1756-RN642 - Rockwell Automation
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1. Publication 1756 RN642E EN E February 2010 4 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 If Your controller meets both of these conditions e t has nonvolatile memory e lt is currently at revision 11 x or earlier Then Take these precautions If the Controller Does Not Use a CompactFlash Card Then Save the project to an offline file When you update the firmware of the controller you erase the contents of the nonvolatile memory revision 10 x or later Uses a CompactFlash Card Remove the CompactFlash card from the controller or check the Load Image option of the CompactFlash card If it is set to On Power Up or On Corrupt Memory first store the project with the Load Image option set to User Initiated Otherwise you may get a major fault when you update the firmware of the controller This occurs because the On Power Up or On Corrupt Memory options cause the controller to load the project from nonvolatile memory The firmware mismatch after the load then causes a major fault Your controller is close to its limits of memory This revision may require more memory than previous revisions e To see what components of your current project require more memory see page 31 e RSLogix 5000 software version 13 0 or later lets you estimate the memory requirements of the controller offline To update to this revision you may have to add an expansion memor2. The Slot Status bit for an 1 0 connection is slow to update if the connection is lost When using 1 0 on an Ethernet network if the connection to the network is lost at the adapter the SlotStatusBit for that connection will not register the disconnect for 9 seconds or more If you require loss of connection data more quickly than the 9 seconds use the GSV instruction to monitor the entry status of the connection as it updates more quickly than the SlotStatusBit Lgx00072697 When the SFC instruction s Last Scan of Active Steps option is set to Automatic Reset a Major Non Recoverable Fault Occurs A Major Non Recoverable Fault may occur when these elements are present in the program e Within an SFC a JSR instruction is used to jump to another SFC also know as a nested SFC e One or more of the nested SFC instructions contains Simultaneous Branches e The Last Scan of Active Steps option specified in the SFC Execution tab of the controller Properties dialog is set to Automatic Reset To avoid a Major Non Recoverable Fault when these elements are present set the Last Scan of Active Steps to Don t Scan or to Programmatic Reset Lgx00072702 Publication 1756 RN642E EN E February 2010 26 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Known Anomalies for Firmware Revisions 16 00 16 22 Anomaly A function block is initiated either directly or indirectly by an SFC instru
3. Unexpected motion can happen when you home a rotary axis of a SERCOS drive MAOC instruction output remains ON when enable input is low A rotary axis of a SERCOS drive can move with unexpected motion if you use a Homing Offset when you home the axis The axis starts to move at a high speed until a position error fault happens Once the fault happens the axis responds with the configured fault action For example the default fault action is Disable Drive In that case the controller disables the axis and the drive stops the axis This issue happens under this specific combination of circumstances e The type of axis is AXIS_SERVO_DRIVE SERCOS interface drive e The Positioning mode of the axis is Rotary e The axis has a Homing Offset that is near or greater than the Position Unwind value of the axis e A Motion Axis Home MAH instruction executes when the axis is near its unwind position For more information see Knowledgebase technical note 34404 Lgx00061613 and Lgx00056675 An Output CAM element is configured with a Latch type of Position and Enable and Unlatch type of Position and Enable While the CAM element is active the output is ON the application sets the Unlatch Position to the value of the Latch Position The output remains ON even if the Enable Input is dropped For more information see Knowledgebase technical note 37835 Lgx00069685 In coordinated motion a rotary axis always moves When the
4. Using an SSV instruction to set a task priority of 0 results in unexpected execution times If you use an SSV instruction to set a task s priority at 0 by using the class name Task attribute Priority abnormal task execution times result This because tasks cannot have a priority of 0 permissible priority values are 1 15 To avoid abnormal task execution times do not use the SSV instruction to set a task s priority at 0 Lgx00076850 Setting the WALLCLOCKTIME object may result in a Major Nonrecoverable Fault MNBRF or an incorrect WALLCLOCKTIME value When certain values are converted from a floating point number to an integer the Carry Using an SSV instruction to set the local controller s WALLCLOCKTIME using the LocalDateTime attribute may result in an incorrect WALLCLOCKTIME value upon execution of the program This incorrect time is usually evident in the seconds field The discrepancy in the WALLCLOCKTIME may also result in a MNRF during controller power down or just after controller power has been cycled To avoid this behavior use the DateTime attribute and arithmetic to handle the GMT offset instead of using the LocalDateTime attribute to set the local controllers WALLCLOCKTIME object Lgx00078925 Publication 1756 RN642E EN E February 2010 22 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Known Anomalies for Firmware Revisions 16 00 16 22 Anomaly Setting t
5. e The timer of the stored action will continue to time even though the action is no longer active e The logic in the stored action will be executed in the configured mode e At Automatic Reset non retentive outputs are cleared e At Programmatic Reset the logic will execute In this situation the action logic checks for the final scan condition action A 1 and action Q 0 and performs some shutdown operations This is the code that will be executed Lgx00069295 Motion Impact to Motion Group Coarse Update Period on 1756 L55Mxx controller in revision 16 This anomaly may occur if you are running several sequential short three dimensional circles using the Motion Coordinated Circular Move MCCM instruction on a ControlLogix 1756 L55 controller with a low coarse update period If the coarse update period is increased the anomaly is not seen Lgx00070145 MCT instruction PC bit operational but not defined Publication 1756 RN642E EN E February 2010 Within an MCT instruction control word there is a default PC bit When the MCT instruction transitions from true to false the PC bit may set to 1 The MCT instruction is not intended to have operation associated with this bit and we recommend that you do not use the PC bit in your application Lgx00073233 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 27 Known Anomalies for Firmware Revisions 16 00 16 22 Anomaly Attempts
6. POINT 1 0 EtherNet IP Adapter Release Notes publication 1734 RN002 ArmorPoint I O Release Notes publication 1738 RNO02 Further describes the firmware upgrade to 2 003 Further describes the firmware upgrade to 2 003 You can view or download Rockwell Automation publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Tech Notes and other resources are available at the Technical Support Knowledgebase http www rockwellautomation com knowledgebase Publication 1756 RN642E EN E February 2010 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support 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 Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation please review th
7. lets you reserve a percentage of the controller processing resources for the handling of communication Prior to this release any unused part of the SOTS was used by the controller to resume the continuous task This firmware revision lets you configure the unused portion of SOTS to either run the continuous task default legacy mode allowing for faster execution of application code reserve it for communication providing for more predictable and deterministic continuous task scan time This enhancement allows the full impact of communication on the continuous task to be determined if time reserved for communication were always fully used The functionality of the AutoFlash feature has been enhanced to allow for the Kinetix 2000 Kinetix 6000 Kinetix 7000 1394 Ultra3000 and 8720MC Rockwell Automation SERCOS drives to be firmware flashed This simplifies the software upgrade process by in one step flashing firmware for the controller module motion modules and Rockwell Automation SERCOS rings when downloading the application You can specify acceleration and deceleration jerk rates on single axis moves directly via operands in the instruction faceplate for S curve profile motion Jerk rates for S curve motion can be specified as either Units Sec3 of Maximum or a new of Time letting you optimize the need for speed and smoothness The configured maximum jerk rates are accessible programmatically via GSV SSV
8. 03 Enhancement Logix Date Base Changed to be January 1 1970 Description The Logix real time clock operates as a 64 bit binary number that counts microseconds from a fixed date Prior to revision 16 the base date was January 1 1972 Recent developments with the Common Industrial Protocol CIP specification have resulted in the selection of a different base date of January 1 1970 by the Open DeviceNet Vendors Association ODVA With revision 16 the date base that Logix products use has been changed to bring it into alignment with the CIP specification Additionally in support of the changes to the real time clock several other GSV attributes were also added LocalDateTime TimeZoneString ApplyDST daylight savings time and DSTAdjustment Generally the date and time were accessed via the GSV instruction within a Logix program by using the DateTime attribute which breaks down the date and time to its various components usec sec min hour day month year Applications that use this attribute of the real time clock should not be impacted by this change However the time was also available in its 64 bit form by using the CurrentValue GSV attribute A GSV to CurrentValue of wall clock was changed to the number of microseconds from the new base date Any applications that interpreted the old 1972 64 bit number may now require a change EtherNet IP Reduced Heartbeat The Reduced Heartbeat feature reduc
9. The following anomalous behaviors may result depending on your application e The producing controller may not be identified as being in Program mode e Unexpected changes in outputs may occur when switched back to Run mode e Load Store into nonvolatile memory may not complete successfully e Motion instructions may continue to be executed when in Program mode Lgx00080240 Publication 1756 RN642E EN E February 2010 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 15 Anomalies Corrected in Previous Firmware Revisions Firmware Anomaly Description Revision 16 21 Serial DF1 connections may Serial connections made to the controller may timeout Timeouts may be noticed in these timeout unexpectedly situations e f the programming terminal connection is made through the controller serial port the timeout results in a lost connection between RSLogix 5000 software and the controller e f communication is configured by using the DF1 driver in RSLinx software the events log may contain notices of errors in the connection with the controller e Message instructions may error and display error codes 16 203 Connected timeout and 16 204 Unconnected timeout Lgx00080320 The Alarms and Events Buffer The Alarms and Events Buffer when configured to use values higher than 72 minutes times out sooner than may time out sooner than configured to The early timeout may result in the loss of some expected A
10. Versions of To use this controller revision the following minimum software Software versions are required Software Required Version RSLinx Classic 2 51 RSLinx Enterprise 4 00 RSLogix 5000 16 00 RSNetWorx for ControlNet 8 00 RSNetWorx for DeviceNet RSNetWorx for EtherNet IP 1 Note that firmware revision 16 21 or later is compatible with RSLogix 5000 software version 16 00 However with firmware revisions 16 21 and 16 22 the corrected anomalies and enhancements described in these release notes are available only when RSLogix 5000 software version 16 03 or later is used Before You Begin Before you upgrade your firmware please consider the following IMPORTANT Loss of communication or power during a controller firmware flash upgrade may result in the controller s rejection of the new firmware If the controller firmware upgrade fails due to the conditions described the following corrective actions may be required e Cycle controller power and successfully complete the flash upgrade e f a nonrecoverable fault then return the controller for factory repair The following preliminary actions are required before upgrading your controller firmware Then Your controller is at revision 11 firmware or earlier You must first upgrade to revision 12 or 13 before attempting to update to revision 16 x Once you have your controller upgraded to revision 12 or 13 then you can upgrade the controller to revision 16 x
11. about controller revisions and firmware revisions see the tables on page 2 Known Anomalies for Firmware Revisions 16 00 16 22 Anomaly An invalid Process Variable PV used by a Proportional Integral Derivative PID instruction results in a control loss of the PV Description When an invalid Process Variable PV value for example a positive infinity INF or not a number NaN is used by the Proportional Integral Derivative PID instruction the PID instruction becomes stuck and control of the PV is lost To reset the instruction and recover control you have to access the Data array of the PID instruction and clear any values that are invalid The PID instruction would then begin to control the PV Lgx00082890 Use of an FFU instruction in an SFC program results in a major nonrecoverable fault MNRF Use of an FFU instruction in an SFC program results in a major nonrecoverable fault NRF when the last scan of the SFC is configured to Auto Reset Lgx00096621 Use of FIND instruction results in a major recoverable fault MRF Carry Status flag not set as expected Attempts to use the FIND instruction to search a large string of characters results in a MRF If you attempt to use the ASCII FIND instruction to search a source data string of 32 767 characters or more a major fault Type 4 Code 51 results Lgx00094007 Status flag S C is not set as expected for the value being converted Lgx00074175
12. and SERCOS Interface Card Revision 16 11 Corrected Anomalies These anomalies have been corrected in controller firmware revision 16 22 Anomalies Corrected With Firmware Revision 16 22 Firmware Description Revision 16 22 A Digital Alarm ALMD configured to trigger when the input condition of the alarm is false does not trigger if the alarm condition is false when you conduct a download or return to Run mode When the Condition parameter of the ALMD instruction is not set that is Input 0 and either the program has recently been downloaded to the controller or the controller has been changed from Run to Program and back to Run mode the alarm is not activated that is the InAlarm bit is not set These behaviors may result depending on your application e Programming designed to respond to the activated alarm is not executed e Messages designed to be indicated at the operator station in response to the activated alarm are not indicated e The alarm s history log does not indicate that the alarm was activated If you choose not to upgrade to this revision you must toggle the Condition parameter from set that is Input 1 to not set that is Input 0 to activate the alarm If your Condition parameter is set then the alarm activates as expected after you download or change the controller mode Lgx000104434 Publication 1756 RN642E EN E February 2010 12 ControlLogix Combination Controller and SERCOS I
13. has a MAPC instruction currently in process Lgx00060994 On a uni directional home the IP bit is cleared the AxisHomedStatus attribute is set but the PC bit is not set Processing of denormalized number exceptions causes a Major Non Recoverable Fault If the home direction is uni directional and the home offset is less than the distance to decelerated then the axis is simply decelerated to a stop The axis does not reverse direction to move to the home position In this case the PC bit of the MAH instruction is not set The PC bit is set when the axis stops at the configured home position Lgx00063431 A denormalized number is any 32 bit floating point value that is less than 1 75494210 x 10 38 or greater than 1 75494210 x 10 38 excluding zero Denormalized numbers typically occur when very small real numbers are divided by very large real numbers This anomaly typically occurs when the following sequence takes place 1 The controller is handling an exception of a floating point denormalized number in task A 2 Then task B begins to execute and handles an exception of a floating point denormalized number 3 And task B completes as task A begins again Lgx00057774 Publication 1756 RN642E EN E February 2010 Known Anomalies ControlLogix Combination Controller and SERCOS Interface Card Revision 16 21 This table lists known anomalies of controller revisions 16 00 16 22 Jj For more information
14. instructions Earlier revision of projects using S curve velocity profiles will be automatically migrated forward and prepopulate the new Jerk Operands in the MAM MAJ and MAS instructions with default values for Jerk rate as 100 of Time Home to Torque Kinetix 2000 6000 and 7000 drives Publication 1756 RN642E EN E February 2010 Motion homing capabilities have been extended to provide two additional homing modes e Torque Level allows the homing position to be set when a configured torque limit is reached e Torque Level Marker lets the homing position to be set when the configured torque limit is reached and feedback marker is detected These capabilities allow for enhanced application flexibility by removing the need for a home switch ControlLogix Combination Controller and SERCOS Interface Card Revision 16 9 Enhancements Provided with Previous Firmware Revisions Firmware Revision 16 03 Enhancement Kinematic Transformation Instructions Added Description Motion control capabilities have been extended by allowing inverse and forward kinematic transformations This functionality is targeted for controlling robots used in packaging and pick and place applications The native geometries supported are two and three axes articulated dependent and articulated independent robot geometries as well as configurable support for three axes SCARA geometries by leveraging the native geometries To accom
15. or the 1756 L60MO03SE combination controller is removed from the rack while the status indicator is flashing the module becomes inoperable To avoid rendering your module inoperable ignore the controller status indicators while the red status indicator on the SERCOS interface card is flashing Wait until it has stopped flashing and the whole module has completed a final reset before removing the module from the rack or removing power Lgx00070115 Publication 1756 RN642E EN E February 2010 28 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Restrictions These restrictions apply to the use of ControlLogix controllers at all minor revisions of major firmware revision 16 that is all firmware revisions through 16 22 Restrictions for Firmware Revision 16 through 16 22 Restriction Outputs controlled by an MAOC instruction can remain ON in some configurations Description This anomaly occurs when the output CAM ON window positions are redefined while the output controlled by the output CAM element is active In some instances the Motion Planner may not detect the off crossing of the window and the output controlled by the output CAM element remains ON This issue is applicable to any output point or virtual output controlled by an MAOC instruction For more information see Knowledgebase technical note 37835 Lgx00071061 Use of an indirectly indexed tag within an Add On Instruction instanc
16. seconds sooner However using this example currently the total time your application s output remains on is extended by 0 5 seconds above and beyond the configured Duration time If you execute a latch and unlatch delay for the identical value no anomaly occurs and the output will remain on for the configured Duration time Lgx00068599 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 25 Known Anomalies for Firmware Revisions 16 00 16 22 Anomaly PI function block appears to stop executing as the output does not change and no instruction faults are logged Description If the PI instruction is being used in Linear mode this floating point equation is used to calculate the ITerm WlidInput WldInput Kp x Wld x 5 nat x DeltaT ITerm _ Due to the use of the single precision floating point values it may be possible depending on the values of WLD and KP for the ITerm value to be small enough less than 0 0000001 to be lost when adding to the ITerm 1 For more information regarding the PI instruction see the Logix5000 Controllers Process Control and Drives Instructions User Manual publication 1756 RMO06 Lgx00070832 Changes made to a timeout in the alarms system require a new download of the program to controller To verify that the timeout change is used by the controller you must download the program to the controller after each change to the timeout variable Lgx00069461
17. to download a program to a controller following a failed firmware upgrade are successful Failure is indicated by the OK status indicator flashing red after the upgrade is complete Description After a firmware upgrade attempt fails during the upgrade for example the cable is disconnected or communication is interrupted the controller s OK status indicator flashes red and any user attempts to clear the fault by toggling the controller s keyswitch are unsuccesstul You can download a program to the controller place the controller in Run mode and run the program the RUN status indicator displays run status The outputs behave as specified by the program However when controller power is cycled the program is lost and the controller properties indicate a firmware revision different from that most recently downloaded to the controller Lgx00071250 Using the CompactFlash card to update firmware can cause the SERCOS interface card to become inoperable When you use the CompactFlash card to update the firmware of the 1756 L60MO03SE combination controller the controller portion of the module is updated first Upon the completion of the controller update both the controller and SERCOS interface card reset After the reset the controller starts up and follows the configured load option on the CompactFlash card Then the SERCOS interface card update begins and the status indicator flashes red If power is removed from the rack
18. NALOG data type if associated tags are configured for the ALARM_ANALOG tag 22 bytes 9 x the number of configured associated tags 3 x the sum of the bytes used by the data type of each of the configured associated tags For example an analog alarm moved to V16 03 with two Associated Tags one DINT 4 bytes and one STRING 88 bytes would need to add 22 9 2 3 92 316 bytes Tag that uses the COORDINATE_SYSTEM data type 132 bytes Publication 1756 RN642E EN E February 2010 32 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 If you have this firmware revision add all that apply Then add the following memory requirements to your project Which comes from this type of memory Component Increase Per 1 0 Data and Logic Instance base expansion 15 x or earlier Input module 4 bytes v Produced tag 12 bytes v Consumed tag 4 bytes M Task 20 bytes vA Program or equipment phase 24 bytes Y Routine 4 bytes y Tag that uses COORDINATE_SYSTEM data type 748 bytes v Tag the uses any AXIS data type 800 bytes y Serial port 1120 bytes s Project 4012 bytes vA 14 x or earlier Tag that uses the COORDINATE SYSTEM data type 60 bytes Y Tag that uses any AXIS data type 4 bytes WA 13 x or earlier Program 12 bytes A Task 4 bytes Y User defined data type 4 bytes s 1 0 module 16 bytes Y s 8 bytes 8 bytes Produced or consumed tag 8 byte
19. On Instruction and certain conditions are met that result in a Major Recoverable Fault or data memory corruption These conditions are required for Major Recoverable Fault or data memory corruption e A one dimensional array tag that is based on a UDT that is passed into the Add On Instruction e The UDT tag contains a member that is a one dimensional array e Inside the Add On Instruction an operand address that specifies an immediate member of the UDT tag array and a variable element of the member array for example array 0 memberArray x is used Examples UDT array 0 memberArray x When the size of the UDT array is smaller than that of the memberArray and the x value of the memberArray is larger than the size of the UDT array a Major Recoverable Fault Code 4 Type 20 occurs UDT array 0 memberArray x When the size of the UDT array is bigger than the memberArray and the x value is smaller than the size of the UDT Array but larger than the size of the memberArray the expected fault does not occur and the data is written to a location outside the bounds of the memberArray Lgx00077270 and Lgx00076136 An upload of an Add On Instruction with a literal Boolean input parameter modifies offline image When an Add On Instruction containing a literal value for one of its Boolean input parameters is referenced from a Ladder Diagram routine an upload of the project will modify the display of the literal value by appendi
20. Release Notes ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Catalog Number 1756 L60MO03SE Topic Page About This Publication 1 Compatible Versions of Software 3 Before You Begin 3 Enhancements 5 Corrected Anomalies 11 Known Anomalies 21 Restrictions 28 Additional Memory Requirements 31 Additional Resources 33 IMPORTANT Before updating your controller we strongly recommend that you review information pertinent to previous major firmware revisions For example when updating from revision 15 x to 16 x view information for revision 15 in the ControlLogix Controllers Revision 15 Release Notes publication 1756 RN620 in addition to the content of these release notes Firmware release notes contain material for all minor revisions subsequent to each major revision If your controller for example is at revision 15 3 and not the last minor revision 15 5 you should view all of the information for revision 15 3 15 5 before updating to revision 16 x ControlLogix Controllers Revision 15 Release Notes publication 1756 RN620 are available at http www rockwellautomation com literature About This Publication This publication describes enhancements and anomalies known and corrected for ControlLogix controllers revision 16 Information that has been added or changed since the last revision of this publication is indicated by a change bar as shown to the right
21. Revisions Firmware Revision Anomaly Description 16 20 Position overshoot on velocity limited moves For moves with very special combinations of fast velocities slow decelerations and distances that produced velocity limited moves it was possible to sometimes overshoot a programmed end point and then return to it Lgx00069310 Invalid transformation position if two MCT instructions share a common coordinate system This anomaly occurs if two executed MCT instructions are configured as follows X Y Z J1 J2 J3 Instruction MCT1 MCT2 J1 J2 J3 X1 Y1 Z1 If you move any of the MCT2 target axes while the MCT instructions are active then the MCT1 source axes will end at invalid positions Lgx00073921 Configuration of an MAS instruction for a single axis If your program has an active MAS instruction with a StopType of All 0 Jog 1 Move 2 Gear 3 Home 4 Tune 5 Test 6 Position Cam 7 Time Cam 8 or Master Offset Move 9 and it is followed by an MAS instruction with a StopType of All 0 then the motion of the axis is not stopped The process complete bit PC for the MAS All instruction may appear to be set however the instruction is ignored by the system To stop motion you must configure an additional MAS instruction with a StopType of Move 2 that has the same instruction operands and execution time as the MAS instruction with the StopType of All 0 For more infor
22. ation 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 Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 1756 RN642E EN E February 2010 PN 70409 Supersedes Publication 1756 RN642D EN E January 2008 Copyright 2010 Rockwell Automation Inc All rights reserved Printed in the U S A
23. ction when the parent step becomes active Description During the first scan of an SFC step the Step FS bit is set In addition the S FS bit is set which allows the logic in any associated actions to easily detect the first scan state This behavior is useful when a subroutine that is called by multiple actions actions that may be connected to other steps is used The first scan state can be detected without programming a reference to the tag of a specific step Many function blocks contain internal data that must be initialized before the block can be used One of the methods a block uses to determine if it should initialize is by evaluating the S FS bit which the function block identifies as the first scan following a prescan Lgx00071558 An SFC R action continues to post scan on the specified action This anomaly occurs only if the SFC Last Scan of Active Steps option is set to Programmatic Reset or Automatic Reset When the default Don t Scan is set the anomaly does not occur The intention of a reset action type R is to terminate the execution of another action that was previously stored When configured as described above the reset action causes logic to execute a final scan The reset action does not check to verify that an action is stored before it completes the final scan As a result each time the reset action is scanned the target logic will be scanned one last time These observable behaviors may result
24. e controller Two anomalies in RSLinx Enterprise software CPR9 are aggravating factors to this controller anomaly e The algorithm used to determine if communication re optimization is needed causes communication re optimization to occur too often e When the communication re optimizations occur the connections to the controller should close However these connections do not close This causes the controller to orphan all information related tags on scan by RSLinx Enterprise software CPR9 You must upgrade your controller firmware and apply RSLinx Enterprise patches The RSLinx Enterprise patches reduce the likelihood of the controller faulting and remove the excessive memory consumption The firmware upgrade eliminates the controller major non recoverable faults caused by this anomaly These RSLinx Enterprise patches are on the Rockwell Automation Knowledgebase http www rockwellautomation com knowledgebase e RSLinx Enterprise software version 5 00 CPR9 ID number 65818 e RSLinx Enterprise software version 5 17 CPR9 SR1 ID number 65819 e RSLinx Enterprise software version 5 20 CPR9 SR2 ID number 65820 Lgx00106378 Lgx0075608 Publication 1756 RN642E EN E February 2010 14 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Anomalies Corrected in Previous Firmware Revisions Firmware Revision 16 21 Anomaly Continuous task continues to Description After the Logix controller
25. e information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your product up and running United States 1 440 646 3434 Monday Friday 8 a m 5 p m EST Outside United States Please contact your local Rockwell Automation representative for any technical support issues New Product Satisfaction Return Rockwell Automation tests all of its 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 follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Allen Bradley Compact I O CompactLogix GuardLogix RSLinx Classic RSLinx Enterprise RSLogix 5000 RSNetWorx for EtherNet IP RSNetWorx for ControlNet RSNetWorx for DeviceNet Kinetix PowerFlex RSLinx Classic RSLinx Enterprise RSLogix 5000 Rockwell Automation Rockwell Software and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Autom
26. e tag is not accepted by the RSLogix 5000 program Publication 1756 RN642E EN E February 2010 In RSLogix 5000 software version 16 00 if you use an indirectly indexed array in an instance tag of an Add On Instruction anomalous behavior may result For example in the instruction call MyAOI AOIData Index the value Index selects the AOIData tag element used to callMyAOI The use of Index results in anomalous behavior when the program is executed In RSLogix 5000 software version 16 03 and controllers firmware revision 16 20 if an indirectly indexed tag is used in an instance tag the edit is not accepted by the program Instead use a directly indexed instance tag For example instead of using tag MyAOI AOIData Index use tag MyAOI AOIData 2 or similar so that the exact element of the array is directly indexed The program accepts directly indexed instance tags You may continue to use indirectly addressed tags in Add On Instruction parameters without anomalous behavior in RSLogix 5000 software versions 16 00 and 16 03 Lgx00077261 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 29 Restrictions for Firmware Revision 16 through 16 22 Restriction Passing a User defined Data Type UDT into an Add On Instruction results in a Major Recoverable Fault or data memory corruption Description An anomaly occurs when you pass a tag based on a User defined Data Type UDT into an Add
27. ear in any order However for a two axes coordinate system the error is generated only if the specified points are both colinear and in this order Start Point gt End Point gt Center Point For example for a two axis coordinate system with these three points e Error 44 is generated Start Point 0 0 gt End Point 10 0 gt Center Point 20 0 e No error is generated Start Point 0 0 gt End Point 20 0 gt Center Point 10 0 Lgx00069493 Only execute an MCT instruction when the axis involved in the transformation is not moving You can check the axis status via the ControlledByTransformstatus bit of the source and target axes Your controller might get a random major fault if you program it as follows 1 The MCT instruction is active and the axis moves 2 The MCS instruction of StopType Coordinated Transform is executed 3 An MCT instruction is activated with a different orientation or translation 4 The axis moves Lgx00075124 MAS IP bits may remain set if an MGS instruction is initiated If an MGS instruction is issued while MAS AIl instructions are being executed the MAS instruction in process bit would remain latched true All axis motion would stop but the MAS instructions would remain in process Lgx00076212 Publication 1756 RN642E EN E February 2010 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 17 Anomalies Corrected in Previous Firmware
28. ed to the controller If you are online with one controller from two or more workstations and you alter the RPI setting for an I O connection on one workstation the change in RPI does not register on the other workstations The change in RPI registers only if the altered RPI program is uploaded from the controller by the other workstations Lgx00070714 Minor faults logged multiple times when certain instructions are used The same minor faults typically a minor math overflow error may be logged more than once depending on the type of instructions used in the program For example if in a task the program contained a Multiply instruction that logged a math overflow error as a minor fault a GSV instruction in the same program will log the same fault when it should not Instructions affected include Message BTR Message BTW GSV SSV UIE UID STOD STOR STOI PCMD PSC PATT PDET PCLF PPD and PRNP Lgx00028500 Lgx00045361 and Lgx00045365 Publication 1756 RN642E EN E February 2010 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 19 Anomalies Corrected in Previous Firmware Revisions Firmware Anomaly Description Revision 16 03 LimitsInv and SelectLimitinv In the High Low Limit HLL instruction are swapped e LimitsInv parameter is set when the SelectLimit is invalid e SelectLimitInv parameter is set when the HighLimit and LowLimit parameters are invalid Lgx00055977
29. eds upgraded upon a program download to the controller If a firmware upgrade is necessary AutoFlash will initiate an update After you have completed your firmware upgrade you should complete these steps to verify that the upgrade was successful 1 Cycle power to the controller 2 Go online with the controller and view controller properties 3 Verify that the firmware revision listed matches the firmware to which you intended to upgrade 4 If the controller s firmware is not correct initiate another firmware upgrade For more information about errors when completing a ControlFlash upgrade see the ControlFlash Firmware Upgrade Kit Quick Start publication 1756 QS105 Additional Memory Requirements If you have this firmware revision add all that apply 16 x or earlier ControlLogix Combination Controller and SERCOS Interface Card Revision 16 31 Revision 16 00 or later may require more memory than previous revisions for example 10 x 11 x To estimate the additional memory that your project may require use this table Then add the following memory requirements to your project Component Tag that uses ALARM_ANALOG data type with no associated tag references Increase Per Instance 16 bytes Which comes from this type of memory 1 0 base Data and Logic expansion v Tag that uses ALARM_DIGITAL data type with no associated tag references 4 bytes v Tag that uses ALARM_A
30. es the rate at which heartbeat packets are sent from a device in an I O connection or a Produced Consumed connection This feature preserves bandwidth in EtherNet IP network installations The change is automatic and requires no selection You will notice a reduction in the packets per second used on your EtherNet IP network for several cases including all input modules and Produce Consume tags IMPORTANT If you upgrade your Logix controller s firmware to revision 16 x you must also upgrade these adapters firmware revisions to 2 003 e 1734 AENT POINT I O EtherNet IP adapter e 1738 AENT ArmorPoint 1 0 EtherNet IP adapter Failure to upgrade your EtherNet IP adapter firmware may impact your application if more than one Logix controller is connected to POINT 1 0 or ArmorPoint 1 0 modules For more information on using the 1734 AENT or 1738 AENT adapters with Logix controllers that have been upgraded to firmware revision 16 x or later see e POINT 1 0 EtherNet IP Adapter Release Notes publication 1734 RN002 e ArmorPoint I O Release Notes publication 1738 RNO02 Publication 1756 RN642E EN E February 2010 8 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Enhancements Provided with Previous Firmware Revisions Firmware Revision 16 03 Enhancement System Overhead Time Slice AutoFlash for SERCOS Drives Programmable Jerk Control Description The System Overhead Time Slice SOTS
31. ge specified above Lgx00073719 SSV of MotionGroup Average Scan Time Causes a Jump in scan time Axis ActualAcceleration tag is not updated for virtual axes If an SSV instruction with a value of zero is executed against the MotionGroup attribute TaskAverageScanTime then a GSV instruction is executed The average scan time jumps to an incorrect value The larger the Coarse Update Period the larger the jump will be For example with a Coarse Update Period of 26 ms the average scan time value can increase to over 300 ms Lgx00071520 For the virtual axis the Axis_tag ActualAcceleration does not update but the Axis_tag CommandedAcceleration does The actual position of a physical axis is based on actual motor feedback which is why the virtual Actual Acceleration tag does not update on a virtual axis To work around this anomaly use these command based tags e Virtual_Axis CommandPosition e Virtual_Axis CommandVelocity e Virtual_Axis CommandAcceleration Lgx00073829 MCT error 61 with extended error 10 for zero length moves You will get error 61 with extended error 10 if you execute an MCT instruction immediately after the PC bit for a Motion Coordinated Linear Move MCLM or Motion Coordinated Circular Move MCCM is set for a zero length move indicating that axes are moving or locked by some other operation To work around this error execute a minimum of a one iteration delay right before executing the MCT in
32. has been placed into Program mode after being in Run mode be scanned in Program mode either by using the key switch or by using the RSLogix 5000 software menus the Continuous Task may continue to be scanned as though it were still in Run mode This issue occurs only when the System Overhead Time Slice is set to Reserve for System Tasks eg Communications This issue is more likely to occur when the System Overhead Time Slice is increased the higher the percentage the more likely the occurrence of the issue When the controller is switched to Program mode and the Continuous Task continues to scan these system behaviors take place The RUN status indicator turns off The Continuous Task continues to be scanned and logic within the Continuous Task is solved This behavior is observable in the logic window for the Continuous Task in RSLogix 5000 software Any computer terminals online with the controller indicate that the controller is in Program mode All Periodic and Event based tasks are put into Program mode All 1 0 modules are put into and behave as in Program mode Specifically on output modules output values will not update even though the Continuous Task programming may try to update or change them All motion groups are put into Program mode see the behaviors section below for more information Produced consumed data continues to transfer All out going communication messages are stopped
33. he deceleration distance was longer than the distance between the start point and the end point In this revision two new rotary move types Rotary Negative and Rotary Positive have been added for the MAM instruction These two move types travel in a unidirectional path to reach the end point The unidirectional path is continued until the end point is reached even if that means additional turns or unwinds are required S curve MCS stop adjustment via Dynamics Configuration Bits Bits for user definable configuration have been added to the COORDINATE_SYSTEM data type to allow for more adjustment to the deceleration mechanism for S curve profile moves The DynamicsConfigurationBits attribute allows for configuration setting for these three items Reduced S curve stop delay Reduced S curve velocity reversal Reduced S curve velocity overshoot This attribute can be accessed via GSV SSV Online Changes in Output CAM Editor Publication 1756 RN642E EN E February 2010 Parameter values can be changed for the output CAM profile either on the grid or by using the graphical view Insertion and or deletion of points while in Run mode are not allowed A new status rectangle icon has been added to the Output CAM Editor dialog to show the state of the control The color of the rectangle is green when the controller is in Run mode cyan while in Program mode and gray while in the offline state ControlLogix Combination Controller
34. he message timeout bit TO Causes a major nonrecoverable fault MNRF Description Setting the message timeout bit TO within the message control structure while the message is active may result ina MNRF of the controller To avoid the MNRF do not manipulate the message timeout bit T0 Instead change the values for the unconnected timeout UnconnectedTimeout and connection rate ConnectionRate in the message control structure Changing the unconnected timeout UnconnectedTimeout and connection rate ConnectionRate values from their defaults to smaller values causes the message instruction to error earlier and avoids the MNRF For more information about changing the values in the message control structure see the Logix5000 Controllers General Instruction Reference Manual publication 1756 RM003 Lgx00098991 Serial port control structure bit RN inaccurately cleared This anomaly occurs when using firmware revision 16 20 or later If the ACL instruction is used to clear instructions from the ASCII queue the serial port control structures RN bit is cleared that is the RN bit is set to zero although it should not be Lgx00081063 Use of revision 16 firmware and the controller serial port results in extended program scan times Indirectly addressing an instance tag in an Add On Instruction results in a Major Non Recoverable Fault Publication 1756 RN642E EN E February 2010 If you use firmwa
35. io Modem Protocol Support With this revision the DF1 Radio Modem protocol already supported by SLC 500 and MicroLogix products has been implemented and enabled in the ControlLogix CompactLogix FlexLogix and DriveLogix controllers Legacy and Logix5000 controllers can be mixed and can support both master and slave and store and forward configurations Kinematic Geometries Four native geometry types have been added Two axis Delta robot geometries Three axis Delta robot geometries SCARA Delta SCARA independent Motion Planner Enhancements Several Motion Planner enhancements have been made and enabled by this firmware revision For more information about Motion Planner enhancements see the Motion Planner Application Solution publication RA AP031 Publication 1756 RN642E EN E February 2010 6 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Enhancements Provided with Previous Firmware Revisions Firmware Revision 16 03 Enhancement Add On Instructions Description 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 Add On Instructions you can e ease maintenance by animating logic fo
36. larm data Lgx00077990 16 20 Changing the controller mode When the controller mode is changed from Run to Program and an alarm instruction has from Run to Program is unsuccessful a delivery state of In Progress the controller does not change modes To view the delivery state open the Alarm Properties dialog and click the Messages tab This anomaly may occur even when the controller is not connected to a FactoryTalk Alarm server Lgx00075913 Simultaneous branches ina sequential function chart may not execute at the same time or in the same scan When executing a simultaneous branch it may take two scans of the routine before all of the simultaneous branches execute It does not take more than two scans for all simultaneous branches to completely execute Lgx00075143 During Prescan a Major Recoverable Fault Type 6 Code 1 occurs Each task programmed for a Logix controller has a Prescan Watchdog of 5 seconds You cannot change this setting in RSLogix 5000 software The fault typically occurs when these elements are present in the program e Add On Instructions that use Prescan mode e A large program with many tasks and subroutines where a majority of the application memory is used by the application code and not tags Other elements and factors may also cause the fault however those listed are the most common When the fault occurs the Prescan Watchdog has been exceeded With this firmware revisi
37. mation see the Advisory Information for Configuring Motion Axis Stop Instructions for an Axis with CompactLogix ControlLogix and SoftLogix Controllers technical note in the Technical Support Knowledgebase Lgx00075962 16 04 PanelView Plus operator terminals utilizing the serial port to communicate with the controller will not establish communication at startup When the application on the PanelView Plus operator terminal begins to initialize communication with the controller the controller responds with packets that exceed the 500 byte packet size The PanelView Plus operator terminal then stops attempting communication with the controller When this occurs data is not updated on the PanelView Plus operator terminal Lgx00074400 Publication 1756 RN642E EN E February 2010 18 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Anomalies Corrected in Previous Firmware Revisions Firmware Anomaly Description Revision 16 04 Using FFL FIFO load or LFL If an Add On Instruction is executed after a FFL or LFL instruction in a given program the LIFO load instructions inthe internal registers are incorrectly written to and the result is a Major Non Recoverable same program as an Add On Fault For the fault to occur all of the following must be true Instruction may cause the e The Add On Instruction and FFL and LFL instruction must be in the same program ina controller to experience a Logi
38. ng a 0 Each time the project is downloaded and re uploaded another 0 is appended so that after the second download upload sequence the project file will not verify and can no longer be downloaded without first editing the modified literal value The edit may be successfully performed either online or offline Note however that when editing online because the rung is in an unverified state the Finalize All Edits in Program will not operate In this case use of the Accept Test Assemble sequence of operations will allow the edit to be completed This condition does not affect the executing image which will continue execution using the unmodified literal value To avoid exposure to this problem replace the literal value with a reference to a tag having the desired value Lgx00077802 Publication 1756 RN642E EN E February 2010 30 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Install the Controller Revision Publication 1756 RN642E EN E February 2010 To install the latest ControlLogix controllers revision go to http www rockwellautomation com support to download your revision Then use the ControlFlash utility to upgrade your controller Alternatively if you have installed RSLogix 5000 software version 16 and related firmware you may not need to complete the tasks described The AutoFlash feature of RSLogix 5000 software version 16 detects if your controller firmware ne
39. nterface Card Revision 16 Anomalies Corrected With Firmware Revision 16 22 Firmware Revision 16 22 Description Fault handlers can be defined at the controller and program scope levels These fault handlers are typically used to handle major recoverable faults that can occur during runtime execution of an application due to programming errors A typical example of this would be handling indirect addressing that has gone out of range MyTag i ndex where index is larger than the size of the array Faults can also be handled by the controller during pre scan of the controller program on the transition to Run mode Again for example the handling of indirect addressing that has gone out of range There is an anomaly when these methods attempt to handle a fault These are the possible ways the anomaly can manifest itself e The controller will experience a major non recoverable fault 1 0 goes to their configured safe state and the user application is cleared from memory At this point a Code 1 Type 60 or 61 major recoverable fault will be logged in the controller This requires you to redownload the application e Tag data corruption e Online saving or uploading failures e Anomalous program execution For example if a rung is being scanned false and there is an instruction that has false execution the fault handler executes so the remainder of the rung will scan true In the example below the OTE instruction has an index
40. of this paragraph Rockwell ALLEN BRADLEY ROCKWELL SOFTWARE Automation 2 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 In addition to information specific to the most recent firmware revision the information from previous minor revisions is retained in these release notes We strongly recommend that you review the information provided regarding previous firmware revisions We recommend that you do so because if you are upgrading your firmware through multiple previous revisions all of the information specific to all of the revisions is applicable For example if you need to upgrade your controller from revision 16 03 to 16 22 all of the information specific to revisions 16 03 16 22 is applicable About Publication 1756 RN642E This revision of the firmware release notes 1756 RN642E provides updated information specific to firmware revision 16 22 About Previous Publication Revisions Previous revisions of this publication included these controllers and firmware revisions Pub Revision Major and Minor No Revision No 1756 RN642D 16 21 1756 RN642C 16 20 1756 RN642B 16 04 1756 RN642A 16 03 Information specific to previous minor firmware revisions is retained in these release notes and is identified accordingly Publication 1756 RN642E EN E February 2010 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 3 Compatible
41. on the Prescan Watchdog has been increased to 60 seconds Lgx00077337 Publication 1756 RN642E EN E February 2010 16 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Anomalies Corrected in Previous Firmware Revisions Firmware Anomaly Description Revision 16 20 Use of an ACL with other If an ACL instruction is executed while other ASCII instructions are active a Major ASCII Serial Port instructions may result in a Major Non Recoverable Fault Non Recoverable Fault may occur Lgx00076857 Add On Instructions yield unexpected results When calling an Add On Instruction if the data types of the tags passed into or out of the instruction do not match the parameter definitions unexpected behavior can result In the logic of an Add On Instruction reading a tag of type INT can also yield incorrect results Lgx00075524 Digital alarms ALMD may prematurely report an in alarm state Circular colinearity error MCT instruction followed by MCS instruction The tag InAlarm reports the alarm InAlarm 1 before the time entered in the MinDurationPRE tag expires Lgx00075889 In addition to the circular colinearity error 44 for a coordinate system with three primary axis we have now added the same error check for a coordinate system with two primary axes The current error check for a three axes system generates the error if the specified start end and center points are colin
42. out of range After returning from the fault handler the ADD instruction will execute even though the rung input conditions are false Input_1 Output index ADD Add Source amp value 0 1 Source B Dest Lgx00106481 Lgx00107423 Lgx00100766 Lgx00106478 Publication 1756 RN642E EN E February 2010 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 13 This table contains descriptions of anomalies corrected in previous firmware revisions Anomalies Corrected in Previous Firmware Revisions Firmware Anomaly Description Revision 16 21 Online edits result in major Causes of this anomaly include non recoverable faults a controller that was or is near its limits in memory MNRFs i y e doing many online edits tag additions and deletions without downloading again e using RSLinx Enterprise software CPR9 When this anomaly occurs the controller generates a major non recoverable fault during an online edit tag additions and deletions 1 0 goes to their configured safe state and the user application is cleared from memory At this point a Code 1 Type 60 or 61 major fault will be logged in the controller This requires you to download the application again When online edits are made to a controller RSLinx Enterprise software CPR9 monitors them When a large number of edits are made to a controller RSLinx Enterprise software CPR9 re optimizes communication to th
43. plish this functionality the coordinate system configuration is enhanced to allow selection of the coordinate system type as either Cartesian or articulated Additionally two new instructions Motion Coordinated Transform MCT and Motion Calculate Transform Position MCTP have been added The MCT allows a gearing relationship to be set between two coordinated systems for example between a Cartesian coordinate system made by virtual axes and an articulated coordinate system that is made by the robot s real axes Once the MCT is active by simply programming moves on the virtual axes configured in the Cartesian coordinate system it is possible to move the robot in joint coordinates The MCTP instruction allows the position to be transformed from that of one coordinate system to that of another coordinate system Typically the MCTP instruction would be used to calculate the Cartesian position from a given joint position forward kinematics Kinetix 2000 Drive Support The Kinetix 2000 Servo drive 230V ac family is now supported Power range is 100 W 1 5 kW The Kinetix 2000 drive can also be configured to operate with single phase or three phase power Kinetix 7000 Drive Analog Input Configuration This feature allows an analog device to be connected to the Kinetix 7000 drive analog inputs The drive transmits to the controller an integer number with a range of 16 384 16 384 representative of the analog value The analog val
44. r a single instance e protect intellectual property with password protected instructions e reduce documentation development time For more information about using Add On Instructions see the Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 Logix5000 Firmware Supervisor Use of the Logix5000 Firmware Supervisor with ControlLogix controllers and certain 1 0 modules enables you to program the controller to complete firmware updates by using a GSV or SSV instruction The controller uses a firmware kit loaded on a CompactFlash card and can complete firmware updates in Program and Run modes In GuardLogix controllers this enhancement is available for use with standard 1 0 modules FactoryTalk Alarms and Events Features Alarms are now embedded in the controller with two new instructions ALMD and ALMA available in RSLogix 5000 software These digital and analog alarm instructions are fully self contained Ability to Unicast Producer Consumer Tags on EtherNet IP Networks Publication 1756 RN642E EN E February 2010 Revision 16 enables you to use RSLogix 5000 software to set Producer and Consumer tag connections to Unicast Setting the tags to Unicast decreases the network bandwidth and simplifies Ethernet switch configuration ControlLogix Combination Controller and SERCOS Interface Card Revision 16 7 Enhancements Provided with Previous Firmware Revisions Firmware Revision 16
45. re at revision 16 including revisions 16 03 16 20 and the controller s serial port the program scan time may increase The program scan time increase in revision 16 may be 2 10 times the scan time of the same program with revision 15 This anomaly occurs only when the controller serial port is used and there is no workaround Lgx00077845 When an indirectly addressed instance tag is used instead of a directly addressed instance tag within an Add On Instruction a Major Non Recoverable Fault occurs Typically the major fault occurs during the prescan of the controller See the Restrictions section on page 28 for more information about this anomaly Lgx00077261 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 23 Known Anomalies for Firmware Revisions 16 00 16 22 Anomaly Motion Redefine Position MRP Error 13 for Positions within the range Description You may get the error Parameter out of Range if the MRP is executed when Current Position MRP Position gt 231 Axis Conversion Constant Or Current Position MRP Position lt 231 Axis Conversion Constant For example assume that the e axis conversion constant 120 000 0 feedback counts 1 0 unit e current command position 17 893 0 units If you MRP with a position of five units which exceeds 231 Axis Conversion Constant the MRP will error To work around this anomaly move the axis to a value within the acceptable ran
46. re is a rotary axis configured for the Coordinate System the rotary axis makes one complete revolution even if the current command position is equal to the position in the Motion Coordinated Linear Move MCLM instruction Lgx00056359 SlaveAxis PositionCamLockSta tus is reset when master axis stops starts quickly using a Motion Axis Jog MAJ instruction When the manual jog input is cycled ON and OFF at a rapid rate the SlaveAxis PositionCamLockStatus gets reset and the SlaveAxis PositionCamStatus remains set Lgx00066064 Publication 1756 RN642E EN E February 2010 20 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Anomalies Corrected in Previous Firmware Revisions Firmware Anomaly Description Revision 16 03 While an axis is accelerating This occurs with Stop Move and Stop Jog in combination with S curve velocity profiles an MAS is initiated A delay is experienced before the axis begins to decelerate to a stop While an MAM or MAJ is accelerating an MAS is initiated to stop it Even though the deceleration rate is higher than the ones specified in the MAM or MAu the axis begins to slow at a lower rate before decelerating at the higher rate programmed in the MAS Lgx00055080 A Cam Profile can become locked such that an MCCP instruction can no longer update it This anomaly may occur if an MCSV executing in an application task is interrupted by the motion task which
47. rsion 16 03 of RSLogix 5000 programming software the project cannot be downloaded again once it has been saved Version 16 00 of RSLogix 5000 programming software will convert any unsupported geometries such as version 16 03 specific geometry additions to the default Coordinate System Type Cartesian Therefore do not use version 16 00 of RSLogix 5000 programming software to go online with a project containing any of these four new geometry types that is running on a ControlLogix controller firmware revision 16 20 or later Lgx00075769 Duration Cam Latch and Unlatch Delays Publication 1756 RN642E EN E February 2010 Duration cams enable an application to turn an output on at a specific position and off after the configured Duration time Latch and unlatch delays adjust the point at which an output turns on and off regardless of axis speed If you enter a latch delay your application will adjust the point at which your output turns on For example a latch delay of 0 5 seconds will cause your output to turn on 0 5 seconds sooner and then remain on for the configured Duration time in addition to the 0 5 second head start However using this example currently the total time your application s output remains on is being decreased by 0 5 seconds If you enter an unlatch delay your application will adjust the point at which your output turns off For example an unlatch delay of 0 5 seconds will cause your output to turn off 0 5
48. s v Publication 1756 RN642E EN E February 2010 Additional Resources ControlLogix Combination Controller and SERCOS Interface Card Revision 16 33 These documents contain additional information concerning related Rockwell Automation products Resource Logix5000 Controllers Common Procedures Reference Manual publication 1756 PMO001 Description Contains information specific to Add On Instructions ControlLogix Controllers Revision 15 Release Notes publication 1756 RN620 Describes anomalies and enhancements related to controller revision 15 Motion Planner Version 16 03 Application Solution publication RA AP031 Describes Motion Planner enhancements made with RSLogix 5000 software version 16 03 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Release Notes publication 1756 RN642 Describes anomalies and enhancements specific to the 1756 L60MO03SE Combination Controller and Sercos Interface Module Logix5000 Controllers Process Control and Drives Instructions Reference Manual publication 1756 RMO006 Contains information specific to the PI instruction Outputs Controlled by MAOC Instruction Tech Note ID 37835 Further describes the MAOC instruction anomaly ControlFlash Firmware Upgrade Kit Quick Start publication 1756 05105 Contains informations about firmware upgrades installation instructions and error messages
49. struction after the completion of the zero length coordinated move instruction This delay is not necessary if the move before the MCT has any length Lgx00075286 Publication 1756 RN642E EN E February 2010 24 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Known Anomalies for Firmware Revisions 16 00 16 22 Anomaly Setting invalid home sequence value via SSV instruction Description Do not attempt to program a set system value SSV instruction to set the home sequence to torque or torque marker if the drive is not a SERCOS drive If you do so on a non SERCOS drive any subsequent attempt to program this attribute via an SSV will produce a minor controller fault Lgx00068281 Kinematics Transformations Additional Native Geometry Support Compatibility description In RSLogix 5000 software version 16 03 these four native geometry types are e two axis Delta robot geometries e three axis Delta robot geometries e SCARA Delta e SCARA independent When a version 16 03 project configured with any of these four additional geometries is downloaded to a controller with a firmware revision earlier than 16 20 a download error attribute list error will result Version 16 00 of RSLogix 5000 programming software can also go online and upload from a controller with firmware revision 16 20 or later but if that project contains any of these four new native geometries that are specific to ve
50. ues are accessible programmatically via the GSV instruction These inputs are useful for converting applications with load cell measuring web force on a roller or dancer measuring web force position directly that can be directly connected to the drive controlling the web Configurable Power Loss Fault Action A fault action called Phase Loss has been added for the Kinetix 6000 and Kinetix 2000 drives This addition allows configuration of the fault action during a phase loss situation The configurable fault actions are Shutdown default Disable Drive Stop Motion and Status Only When the Phase Loss fault group is configured as Status Only Logix5000 motion commands continue and the drive uses available stored dc bus energy to operate axes This attribute cannot be set via an SSV For a description of user application logic needed to support this feature on Axis Modules AMs refer to the topic titled Phase Loss Fault action for AM vs IAM on Kinetix 2000 and 6000 in the Application Note section of the online help Publication 1756 RN642E EN E February 2010 10 ControlLogix Combination Controller and SERCOS Interface Card Revision 16 Enhancements Provided with Previous Firmware Revisions Firmware Revision 16 03 Enhancement Positive and Negative Rotary Move Types for MAM Instruction Description Previously the move type of the Motion Axis Move MAM instruction generated a directional reversal if t
51. x application Major Non Recoverable Fault If the application has two programs defined and the Add On Instruction is in program A and the FFL or LFL are in program B no anomaly will be seen e The FFL LFL instruction must load a scalar type SINT INT DINT or REAL If the source value is a structure no anomaly will be seen e The FFL LFL instruction must be scanned before the Add On Instruction If the Add On Instruction comes first in the code no anomaly will be seen The rung condition does not matter If the required conditions exist the fault will occur during prescan Lgx00074725 16 03 Extensive use of UID and UIE If you use extensive amounts of UID and UIE instructions when the controller is put into instructions results in a User Task Watchdog timeout fault Run mode a Major Recoverable Fault type 6 code 1 Task Watchdog Expired may be logged Attempts to clear the fault and return to Run mode are unsuccessful Lgx00050393 Event Task Overlap Counter registers large values after the controller is put into Run mode If an application that uses event based tasks is downloaded to the controller and then the controller is put into Run mode the overlap counts for event based tasks may exceed 800 000 This value is a false indication of task overlaps and does not affect the execution of event based tasks Lgx00058132 Changes to RPI are not correlated between all workstations when multiple workstations are connect
52. y card to the controller or use a controller with a larger amount of memory Your controller is connected to a DH 485 network Publication 1756 RN642E EN E February 2010 Disconnect it from the DH 485 network before you update the firmware of the controller If you update the firmware of a controller while it is connected to a DH 485 network communication on the network may stop ControlLogix Combination Controller and SERCOS Interface Card Revision 16 5 Enhancements This enhancement is provided with firmware revision 16 22 Firmware Enhancement Description Revision 16 22 False Execution Time of Add On With previous revisions the false execution time of an Add On Instruction was Instructions Improved dependent on the number of parameters input output and inout configured for the instruction The more parameters configured the longer the false execution time of the Add On Instruction With this revision the false execution time of an Add On Instruction is now constant if a scan false routine is not created To determine the false execution time of Add On Instructions based on your controller reference the values published in the Logix5000 Controllers Execution Time and Memory Use Reference Manual publication 1756 RM087 Lgx00106477 These enhancements have been made in previous controller revisions Enhancements Provided with Previous Firmware Revisions Firmware Enhancement Description Revision 16 20 Rad
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