 124 126 fault handler 78 install 13 message 21 monitor status 75 nonvolatile memory 120 path 19 produce data 21 redundancy 111 serial connection 15 status 75 Contr
86. he communication time to execute the continuous task While increasing the system overhead percentage does increase communication performance it also increases the amount of time it takes to execute a continuous task increasing overall scan time Ratio between the Continuous Task and System Overhead Functions Time Slice Continuous Task Length Max Overhead Function Time 1096 9 ms ms 2096 4 ms ms 33 2ms ms 50 1 ms ms At a time slice of 1096 system overhead interrupts the continuous task every 9 ms of continuous task time Legend EE Task executes Task is interrupted suspended Periodic e dm System Overhead ie a 9 ms 9 ms 0 5 10 15 20 25 Elapsed Time ms Publication 1756 UM001G EN P January 2007 Develop Applications 81 The interruption of a periodic task increases the elapsed time clock time between the execution of system overhead functions 1 ms ms ms 1 ms 1 ms Periodic Task mn E B m lm 1 ms 1 ms System Overhead icu B 9 ms of Continuous Task Time 9 ms of Continuous Task Time Continuous Task ce c1 c on N N oo Elapsed Time ms If you use the default time slice of 20 the system overhead interrupts the continuous task every 4 ms 1ms ms ms 1 ms 1 ms System Overhead ul N B E 4 ms 4 ms 4 ms 4 ms 4 ms 5 10 15 20 25 Elapsed Time ms If you increase the time slice to 5096 the system overhead interrupts the continuo
87. heck the BAT LED Indicator To check the BAT LED indicator perform this procedure 1 Turn on the chassis power BAT LED sr 21 Cok Publication 1756 UM001G EN P January 2007 RUN Vo FORCE CO CO RS232 RUN REM PROG Maintain the Battery 129 2 Is the BAT LED off If Then Yes The battery module is correctly installed No Go to step 3 3 Check that the battery module is correctly connected to the controller 4 Check that the battery assembly is correctly connected to the battery module 5 If the BAT LED remains on install another battery assembly catalog number 1756 BATA 6 If the BAT LED remains on after you complete step 5 contact your Rockwell Automation representative or local distributor Store Batteries ATTENTION Follow these general rules to store your batteries e Store batteries in a cool dry environment We recommend A 25 C 77 F with 40 60 relative humidity e You may store batteries for up to 30 days in temperatures from 45 85 C 49 185 F such as during transportation e To avoid leakage or other hazards do not store batteries above 60 C 140 F for more than 30 days Additional Resources For detailed guidelines on how to store batteries see Guidelines for Handling Lithium Batteries publication AG 5 4 which comes with the battery Publication 1756 UM001G EN P January 2007 130 Maintain the Battery
88. ial communication network Use serial communication to get information to and from remote controllers stations when e the system contains three or more stations e communication occurs on a regular basis and requires leased line radio or power line modems ControlLogix DF1 Device Communication aq L1 LJ D EtherNet IP 4 Network RS 232 Connection RS 232 Connection ci gle w WU Modem Publication 1756 UM001G EN P January 2007 Communicate over Networks 33 To configure the controller for DF1 communication perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click your controller and select Properties EI B 7 1756 PL5 e jo Mew Modu E Properties Alt Enter The Controller Properties dialog appears f5 Controller Properties PLSSampleProject Ex Date Time Advanced SFCExecution File Redundancy Nonvolatile Memory Memory General Setial Port System Protocol User Protocol Major Faults Minor Faults Mode Baud Rate 19200 Data Bits B xz Parity None Stop Bits 1 Control Line No Handshake E Li RIS Send Dely 0 420 ms RTSO Dely O 520 ms DCD Wait Delay x1 sec Cancel Apol Help 2 Click the Serial Port tab 3 From the Mode pull down menu
89. ial Driver 17 Select the Controller Path 19 Connect the Controller to To connect a serial cable perform this procedure via the Serial Port i Obtain a 1756 CP3 serial cable You can also use a 1747 CP3 cable from the SLC product family but once the cable is connected you cannot close the controller door Publication 1756 UM001G EN P January 2007 16 Directly Connect to the Controller via the Serial Port Publication 1756 UM001G EN P January 2007 TIP If you make your own serial cable e Limit the length to 15 2m 50 ft e Wire the connectors this way Workstation Controller 1 CD Li CD 2 RDX 2 RDX 3 TXD 3 TXD 4 DTR 4 DTR COMMON COMMON 6 DSR 6 DSR pu 7 RTS 7 RTS 8 CTS 8 CTS 9 9 e Attach the shield to both connectors 2 Connect the cable to the controller and to your workstation m I z n EN SEN R N EAN AN saN N ass s EEN CP3 Cable zN EN S Directly Connect to the Controller via the Serial Port 17 Configure the Serial Driver Use RSLinx software to configure the RS 232 DF1 Device driver for serial communication To configure the driver perform this procedure 1 From the Communications pull down menu in RSLinx software choose Configure Drivers
90. ication and other tasks is used to execute the programs in the continuous task e The continuous task runs constantly 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 Atasetinterval Periodic A periodic task performs a function at a specific interval such as every 100 ms e Whenever the time for the periodic task expires the task interrupts any lower priority tasks e Multiple times executes once and then returns control to where the previous task left off within the scan e You can configure the time period from 0 1 2000 us The default is of your other 10 ms It is also controller and configuration dependent logic e The performance of a periodic task depends on the type of Logix5000 controller and on the logic in the task Immediately when Event An event task performs a function only when a specific event trigger occurs The trigger for the event an event occurs task can be e a consumed tag trigger e an EVENT instruction e an axis trigger e a motion event trigger The ControlLogix controller supports up to 32 tasks only one of which can be continuous A task can have up to 100 separate programs each with its own executable 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 grouped Programs can onl
91. ion for that slot before the controller opens a connection to the module Keying options differ depending on your application needs Publication 1756 UMO001G EN P January 2007 56 Place Configure and Monitor 1 0 Modules 1 0 Connections A Logix5000 system uses connections to transmit I O data Connection Type Description Direct A direct connection is a real time data transfer link between the controller and an 1 0 module The controller maintains and monitors the connection between the controller and the 1 0 module Any break in the connection such as a module fault or the removal of a module while under power causes the controller to set fault status bits in the data area associated with the module Typically analog I O modules diagnostic I O modules and specialty modules require direct connections Rack optimized For digital 1 0 modules you can select rack optimized communication A rack optimized connection consolidates connection usage between the controller and all of the digital 1 0 modules on a rack or DIN rail Rather than having individual direct connections for each I O module there is one connection for the entire rack or DIN rail Additional Resources For additional information consult these publications Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 Logix5000 Controllers Design Considerations Reference Manual publication 1756 RM094 Publication 1756 UM001G EN
92. ions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Position Units Average Velocity Timebase 0 25 Seconds In the Position Units box enter the units of measure such as revolutions revs degrees inches or millimeters Publication 1756 UM001G EN P January 2007 102 Develop Motion Applications Publication 1756 UM001G EN P January 2007 5 6 7 8 10 11 Click the Drive Motor tab e Axis Properties TEST 2 E Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number Fees Motor Catalog Number knna SS Change Catalog Loop Configuration PostionSewo x Drive Resolution 200000 Drive Counts per Motor Rev X Calculate IV Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Information Attribute 1 nono v Attribute 2 mne SY From the Amplifier Catalog Number pull down menu choose the catalog number of your drive To select your motor s catalog number click Change Catalog Click the Conversion tab Axis Properties TEST mI E Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Taq General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Positioning Mode X 5 j Drive Co
93. ix Controller Communicate over Networks 27 ControlNet Network Overview Workstation Distributed 1 0 PowerFlex 700S AC Drive with DriveLogix 2 Sh 29 E JUR f Fd E x 4 1756 CNB Module gt as an adapter with 1756 1 0 Modules P el ES ControlNet Network D fe FlexLogix Controller wi 1788 CNC Card ACN15 Adapter with 1794 1 0 Modules 1734 ACNR Adapter with 1734 1 0 Modules PLC 5 40C Controller bes ne Sass oS GIL IER Connections Over a ControlNet Network You indirectly determine the number of connections the controller uses by configuring the controller to communicate with other devices in the system Connections are allocations of resources that provide more reliable communication between devices compared to unconnected messages ControlNet Connections Connection Definition Scheduled A scheduled connection is unique to ControlNet communication A scheduled connection lets you send and receive data repeatedly at a predetermined interval which is the requested packet interval RPI For example a connection to an 1 0 unique toa module is a scheduled connection because you repeatedly receive data from the module at a specified interval Other ControlNet scheduled connections include
94. l information consult the ControlLogix Data Highway Plus Universal Remote I O Module User Manual publication 1756 UM514 Publication 1756 UM001G EN P January 2007 Universal Remote 1 0 Communication Communicate over Networks 43 For universal remote I O communication use a 1756 DHRIO module Functions e Establish connections between controllers and O adapters e Send data regularly e Distribute control so that each controller has its own I O e Communicate with a supervisory controller Required Module 1756 DHRIO e Use an RIO scanner e Communicate with as many as 32 RIO adapters e Support HART Highway Addressable Remote Transducer devices e Use scheduled connections to update data on a ControlLogix controller 1757 ABRIO When a channel on the 1756 DHRIO module is configured for remote I O the module acts as a scanner for a universal remote I O network The controller communicates to the module to send and receive the I O on the universal remote I O network ControlLogix Universal Remote 1 0 Communication Overview ControlLogix Controller Universal Remote 1 0 Network 1771 ASB and 1 0 Modules i um 1746 ASB and 1 0 Modules 8 Y O BEBE Be PLC 5 Controller in Adapter Mode H hh ts OO
95. lG CO521C EN P May 2003 PN953014 93957782 91 Other Comments PLEASE FASTEN HERE DO NOT STAPLE PLEASE FOLD HERE BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE Allen Bradley Eeeimel ROCKWELL SOFTWARE DOGE Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE ASCII Character Codes Character Dec Hex Character Dec Hex Character Dec Hex Character Dec Hex ctrl NUL 0 00 SPACE 32 20 64 40 96 60 ctrl A SOH 1 01 33 21 A 65 41 a 97 61 ctrl B STX 2 02 34 22 B 66 42 b 98 62 ctrl C ETX 3 03 35 23 C 67 43 C 99 63 ctrl D EOT 4 04 36 24 D 68 44 d 100 64 ctrl E ENQ 5 05 37 25 E 69 45 e 101 65 ctrl F ACK 6 06 amp 38 26 F 70 46 102 66 ctrl G BEL 7 07 39 27 G 71 47 g 103 67 ctrl H BS 8 08 40 28 H 72 48 h 104 68 ctrl I HT 9 09 41 29 73 49 i 105 69 ctrl J LF 10 I 0A 42 2A J 74 4A j 106 6A ctrl K VT 11 0B 43 2B K 75 4B k 107 6B ctrl L FF 12 0C 44 2C L 76 4C 108 6C ctrl M CR 13 r 0D 45 2D M 7 4D m 109 6D ctrl N SO 14 0E 46 2E N 78 4E n 110 6E ctrl
96. lace configure and monitor I O modules Topic Page Select I O Modules 53 Place Local 1 0 Modules 54 Configure I O 55 Configure Distributed I O on an EtherNet IP Network 57 Configure Distributed I O on a ControlNet Network 58 Configure Distributed I O on a DeviceNet Network 59 Address I O Data 60 Add 1756 1 0 at Runtime 61 Determine When Data Is Updated 63 Reconfigure an 1 0 Module 64 Select I O Modules When selecting 1756 I O modules select e specialty I O modules when appropriate Some modules have field side diagnostics electronic fusing or individually isolated inputs outputs e 1756 remote terminal blocks RTBs or 1492 wiring systems for the I O modules e 1492 PanelConnect modules and cables to connect input modules to sensors Additional Resources For additional information consult the ControlLogix Selection Guide publication 1756 SG001 Publication 1756 UMO001G EN P January 2007 54 Place Configure and Monitor 1 0 Modules Place Local 1 0 Modules Publication 1756 UM001G EN P January 2007 Your choice of 1756 chassis determines how many local I O modules you can use You can fill your chassis slots with any combination of controllers communication modules and I O modules Available Chassis Slots Chassis Available Slots 1756 A4 4 1756 A7 7 1756 A10 10 1756 A13 13 1756 A17 17 For empty slots use the 1756 N2 slot filler module The ControlLogix controller also suppor
97. lization increase of 1 496 for each I O module you add depending on the RPI 48 connections on the 1756 CNB or 1756 CNBR communication module 350 000 bytes as the remaining unscheduled bandwidth on the ControlNet network Publication 1756 UMO001G EN P January 2007 62 Place Configure and Monitor I O Modu les EtherNet IP 1 0 Considerations When you add EtherNet IP I O at runtime e the EtherNet IP I O modules you add at runtime use can be added to existing rack optimized connections added to new rack optimized connections added as direct connections You can create new rack optimized connections when adding EtherNet IP I O modules at runtime e you can add I O modules until you reach the limits of the communication module Module Type Pulses per TCP CIP Connected Connected Unconnected Second Max Connections Connected Bridged End Node Messages Max Messages Messages Messages Max Max Max Max 1756 ENBT 4500 128 256 1756 ENET 810 3 160 MP i 64 Series B Additional Resources For additional information consult the EtherNet IP Performance Application Guide publication ENET APOOI Publication 1756 UM001G EN P January 2007 Determine When Data Is Updated Input or Output Data Place Configure and Monitor I O Modules 63 ControlLogix controllers update date asynchronously with the execution of logic Use this flowchart to de
98. ller to controller e shares a common application layer with ControlNet and EtherNet IP networks e offers diagnostics for improved data collection and fault detection e requires less wiring than traditional hardwired systems ControlLogix DeviceNet Network Overview FLEX Adapter and 0 aaa Personal Computer ControlLogix Controller with 1756 ENBT Module EtherNet IP Network CompactLogix Controller Linking Devices DeviceNet Network oo M 0000 0000 r _ Sensor f j P Motor ushbutton Ful Starter Cluster is E Bar Code Input output 5S Indicator Scanner Devices PowerFlex Lights ac Drive Publication 1756 UMO001G EN P January 2007 30 Communicate over Networks Publication 1756 UM001G EN P January 2007 Connections over DeviceNet The ControlLogix controller requires two connections for each 1756 DNB module One connection is for module status and configuration The other connection is a rack optimized connection for the device data The 1756 DNB module has fixed sections of memory for the input and output data of the DeviceNet devices on the network Each device on your network requires either some input or output memory of the scanner Some devices both send and receive data so they need both input and output
99. mber e O forces are active enabled Use caution if you install add a force If you install add a force it immediately takes effect 1 0 force values may or may not exist Flashing amber One or more input or output addresses have Use caution if you enable I O forces If you enable 1 0 forces ALL been forced to an On or Off state but the existing I O forces also take effect forces have not been enabled RS232 LED Indicator Description Recommended Action Off There is no activity No action is required Solid green Data is being received or transmitted No action is required BAT LED Indicator Color Description Recommended Action Off The battery supports memory None Solid green If the Then controller is Series A The controller does not None show this indication Series B During power down the None controller is saving the project to its internal nonvolatile memory If the BAT LED is solid red before you turn off the power the BAT LED remains solid red even during the save Solid red Either the battery is e not installed Install a battery e 95 or more discharged Replace the battery Publication 1756 UM001G EN P January 2007 LED Indicators 133 OK LED Indicator Color Description Recommended Action Off No power is applied When ready turn on power to the controller Hashing red If the controller is Then a new controller The controller requires
100. munication Overview r Data Collection and r Workstation LJ Recipe Management LJ cs EtherNet IP Network 8M 8 BH AREE IR ee ControlLogix H ControlLogix Controller 9 Controller d d i eo IST e DH Network DH Network L MEI NETT ale fee WV ELE 5 Y 5 PLC 5 Processor SLC 500 Controller RSView Station PLC 5 Controller SLC 500 Con troller RSView Station Communicate over a DH Network For the controller to communicate to a workstation or other device over a DH network use RSLinx software to e specify a unique link ID for each ControlLogix backplane and additional network in the communication path e configure the routing table for the 1756 DHRIO module The 1756 DHRIO module can route a message through up to four communication networks and three chassis This limit applies only to the routing of a message and not to the total number of networks or chassis in a system Additional Resources For additiona
101. nd lead to timeouts and decreased RSLogix 5000 configuration performance IMPORTANT Use Logix5000 controllers on DH 485 networks only when you want to add controllers to an existing DH 485 network For new applications with Logix5000 controllers we recommend you use networks in the NetLinx open architecture The DH 485 protocol uses RS 485 half duplex as its physical interface RS 485 is a definition of electrical characteristics not a protocol You can configure the RS 232 port of the ControlLogix controller to act as a DH 485 interface By using a 1761 NET AIC converter and the appropriate RS 232 cable 1756 CP3 or 1747 CP3 a ControlLogix controller can send and receive data on a DH 485 network Publication 1756 UM001G EN P January 2007 38 Communicate over Networks Publication 1756 UM001G EN P January 2007 ControlLogix DH 485 Network Communication Overview ControlLogix Controller Connection from ControlLogix Controller to Port 1 or Port 2 1761 NET AIC Converter 1747 NC Programmable DH 485 Network Controller Isolated Link Coupler SLC 5 03 Controller On the DH 485 network the ControlLogix controller can send and receive messages to and from other controllers A DH 485 network consists of multiple cable segments Limit the total length of all the segments to 1219 m 4000 ft For the controller to operate on
102. nfigure RS 232 DF1 Devices Device Name AB_DF1 2 Comm Port COM1 v Device ET PAE T Baud Rate 19200 Station Number ng Decimal Parity None X Error Checking BCC Zi Stop Bits 1 v Protocol Full Duplex v Auto Configure Use Modem Dialer Configure Dialer Cancel Delete Help 6 Was the auto configuration successful Click OK No Go to step 5 and verify that you selected the correct Comm Port 7 Click Close Publication 1756 UM001G EN P January 2007 Directly Connect to the Controller via the Serial Port 19 Select the Controller Path In RSLogix 5000 programming software to select the controller path perform this procedure 1 Open an RSLogix 5000 project for the controller 2 From the Communications pull down menu choose Who Active 3 Expand the communication driver to the level of the controller f Who Active M Autobrowse Renes Workstation USMAYHMILLS d Linx Gateways Ethernet Ci g AB_DF1 1 DF1 mfg 62 LO t a AB ETH 1 Ethernet gy AB ETH 2 Ethernet Path AB DF1 1 1 Path in Project none 4 Select the controller Anl xl Upload Download Update Firmware Close Help Set Project Path mea Project Path To Choose Monitor the project in the controller Go Online Transfer a copy of the project from the controller to Upload RSLogix 5000 software Tr
103. nformation consult the Logix5000 Motion Module User Manual publication 1756 UM006 Publication 1756 UM001G EN P January 2007 108 Develop Motion Applications Obtain Axis Information You can obtain axis information through any one of several methods To obtain axis information take any one or all of these steps Obtaining Axis Information Use the Axis Properties dialog window to configure the axis f amp RSLogix 5000 My Controller in Inhibit_Axis ACD 7756 L60MO3SE MainProgram Inhibit Axes DAR Ef File Edit view Search Logic Communications Tools Mindow Help ox alsa S e wads BlSelS te I aR Offline T FE RUN E MA WEM Pah AB_ETH1V192 168 1 200 Backplane v AB_ETH 182 1681 20 Backplane O v es No Forces gt 3 an H ies sel sid RO ROR M No Edits amp r vo fol Bj Nr avorites A Bit imer Counter Input Outp compare Compute Ma zi 53 Controller My Controller i jJ E A Controller Tags 3 Controller Fault Handler 3 Power Up Handler My Axis X Llninhibit Cmd SSY Tasks Set System Value Class Name AXIS yen pts G Instance Name My Axis X yon raroup Attribute Name Inhibit amp xis X5 My Axis X Source Zero My Axis Y 0 H E Ungrouped Axes v Type AXIS SERVO DRIVE Description My Axis XInhibitStatus My amp xis X Sefvo amp ctionstatus My Axis X OK Axis State E E Drive Name My Axis X N
104. ning for the first time you have less battery life than this table shows While powered down the controller still drains the battery but it cannot give the low battery warning Temperature 254 cm Power Cycles Battery Life After the BAT LED Turns Red Worst Case E ME Project Size 1 MB 2MB 4 MB 8 MB 16 MB 0 20 C 32 68 F 3 per day 26 weeks 18 weeks 12 wee 9 weeks 5 weeks 1 per Day 26 weeks 26 weeks 26 wee 22 weeks 13 weeks 1 per Month 26 weeks 26 weeks 26 wee 26 weeks 26 weeks 21 40 C 69 8 104 F 3 per day 18 weeks 14 weeks 10 wee 8 weeks 5 weeks 1 per Day 24 weeks 21 weeks 18 wee 16 weeks 11 weeks 1 per Month 26 weeks 26 weeks 26 wee 26 weeks 26 weeks 41 45 C 105 8 113 F 3 per day 12 weeks 10 weeks 7 weeks 6 weeks 4 weeks 1 per Day 15 weeks 14 weeks 12 wee 11 weeks 8 weeks 1 per Month 17 weeks 17 weeks 17 wee 17 weeks 16 weeks 46 50 C 114 8 122 F 3 per day 10 weeks 8 weeks 6 weeks 6 weeks 3 weeks 1 per Day 12 weeks 11 weeks 10 wee 9 weeks 7 weeks 1 per Month 12 weeks 12 weeks 12 wee 12 weeks 12 weeks 51 55 C 123 8 131 F 3 per day 7 weeks 6 weeks 5 weeks 4 weeks 3 weeks 1 per Day 8 weeks 8 weeks 7 weeks 7 weeks 5 weeks 1 per Month 8 weeks 8 weeks 8 weeks 8 weeks 8 weeks 56 60 C 132 8 140 F 3 per day 5 weeks 5 weeks 4 weeks 4 weeks 2 weeks 1 per Day 6 weeks 6 weeks 5 weeks 5 weeks 4 weeks 1 per Month
105. ns e EtherNet IP Modules in Logix5000 Control Systems User Manual publication ENET UM001 Logix5000 Controllers Design Considerations Reference Manual publication 1756 RM094 The ControlNet network is a real time control network that provides high speed transport of both time critical I O and interlocking data and messaging data including uploading and downloading of programming and configuration data on a single physical media link The ControlNet network s highly efficient data transfer capability significantly enhances I O performance and peer to peer communication in any system or application The ControlNet network is highly deterministic and repeatable and remains unaffected as devices are connected or disconnected from the network This robust quality results in dependable synchronized and coordinated real time performance The ControlNet network often functions as e a substitute replacement for the remote I O RIO network because the ControlNet network adeptly handles large numbers of I O points e a backbone to multiple distributed DeviceNet networks a peer interlocking network For ControlNet communication you have two communication modules from which to choose ControlNet Communication Modules Functions Required Module e Control I O modules 1756 CNB e Require an adapter for distributed 1 0 on ControlNet links e Communicate with other ControlNet devices messages e Share data with other Logix500
106. ode 4 Axis Fault lt v ete Use a Get System Value GSV instruction or Set System Value SSV Use the Quick View pane to see the state instruction to read or change the configuration at run time and faults of an axis Use the tag of the axis for status and faults Publication 1756 UM001G EN P January 2007 Develop Motion Applications 109 Program Motion Control The controller gives you a set of motion control instructions for your axes and e uses these instructions just like the rest of the Logix5000 instructions You can program motion control in these programming languages Ladder Diagram LD Structured Text ST Sequential Function Chart SFC e each motion instruction works on one or more axes e each motion instruction needs a motion control tag The tag uses a MOTION INSTRUCTION data type and stores the instruction s information status Motion Control Instruction MSO Motion Servo On Axis it Motion control T Motion Control Tag Use the tag for the motion control operand of motion instruction only once Unintended operation of the control variables may happen if you reuse of the same motion control tag in other instructions Example Here s an example of a simple ladder diagram that homes jogs and moves an axis If Initialize_Pushbutton on and the axis off My Axis X ServoActionStatus off then The MSO instruction turns on the axis
107. odule to operate incorrectly To reconfigure a module perform this procedure 1 In RSLogix 5000 programming software right click a module in the I O Configuration tree and select Properties BE d Contr 5 New Module 8 c Copy Ctrl C Offline Cross Reference Ctri E m l Properties Alt Enter Rea The Module Properties dialog appears Wil Module Properties Local 1 1756 CNB D 5 1 General Connection RSNetWorx Module Info Backplane Type 1756 CNB D 1756 ControlNet Bridge Change Type Vendor Allen Bradley Name LocalCNB Node p 4 E Description Slt f1 4 Revision 5 w e fi ES Electronic Keying Compatible Keying Status Offline Cancel Help 2 Reconfigure the I O module 3 Click OK Place Configure and Monitor I O Modules 65 Reconfigure an I O Module via a MSG Instruction Use a MSG instruction of type Module Reconfigure to send new configuration information to an I O module During the reconfiguration e input modules continue to send input data to the controller e output modules continue to control their output devices To reconfigure an I O module perform this procedure 1 Set the required member of the configuration tag of the module to the new value 2 Send a Module Reconfigure message to the module Cu Reconfigure an 1 0 module When reconfigure 5 is on the MOV instruction sets the high alarm to 60 for the local module in slot 4
108. olLogix redundancy 111 ControlLogix system overview 11 ControlNet module capability 26 ControlNet network connection use 27 distributed 1 0 58 overview 25 redundancy considerations 114 required software for communication 26 scheduled 27 unscheduled 27 coordinated system time master set 90 COS 55 CST master 90 See coordinated system time master D define programs 70 routines 70 tasks 69 define programs 70 design 13 Publication 1756 UMO01 G EN P January 2007 develop applications 67 motion applications 89 programs 68 develop application fault handler 78 monitor connection 76 monitor status 75 overview 67 programming language 73 tag 72 task 67 DeviceNet distributed 1 0 59 DeviceNet network connection use 30 overview 28 DF1 device 32 DH module capability 42 network overview 41 DH network example configuration 42 DH 485 network example configuration 37 overview 37 direct connection 56 distributed 1 0 ControlNet network 58 DeviceNet 59 overview 21 drive add SERCOS interface drive 93 check wiring 104 E electronic keying 55 EtherNet IP network connection use 24 overview 22 redundancy considerations 115 example configuration DH 485 network 37 F fault handler 78 FBD 73 Foundation Fieldbus 45 function block diagram 73 G GSV instruction 75 H HART 46 Highway Addressable Remote Transducer see HART 46 1 0 address data 60 chassis 54 communication format 55 configuration folder 5
109. ommunication Introduction This chapter explains how to manage controller communication Topic Page Connection Overview 47 Produce and Consume Interlock Data 48 Send and Receive Messages 49 Calculate Connection Use 50 Connection Overview A Logix5000 system uses a connection to establish a communication link between two devices The types of connections include 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 e produced and consumed tags e messages controller access by RSLogix 5000 programming software controller access by RSLinx software for HMI or other applications Additional Resources For additional information consult Logix5000 Controllers Design Considerations Reference Manual publication 1756 RM094 Publication 1756 UMO001G EN P January 2007 48 Manage Controller Communication Produce and Consume Interlock Data Tag Type Produced The controller supports the ability to produce broadcast and consume receive system shared tags over ControlNet or EtherNet IP networks Produced and consumed tags each require connections Over a ControlNet network produced and consumed tags are scheduled connections Tag Types Description A produced tag lets other controllers to consume the tag which means that a controller can receive the tag data from another c
110. on 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 contact 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 Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F
111. ontroller The producing controller uses one connection for the produced tag and one connection for each consumer The controllers communication device uses one connection for each consumer As you increase the number of controllers that can consume a produced tag you also reduce the number of connections the controller and communication device have available for other operations such as communication and O Consumed Publication 1756 UM001G EN P January 2007 Each consumed tag requires one connection for the controller that is consuming the tag The controller s communication device uses one connection for each consumer For two controllers to share produced or consumed tags both must be attached to the same network You cannot bridge produced and consumed tags over two networks The number of available connections limits the number of tags that can be produced or consumed If the controller uses all of its connections for I O and communication devices no connections are left for produced and consumed tags Available Connections Device Supported Connections ControlLogix controller 250 e 1756 ENBT module 128 e 1756 EWEB module e 1756 CNB module 64 SHISIPERBBIOUMS 48 is the recommended maximum Additional Resources For additional information consult these publications Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 Logix5000 Controllers Design Considerations Re
112. or additional information consult the Logix5000 Controllers General Instructions Reference Manual publication 1756 RMO003 Monitor Connections If communication with a device in the I O configuration of the controller does not occur for 100 ms or 4 times the RPI whichever is less the communication times out and the controller produces these warnings e The I O LED on the front of the controller flashes green e A A shows over the I O configuration folder and over the devices that have timed out A module fault code is produced which you can access via the Module Properties dialog a GSV instruction Determine if Communication Has Timed Out with Any Device If communication times out with at least one device module in the I O configuration of the controller the I O LED on the front of the controller flashes green e The GSV instruction gets the status of the I O LED and stores it in the I O LED tag e If I O LED equal 2 the controller has lost communication with at least one device GSV EQU Get System Value Equal CIP Object Class MODULE Source A O LED CIP Object Name Attribute Name LedStatus Source B 2 Dest O LED where I O LED is a DINT tag that stores the status of the I O LED on the front of the controller Publication 1756 UM001G EN P January 2007 Develop Applications 71 Determine if Communication Has Timed Out with a Specific 1 0 Module If communication times
113. ore changes such as online edits tag values or a ControlNet network schedule store the project again after you make the changes Publication 1756 UMO001G EN P January 2007 120 Maintain Nonvolatile Memory Choose a Controller That Has Nonvolatile Memory These ControlLogix controllers have nonvolatile memory ControlLogix Controllers and Nonvolatile Memory Controller Cat Number Firmware Revision Requires a 1784 CF64 Industrial CompactFlash memory card ControlLogix5555 1756 L55M22 10 x or later No 1756 L55M23 8 x or later No 1756 L55M24 8 x or later No ControlLogix5560MO03SE 1756 L60MO3SE 13 x or later Yes ControlLogix5561 1756 L61 12 x or later Yes ControlLogix5562 1756 162 12 x or later Yes ControlLogix5563 1756 L63 11 x or later Yes ControlLogix5564 1756 L64 16 or later Yes Publication 1756 UM001G EN P January 2007 Controller Does not use a CompactFlash card Prevent a Major Fault During a Load If the major and minor revisions of the project in nonvolatile memory do not match the major and minor revisions of the controller a major fault may occur during a load Consequences Make sure that the major and minor revisions of the project in nonvolatile memory match the major and minor revisions of the controller The nonvolatile memory of the controller stores only the project It does not store the firmware for the controller Uses a CompactFlash card The CompactFlash
114. out with a device module in the I O configuration of the controller the controller produces a fault code for the module e The GSV instruction gets the fault code for Io Module and stores it in the Module Status tag e If Module Status is any value other than 4 the controller is not communicating with the module This rung is used to check the status of an I O connection We look at the entry status of the connection if the value returned is anything other than 4 The connection is not functioning properly When an error is detected the error code and and info is trapped on a one shot basis This is becuase the controller will try and re establish the connect and when it does this you will loss the true error SV BTD Get System Value Bit Field Distribute Class Name MODULE Source Module_Status Instance Name lo Module 0 Attribute Name EntryStatus Source Bit 12 Dest Module Status Dest Module Status Easy Dest Bit Lenath 4 EQ Check ONS SY Not Equal ONS Get System Value Source amp Module Status Easy Class Name MODLILE 0 Instance Name lo_Module Source B 4 Attribute Name FaultCode Dest Module Fault Code Get System Value Class Name MODLILE Instance Name lo Module Attribute Name Fauttinfo Dest Module Fault Info Module Connection Error QU Module Connection Error Equal Source amp Module Status Easy Source B 4 Publication 1756 UMO001G EN P January 2007 78 Develop Applications Interrupt the
115. raph The document contains these changes Topic Page 1756 L64 ControlLogix Controller Throughout manual Add On Instructions 73 Select a System Overhead Percentage 79 Add Your Axes 100 Obtain Axis Information 108 Publication 1756 UMO001G EN P January 2007 Summary of Changes 4 Notes Publication 1756 UM001G EN P January 2007 ControlLogix System Overview Directly Connect to the Controller via the Serial Port Communicate over Networks Manage Controller Communication Table of Contents Preface About this Publication lees 9 Who Should Use This Publication iles 9 Additional Resources p oS chr aen More Sen oae d cio Sti oe a 9 Chapter 1 Introducties ore gea Pn o ese ern yog e e wr 4 11 IDEO MMC PEE EETIUUTTPLETMEN 13 Instal EPIO a wana ao NAAR ESI VOR ICI O 13 Chapter 2 TOCEOCDHCLON S ue Sade EPIS ES POLES Rade loke AES OOS 15 Connect the Controller to via the Serial Port 15 Configure the Serial Driver Va o ees Hl ep RA RISO 17 Select the Controller Paths oxa qve See veteres S S 19 Chapter 3 VO CECIGIEICEIORT 44a qus 124 Foto idco oer ee Pre Da HER Ne EAn nL Seg 21 EtherNet IP Network Communication 22 Connections Over an EtherNet IP Network 24 Additional Resources e 243 09 RLTTOPIYES T PEPT 25 ControlNet Network Communication 25 Connections Over a ControlNet Network 27 Additional Resources vous
116. ry 2007 22 Communicate over Networks EtherNet IP Network Communication Publication 1756 UM001G EN P January 2007 Topic Page Serial Network Communication 31 DH 485 Network Communication 37 DH Network Communication 41 Universal Remote I O Communication 43 Foundation Fieldbus 45 HART 46 The EtherNet IP network offers a full suite of control configuration and data collection services by layering the Common Industrial Protocol CIP over the standard Internet protocols such as TCP IP and UDP This combination of well accepted standards provides the capability required to both support information data exchange and control applications The EtherNet IP network also uses commercial off the shelf Ethernet components and physical media providing you with a cost effective plant floor solution For EtherNet IP network communication you have several communication modules from which to choose EtherNet IP Communication Modules Functions Required Module e Control I O modules 1756 ENBT e Require an adapter for distributed I O on EtherNet IP links e Communicate with other EtherNet IP devices messages e Share data with other Logix5000 controllers produce consume e Bridge EtherNet IP links to route messages to devices on other networks e Require remote access via Internet browser to tags in a local 1756 EWEB ControlLogix controller e Communicate with other EtherNet IP devices messages e Brid
117. s Publication Who Should Use This Publication Additional Resources Catalog Number 1756 L55Mx 1756 L6x Preface Use this manual to become familiar with the ControlLogix controller and its features This version of the manual corresponds to controller firmware revision 15 This manual describes the necessary tasks to install configure program and operate a ControlLogix system In some cases this manual includes references to additional documentation that provides the more comprehensive details These core documents address the Logix5000 family of controllers Title Publication Logix5000 Controllers Quick Start 1756 08001 Logix5000 Controllers Common Procedures Programming Manual 1756 PM001 Logix5000 Controllers System Reference 1756 QR107 Logix5000 Process Control and Drives Instructions Reference 1756 RM003 Manual Logix5000 Process Control and Drives Instructions Reference 1756 RM006 Manual Logix5000 Controllers Motion Instructions 1756 RM007 To view or download manuals visit http literature rockwellautomation com literature To obtain a hard copy of a manual contact your local Rockwell Automation distributor or sales representative Publication 1756 UM001G EN P January 2007 10 Notes Publication 1756 UM001G EN P January 2007 Chapter 1 Introduction EtherNet IP Link ControlNet Link ControlLogix System Overview This chapter provides an overview of th
118. struction Function PSC Signal a phase that the state routine is complete and to proceed to the next state PCMD Change the state or substate of a phase PFL Signal a failure for a phase PCLF Clear the failure code of a phase PXRQ Initiate communication with RSBizWare Batch software PRNP Clear the NewInputParameters bit of a phase PPD Set up breakpoints within the logic of a phase PATT Take ownership of a phase to either e prevent another program or RSBizWare Batch software from commanding a phase e make sure another program or RSBizWare Batch software does not already own a phase PDET Relinquish ownership of a phase POVR Override a command Chapter 8 Develop Motion Applications Introduction This chapter explains how to configure a motion control program Topic Page Make the Controller the CST Master 90 Add the Motion Modules 91 Add SERCOS Interface Drives 93 Set Up Each SERCOS Interface Module 95 Add the Motion Group 97 Add Your Axes 100 Set Up Each Axis 101 Check the Wiring of Each Drive 104 Tune Each Axis 106 Obtain Axis Information 108 Program Motion Control 109 Overview of Motion Control Configuration 1756 Analog Motion Module Drive Position Velocity Motor l C5 Feedback Drive RSLogix 5000 Programming Position Velocity Software ControlLogix Controller Motor l CO Feedback Integrated Program Execution Axis Motion Configuration
119. te connections the controller can access through that module Remote Connections Remote Connection Type Device Connections Total Quantity per Device Connections Remote ControlNet communication module 1 0 configured as direct connection none 0 or 1 0 configured as rack optimized connection 1 Remote 1 0 module over a ControlNet network direct connection 1 Remote EtherNet IP communication module 1 0 configured as direct connection none 0 or 1 0 configured as rack optimized connection 1 Remote I O module over a EtherNet IP network direct connection 1 Remote device over a DeviceNet network accounted for in rack optimized connection for local 1756 DNB 0 Other remote communication adapter Produced tag Each consumer Consumed tag Message depending on type Block transfer message Total Publication 1756 UMO001G EN P January 2007 52 Manage Controller Communication Connections Example In this example system the 1756 ControlLogix controller e controls local digital I O modules in the same chassis e controls remote I O devices on a DeviceNet network controller on an EtherNet IP network sends and receives messages to and from a CompactLogix produces one tag that the 1794 FlexLogix controller consumes e is programmed via RSLogix 5000 programming software Redistation Series 9000 Photoeye 5 i oy L T1 C9 q a ETT
120. termine when a producer such as a controller input module or bridge module will send data Overview Updating Data n Analog or Digital Output pe Analog or Digital Digital Analog Y RTS API Yes Y Data is sent to the backplane Data is sent to the backplane at at the RTS the RTS and RPI Analog Digital Remote or Local COS for Any Point on the No Bimota No Module gt Local Yes A Y Data is sent to the backplane at the RPI and at the change of a specified point Y Data is sent to the backplane at the ua Y RPI Y interval the RPI e Over a ControlNet network remote data is sent at the actual packet e Over an EtherNet IP network remote data is usually sent close to Data is sent to the backplane at the RPI and at the end of every task Publication 1756 UMO001G EN P January 2007 64 Place Configure and Monitor 1 0 Modules Reconfigure an I 0 Module Publication 1756 UM001G EN P January 2007 If an I O module supports reconfiguration you can reconfigure the module via e RSLogix 5000 programming software e a MSG instruction in program logic A Reconfigure a Module via RSLogix 5000 Programming Software Use care when changing the configuration of an 1 0 module You could inadvertently cause the 1 0 m
121. ther e 8 hr day during a 5 day work week e all day Saturday and Sunday Then the controller is off 5296 of the time e Total hours per week 7 x 24 168 hours e Total off hours per week 5 days x 8 hr day Saturday Sunday 88 hours e Percentage off time 88 168 5296 3 Determine the estimated worst case battery life before and after the BAT LED turns on 4 For each year of battery life decrease the time before the BAT LED turns on by the percentage that is shown in the table Maintain the Battery 125 Do not decrease the time after the BAT LED turns on IMPORTANT If the BAT LED turns on when you apply power to the controller the remaining battery life may be less than this table indicates Some of the battery life may have been used up while the controller was off and unable to turn on the BAT LED Worst case Estimates of 1756 BA1 Battery Life Controller Temperature Time Before BAT LED Turns On Time after BAT LED turns on Power off 100 Power off 50 Yearly ame Powers ean decrease 1756 L55M12 60 C 140 F 57 days 110 days 23 69 hours Mapes 25 C 77 F 63 days 123 days 17 76 hours 0 C 32 F 60 days 118 days 17 73 hours 1756 L55M14 60 C 140 F 29 days 57 days 23 35 hours 25 C 77 F 30 days 61 days 17 37 hours 0 C 32 F 24 days 48 days 17 30 hours 1756 L55M16 60 C 140 F 15 days 30 days 23 18 hours
122. tions Required Device e Acquire data or control application with slow update Prosoft interface requirements such as a tank farm e Does not require external hardware to access HART signal Mee e Does not provide a direct connection to asset management software e Contain analog and HART in one module Spectrum analog e Does not require external hardware to access HART signal 1 0 modules e Transmit HART commands as unscheduled messages e 1756sc IF8H e Support asset management software to HART device e 1756sc OF8H e Contain analog and HART in one module 1794 FLEX 1 0 e Provide instrumentation in hazardous locations FLEX Ex modules e Transmit HART commands as unscheduled messages e 1794 IE8H e Directly connect asset management software to HART devices e 1794 0E8H 1797 FLEX Ex I O modules e 1797 IE8H e 1797 OE8H The HART protocol combines digital signals with analog signals to ready the digital signal for the process variable PV The HART protocol also provides diagnostic data from the transmitter HART Protocol Overview 0 ControlLogix Controller with 1756SC IF8H or 1756SC OF8H Modules LE E HART Field Devices Additional Resources For additional information consult these resources e FLEX Ex HART Analog Modules User Manual publication 1797 6 5 3 e Encompass website at http automation rockwell encompass Publication 1756 UM001G EN P January 2007 Chapter Manage Controller C
123. ts distributed remote I O via these networks e EtherNet IP e ControlNet e DeviceNet e Universal remote I O Additional Resources For additional information consult these publications e ControlLogix Digital I O Modules User Manual publication 1756 UM058 ControlLogix Analog I O Modules User Manual publication 1756 UM009 Place Configure and Monitor I O Modules 55 Configure 1 0 Configuration Option Requested Packet Interval RPI To communicate with an I O module in your system add the module to the I O Configuration folder of the controller in RSLogix 5000 programming software Addition of 1 0 Modules Motion Groups 3 Ungrouped Axes E Trends Data Types Cj User Defined Cg Strings E Predefined Cg Module Defined Add I O modules to the gt ameme 1756 Backplane 1756 410 1796 backplane fa 0 1756 L61 dnet_example When you add a module you also define a specific configuration for the module While the configuration options vary from module to module there are some common options that you typically configure Configuration Options Description The RPI specifies the period at which data updates over a connection For example an input module sends data to a controller at the RPI that you assign to the module e Typically you configure an RPI in milliseconds ms The range is 0 2 750 ms e f a ControlNet network connects the devices the RPI reserves a
124. uitable up to and including SIL 2 When the ControlLogix system is in maintenance or programming mode the user is responsible for maintaining a safe state For support in the creation of programs the PADT Programming and Debugging Tool is required The PADT for ControlLogix is RSLogix 5000 programming software per IEC 61131 3 and this Safety Reference Manual Publication 1756 UMO001G EN P January 2007 118 SIL 2 Certification SIL 2 Application In obtaining SIL 2 certification for a ControlLogix system Rockwell Automation did not need to create a special line of products to meet stringent SIL 2 requirements Sophisticated diagnostics and high levels of reliability are standard in ControlLogix processors I O modules and communication products It is that same standard design that readily provides the reliability needed to achieve SIL 2 certification A typical ControlLogix SIL loop includes e the overall safety loop e the ControlLogix portion of the safety loop how other devices for example HMI connect to the loop while operating outside the loop SIL2 Application Overview Programming Software HMI For SIL applications a programming For Diagnostics and Visualization read only terminal is not normally connected access to controllers in the safety loop r I I Eee sue ees ee Em l l l l l Senso 1 3 Actuator l 5 l l l l l l ControlNet Network
125. unts 1 0 revs Conversion Constant 200000 0 Based on 200000 Counts Motor Rev 5x S Drive Counts Unwind Position Unwind 200000 Based on 200000 Counts Motor Rev From the Positioning Mode pull down menu choose rotary or linear In the Conversion Constant box type the number of drive counts per rotary or linear revolution For a rotary axis only in the Position Unwind box type the number of feedback counts needed to automatically unwind the axis Develop Motion Applications 103 12 Click the Homing tab Axis Properties TEST General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Made N Position po revs Offset po revs Sequence Maker st o g Active Home Sequence Group Direction Forward Bi directional l Speed 0 0 tevs s Retum Speed 0 0 revs s 13 From the Sequence pull down menu choose one of these types of homing sequences e Immediate e Switch e Marker e Switch Marker 14 Within Active Home Sequence Group in the Speed and Return Speed boxes type the homing speeds 15 Click OK Publication 1756 UM001G EN P January 2007 104 Develop Motion Applications Check the Wiring of Each Drive Publication 1756 UM001G EN P January 2007 Use these tests to check a drive s wiring Test Function Notes Test marker Verify that the enco
126. ur Machine or ontro Net Nodes Process S o T Computer That Is Connected to the Network Access Port of a Remote Node Redundancy requires no additional programming and is transparent to any devices connected over an EtherNet IP or ControlNet network It uses 1757 SRM modules to maintain communication between the pair of redundant chassis Depending on how you organize your RSLogix 5000 project outputs may or may not experience a change in state bump during a switchover e During the switchover outputs that are controlled by the highest priority task will experience a bumpless switchover For example outputs will not revert to a previous state Outputs in lower priority tasks may experience a change of state The switchover time of a redundant system depends on the type of failure and the network update time NUT of the ControlNet network For a NUT of 10 ms the switchover time is approximately 80 220 ms Publication 1756 UM001G EN P Month Year Configure Redundancy 113 Build a Redundant System To build a typical redundant system perform this procedure 1 Start with any ControlLogix chassis 2 Add a 1756 L55 1756 L61 1756 L62 1756 L63 or 1756 L64 controller I 3 Add one or more ControlNet 1756 CNB 1756 CNBR or EtherNet IP 1756 ENBT communication modules 4 Add one 1757 SRM redundancy module 5 Set up a second chassis that is identical to the first chassis
127. ur new axis Leave Open AXIS SERVO DRIVE Configuration unchecked 5 Click OK Publication 1756 UM001G EN P January 2007 Develop Motion Applications 101 Set Up Each Axis To set up the axis of a SERCOS interface drive perform this procedure 1 In Motion Groups within RSLogix 5000 programming software click motion group and then right click an axis and select Properties E Motion Groups gi motion group X5 axis soto Modu Unaroug 7 Add On Inst Monitor Axis Tag amp Data Types x Cg User De Fault Help E Strings Clear Axis Fault Cy Add On Of Predefir Cut Ctrl x Oi Module Copy Ctrl C 53 Trends D 3 1 0 Configu E Past BB 1768 Bu Delete Del ERI rei uu Motion Direct Commands e Cross Reference Ctrl E cription 3 State Print b lule Name The Axis Properties Dialog appears se Axis Properties TEST IB EJ Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Axis Configuration X Motion Group motion group E New Gre r Associated Module Module kno sz Module Type lt none gt Node 0 X From the Module pull down menu choose the name that you gave to the drive for this axis Click the Units tab se Axis Properties TEST E XJ Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Act
128. us task every millisecond 1ms System Overhead B Bi B EN EN Bg B B B Bi E Bi n 1ms Continuous Task B E B E E E E E H E w B il 5 10 15 20 25 Elapsed Time ms If the controller only contains periodic tasks the system overhead time slice value has no effect System overhead runs whenever a periodic task is not running Periodic Task 5 10 15 20 25 Continuous Task Elapsed Time ms Publication 1756 UMO001G EN P January 2007 82 Develop Applications Notes Publication 1756 UM001G EN P January 2007 Chapter Configure PhaseManager Introduction This chapter explains how to configure PhaseManager Within RSLogix 5000 programming software PhaseManager provides a state model for your equipment Topic Page PhaseManager Overview 83 State Model Overview 85 Compare PhaseManager to Other State Models 87 Minimum System Requirements 88 Equipment Phase Instructions 88 Additional Resources For more information consult PhaseManager User Manual publication LOGIX UMO001 PhaseManager Overview PhaseManager lets you add equipment phases to your controller An Term Equipment phase equipment phase helps you lay out your code in sections that are easier to write find follow and change PhaseManager Terms Description e As with a program an equipment phase is run in a task and is given a set of routines and tags e Unlike a program an equipment phase runs by a state model
129. y appear once in the Controller Organizer and cannot be shared by multiple tasks Specify Task Priorities Each task in the controller has a priority level The operating system uses the priority level to determine which task to execute when multiple tasks are triggered You can configure periodic tasks to execute from the lowest priority of 15 up to the highest priority of 1 A higher priority task will interrupt any lower priority task The continuous task has the lowest priority and is always interrupted by a periodic or event task Publication 1756 UMO001G EN P January 2007 70 Develop Applications Publication 1756 UM001G EN P January 2007 Define Programs Each program contains program tags a main executable routine other routines and an optional fault routine Each task can schedule as many as 100 programs The scheduled programs within a task execute to completion from first to last Programs that aren t attached to any task show up as unscheduled programs You must specify schedule a program within a task before the controller can scan the program Unscheduled programs within a task are downloaded to the controller with the entire project The controller verifies unscheduled programs but does not execute them Define Routines A routine is a set of logic instructions in a single programming language such as Ladder Diagram Routines provide the executable code for the project in a controller A routine is simil
130. ystema ks bra eed Sa eee ien e 113 System Considerations vs ace so owas ESP ees eB ee 114 ControlNet Considerations in Redundant Systems 114 EtherNet IP Considerations in Redundant Systems 115 IP Address Swap pis i v3 ah aN Se Ed Vee ee Fe4 OSG 115 Redundancy and Scan Time es s dep p ER Ee mars S 116 Minimum System Requirements c vs ove oe Terr En 116 Chapter 10 THUPOG UG EIORL ar eos or Yn Eo do PORTA DR c Seal SP RE da 117 SIL 2 Overview e voy uv 2a Geese S ies AEE EE TEA DA 117 SIL 2 Application 5 tated ete Stob m OI Reena ade 118 Chapter 11 Introduction is tea ptum pee AA eka ode Ee ID ie 119 Choose a Controller That Has Nonvolatile Memory 120 Prevent a Major Fault During a Load 120 UseacompactPlash Readet isse ea etx WR 121 Additional Resources s vec n dcos dte des dox ta CR 121 Chapter 12 ToO ORE a aes exe ehe eame i hopes p a e es e cane 123 Check If the Battery Is LOS 1 03 nci EU esr a 124 Estimate 1756 BA1 Battery Life 22 22 us 124 Estimate 1756 BA2 Battery Life 1756 L6x series B controllers only anaa anaa 126 Estimate Warning Time s vost a Gah aeu pep e e x ae 127 Maintain a 1756 BATM Battery Module 128 Check the BAT LED Indicatof L4 Gog Reh Ee 128 DLORCODdHGLIOST q gee tesaur dole Qoi Y Suede e e So sra S Ie 129 Additional Resources rad as CP ER ve Re ER aca 129 Appendix A WE OCI CIO Ea abeo eda Par Kuba v IRR e YOUR EE TS 131 Index About thi

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