Allen-Bradley 1756-L55M13, 1756-L55M22, 1756-L55M12, 1756-L55M14, 1756-L55M16 User Manual

...

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

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 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.

WARNING

IMPORTANT

ATTENTION

SHOCK HAZARD

BURN HAZARD

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.

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

Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

Summary of Changes

Introduction

Updated Information

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

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 paragraph.

The document contains these changes.

3 Publication 1756-UM001G-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

Preface

About this Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Who Should Use This Publication . . . . . . . . . . . . . . . . . . . . . 9

Additional Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Install Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 2

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Connect the Controller to via the Serial Port. . . . . . . . . . . . . 15

Configure the Serial Driver . . . . . . . . . . . . . . . . . . . . . . . . . 17

Select the Controller Path . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Chapter 3

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

EtherNet/IP Network Communication . . . . . . . . . . . . . . . . . 22

Connections Over an EtherNet/IP Network . . . . . . . . . . . 24

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

ControlNet Network Communication . . . . . . . . . . . . . . . . . . 25

Connections Over a ControlNet Network . . . . . . . . . . . . 27

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

DeviceNet Network Communication . . . . . . . . . . . . . . . . . . 28

Connections over DeviceNet . . . . . . . . . . . . . . . . . . . . . 30

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Serial Network Communication . . . . . . . . . . . . . . . . . . . . . . 31

Communicate with DF1 Devices. . . . . . . . . . . . . . . . . . . 32

Communicate with ASCII Devices. . . . . . . . . . . . . . . . . . 34

Modbus Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

DH-485 Network Communication . . . . . . . . . . . . . . . . . . . . 37

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

DH+ Network Communication. . . . . . . . . . . . . . . . . . . . . . . 41

Communicate over a DH+ Network . . . . . . . . . . . . . . . . 42

Universal Remote I/O Communication . . . . . . . . . . . . . . . . . 43

Communicate Over a Universal Remote I/O Network . . . 44

Foundation Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

HART (Highway Addressable Remote Transducer) Protocol . 46

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Chapter 4 Manage Controller Communication

5 Publication 1756-UM001G-EN-P - January 2007

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

6 Table of Contents

Place, Configure, and Monitor I/O Modules

Produce and Consume (Interlock) Data . . . . . . . . . . . . . . . . 48

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Send and Receive Messages. . . . . . . . . . . . . . . . . . . . . . . . . 49

Determine Whether to Cache Message Connections . . . . 49

Calculate Connection Use . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Connections Example. . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Chapter 5

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Select I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Place Local I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Configure I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Configure Distributed I/O on an EtherNet/IP Network . . . . . 57

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Configure Distributed I/O on a ControlNet Network . . . . . . . 58

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Configure Distributed I/O on a DeviceNet Network . . . . . . . 59

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Address I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Add 1756 I/O at Runtime. . . . . . . . . . . . . . . . . . . . . . . . . . . 61

ControlNet I/O Considerations . . . . . . . . . . . . . . . . . . . . 61

EtherNet/IP I/O Considerations . . . . . . . . . . . . . . . . . . . 62

Determine When Data Is Updated . . . . . . . . . . . . . . . . . . . . 63

Reconfigure an I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . 64

Reconfigure a Module via RSLogix 5000

Programming Software . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Reconfigure an I/O Module via a MSG Instruction. . . . . . 65

Develop Applications

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Chapter 6

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Manage Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

DevelopPrograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Define Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Define Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Define Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Sample Controller Projects . . . . . . . . . . . . . . . . . . . . . . . 71

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Organize Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Select a Programming Language . . . . . . . . . . . . . . . . . . . . . 73

Add-On Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Configure PhaseManager

Table of Contents 7

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Monitor Controller Status. . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Monitor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Determine if Communication Has Timed Out with

Any Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Determine if Communication Has Timed Out with

a Specific I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Interrupt the Execution of Logic and Execute the

Fault Handler. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Select a System Overhead Percentage . . . . . . . . . . . . . . . . . 79

Chapter7

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

PhaseManager Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

State Model Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

How Equipment Changes States . . . . . . . . . . . . . . . . . . . 86

Manually Change States . . . . . . . . . . . . . . . . . . . . . . . . . 87

Compare PhaseManager to Other State Models. . . . . . . . . . . 87

Minimum System Requirements . . . . . . . . . . . . . . . . . . . . . . 88

Equipment Phase Instructions . . . . . . . . . . . . . . . . . . . . . . . 88

Develop Motion Applications

Chapter 8

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Make the Controller the CST Master . . . . . . . . . . . . . . . . . . . 90

Multiple Controllers in the Chassis . . . . . . . . . . . . . . . . . 90

Add the Motion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Add SERCOS Interface Drives . . . . . . . . . . . . . . . . . . . . . . . 93

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

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

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Tune Each Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Obtain Axis Information . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Program Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 110

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8 Table of Contents

Configure Redundancy

SIL 2 Certification

Maintain Nonvolatile Memory

Chapter 9

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 111

ControlLogix Redundancy Overview . . . . . . . . . . . . . . . . . 111

Build a Redundant System. . . . . . . . . . . . . . . . . . . . . . . . . 113

System Considerations . . . . . . . . . . . . . . . . . . . . . . . . . 114

ControlNet Considerations in Redundant Systems . . . . . . . . 114

EtherNet/IP Considerations in Redundant Systems . . . . . . . 115

IP Address Swapping . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Redundancy and Scan Time. . . . . . . . . . . . . . . . . . . . . . . . 116

Minimum System Requirements . . . . . . . . . . . . . . . . . . . . . 116

Chapter 10

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

SIL 2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

SIL 2 Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Chapter 11

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Choose a Controller That Has Nonvolatile Memory. . . . . . . 120

Prevent a Major Fault During a Load. . . . . . . . . . . . . . . 120

Use a CompactFlash Reader. . . . . . . . . . . . . . . . . . . . . . . . 121

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Maintain the Battery

LED Indicators

Chapter 12

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Check If the Battery Is Low . . . . . . . . . . . . . . . . . . . . . . . . 124

Estimate 1756-BA1 Battery Life . . . . . . . . . . . . . . . . . . . . . 124

Estimate 1756-BA2 Battery Life

(1756-L6x series B controllers only) . . . . . . . . . . . . . . . . . . 126

Estimate Warning Time . . . . . . . . . . . . . . . . . . . . . . . . 127

Maintain a 1756-BATM Battery Module . . . . . . . . . . . . . . . 128

Check the BAT LED Indicator. . . . . . . . . . . . . . . . . . . . 128

Store Batteries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Appendix A

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Index

Publication 1756-UM001G-EN-P - January 2007

Preface

About this Publication

Who Should Use This Publication

Additional Resources

Catalog Number Title Publication

1756-L55Mx 1756-L6x

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:

Logix5000 Controllers Quick Start 1756-QS001

Logix5000 Controllers Common Procedures Programming Manual 1756-PM001

Logix5000 Controllers System Reference 1756-QR107

Logix5000 Process Control and Drives Instructions Reference Manual

Logix5000 Controllers Motion Instructions 1756-RM007

1756-RM003

1756-RM006

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.

9 Publication 1756-UM001G-EN-P - January 2007

Notes:

Publication 1756-UM001G-EN-P - January 2007

ControlLogix System Overview

Chapter

Introduction

1756 I/O Modules in the Same Chassis as the ControlLogix Controller

This chapter provides an overview of the 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

For a more flexible system, use:

• multiple controllers in a single chassis.

• multiple controllers joined across networks.

• I/O from multiple platforms that is distributed in many locations

and connected over multiple I/O links.

ControlLogix System Overview

Communication Interface Modules in the Same Chassis as the ControlLogix Controller

EtherNet/IP Link

1756 I/O modules in the Same chassis as the ControlLogix Controller

Remote I/O Modules

Drives

}

ControlNet Link

EtherNet/IP Link

ControlNet Link

Computers

Other Controllers

11 Publication 1756-UM001G-EN-P - January 2007

SERCOS Drives

SERCOS Link

DeviceNet Link

Universal remote I/O Link

12 ControlLogix System Overview

The ControlLogix controller is part of the Logix5000 family of controllers. A ControlLogix system includes:

• the ControlLogix controller is available in different combinations of user memory.

Controller Memory for Data

and Logic

I/O Nonvolatile

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

≤ 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-L61 2 MB 478 KB

1756-L62 4 MB 478 KB

1756-L63 8 MB 478 KB

1756-L64 16 MB 478 KB

1756-L60M03SE 750 KB 478 KB

(1)

CompactFlash is optional and does not come with the controller.

CompactFlash

(1)

card

• RSLogix 5000 programming software.

• 1756 ControlLogix I/O modules that reside in a 1756 chassis.

• different communication modules for EtherNet/IP, ControlNet,

DeviceNet, DH+, and Universal remote I/O networks.

• other networks via third-party devices, such as Foundation Fieldbus and the Highway Addressable Remote Transducer (HART).

• a built-in serial port on every ControlLogix controller.

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ControlLogix System Overview 13

The ControlLogix controller divides resources between a Logix CPU and a backplane CPU.

Logix CPU and Backplane CPU

Design

Logic and Data Memory

Program Source Code

Tag Data

RSLinx Tag Group Lists

• The Logix CPU executes application code and messages.

• The backplane CPU communicates with I/O and sends and

When you design a ControlLogix system, select:

• I/O devices.

• motion control and drives requirements.

• communication modules.

• controllers.

• chassis.

• power supplies.

• software.

I/O Memory

I/O Data

Logix

CPU

I/O Force Tables

Message Buffers

Produced/consumed Tags

Backplane

CPU

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.

Install Hardware

To install a ControlLogix controller:

• 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.

• install the controller in the chassis.

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14 ControlLogix System Overview

• make serial connections.

See the chapter Directly Connect to the Controller via the Serial Port.

• load controller firmware.

• make additional network connections.

See the chapter Communicate over Networks.

Publication 1756-UM001G-EN-P - January 2007

Chapter

Directly Connect to the Controller via the Serial Port

Introduction

Connect the Controller to via the Serial Port

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 Serial Driver 17

Select the Controller Path 19

To connect a serial cable, perform this procedure.

1. 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.

15 Publication 1756-UM001G-EN-P - January 2007

16 Directly Connect to the Controller via the Serial Port

TIP

If you make your own serial cable:

• Limit the length to 15.2m (50 ft).

• Wire the connectors this way.

Workstation Controller

1 CD

2 RDX

3 TXD

4 DTR

COMMON

6 DSR

7 RTS

8 CTS

1 CD

2 RDX

3 TXD

4 DTR

COMMON

6 DSR

7 RTS

8 CTS

• Attach the shield to both connectors.

2. Connect the cable to the controller and to your workstation.

CP3 Cable

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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.

The Configure Drivers dialog appears.

2. From the Available Driver Types pull-down menu, choose the

RS-232 DF1 Device driver.

3. Click Add New.

The Add New RSLinx Driver dialog appears.

4. Type the driver name and click OK.

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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.

6. Was the auto configuration successful?

If Then

Yes Click OK.

No Go to step 5. and verify that you selected the correct Comm Port.

7. Click Close.

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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.

4. Select the controller.

To Choose

Monitor the project in the controller Go Online

Transfer a copy of the project from the controller to RSLogix 5000 software

Transfer the open project to the controller Download

Upload

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20 Directly Connect to the Controller via the Serial Port

Notes:

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Communicate over Networks

Chapter

Introduction

Network Support Example

Control distributed (remote) I/O

• EtherNet/IP network

• ControlNet network

• DeviceNet network

• Universal remote I/O network

• Foundation Fieldbus network

• HART network

Produce/consume (interlock) data between controllers

• EtherNet/IP network

• ControlNet network

This chapter explains over what networks you can communicate.

ControlLogix Controller

Control Network

Distributed (remot I/O Platform)

ControlLogix Controller

Control Network

Other Logix5000 Controller

Send and receive messages to and from other devices. This includes access to the controller via RSLogix 5000 programming software.

• EtherNet/IP network

• ControlNet network

• DeviceNet (to devices only) network

• serial network

• DH+ network

• DH-485 network

Topic Page

EtherNet/IP Network Communication 22

ControlNet Network Communication 25

DeviceNet Network Communication 28

21 Publication 1756-UM001G-EN-P - January 2007

ControlLogix Controller

Control Network

Other Remote Devices

22 Communicate over Networks

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

EtherNet/IP Network Communication

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

• Control I/O modules.

• Require an adapter for distributed I/O on EtherNet/IP links.

• Communicate with other EtherNet/IP devices (messages).

• Share data with other Logix5000 controllers (produce/consume).

• Bridge EtherNet/IP links to route messages to devices on other

networks.

• Require remote access via Internet browser to tags in a local ControlLogix controller.

• Communicate with other EtherNet/IP devices (messages).

• BridgesEtherNet/IP links to route messages to devices on other

networks.

• Does not support I/O or produced/consumed tags.

1756-ENBT

1756-EWEB

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Communicate over Networks 23

Required Software for EtherNet/IP Communication

Software Functions Requirement

RSLogix 5000 • Configure ControlLogix projects.

• Define EtherNet/IP communication.

RSLogix 5000 BOOTP/DHCP Utility

RSNetWorx for EtherNet/IP

Assign IP addresses to devices on an EtherNet/IP network.

• Configure EtherNet/IP devices by IP addresses and/or host names.

• Provide bandwidth status.

Yes

RSLinx • Configure communication devices.

• Provide diagnostics.

• Establish communication between devices.

Yes

The EtherNet/IP communication modules:

• support messaging, produced/consumed tags, HMI, and distributed I/O.

• encapsulate messages within standard TCP/UDP/IP protocol.

• share a common application layer with ControlNet and

DeviceNet networks.

• connect via RJ45 cable.

• support half/full duplex 10 MB or 100 MB operation.

• support standard switches.

In this example:

• The controllers produce and consume tags.

• The controllers initiate MSG instructions that send and receive

data or configure devices.

• The personal computer uploads and downloads projects to the controllers.

• The personal computer configures devices on an EtherNet/IP network.

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24 Communicate over Networks

EtherNet/IP Network Overview

FlexLogix Controller with 1788-ENBT Module

Distributed I/O

CompactLogix Controller with Integrated EtherNet/IP Port

PowerFlex 700S AC Drive with DriveLogix

LINK NET OK

ControlLogix Controller with 1756-ENBT Module

Switch

Workstation

LINK NET OK

1756-ENBT Module (as an adapter) with 1756 I/O Modules

1734-AENT Adapter with 1734 I/O Modules

Connections Over an EtherNet/IP Network

1794-AENT Adapter with 1794 I/O Modules

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 (RPI) 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.

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Communicate over Networks 25

Additional Resources

For additional information, consult these publications:

• EtherNet/IP Modules in Logix5000 Control Systems User Manual, publication ENET-UM001

• Logix5000 Controllers Design Considerations Reference Manual, publication 1756-RM094

ControlNet Network Communication

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:

• a substitute/replacement for the remote I/O (RIO) network because the ControlNet network adeptly handles large numbers of I/O points.

• 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

• Control I/O modules.

• Require an adapter for distributed I/O on ControlNet links.

• Communicate with other ControlNet devices (messages).

• Share data with other Logix5000 controllers (produce/consume).

• Bridge ControlNet links to route messages to devices on other networks.

• Perform same functions as a 1756-CNB module.

• Support redundant ControlNet media.

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1756-CNB

1756-CNBR

26 Communicate over Networks

Required Software for ControlNet Communication

Software Functions Requirement

RSLogix 5000 • Configure ControlLogix projects.

• Define ControlNet communication.

RSNetWorx for ControlNet

RSLinx • Configure communication devices.

• Configure ControlNet devices by IP addresses and/or host names.

• Schedule a network.

• Provide diagnostics.

• Establish communication between devices.

Yes

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

• support redundant media (1756-CNBR module only)

In this example:

• the controllers produce and consume tags.

• the controllers initiate MSG instructions that send and receive

data or configure devices.

• the personal computer uploads and downloads projects to the controllers.

• the personal computer configures devices on a ControlNet network, and it can configure the network itself.

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CompactLogix Controller

Communicate over Networks 27

ControlNet Network Overview

Workstation

Distributed I/O

PowerFlex 700S AC Drive with DriveLogix

1756-CNB Module (as an adapter) with 1756 I/O Modules

ControlNet Network

FlexLogix Controller with 1788-CNC Card

PanelView Terminal

PLC-5/40C Controller

1794-ACN15 Adapter with 1794 I/O Modules

1734-ACNR Adapter with 1734 I/O Modules

Connections Over a ControlNet Network

ControlNet Connections

Connection Definition

Scheduled

(unique to a ControlNet network)

Unscheduled An unscheduled connection is a message transfer between controllers that is triggered by the requested packet interval

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 I/O module is a scheduled connection because you repeatedly receive data from the module at a specified interval. Other scheduled connections include connections to:

• communication devices.

• 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.

(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.

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28 Communicate over Networks

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:

• ControlNet Modules in Logix5000 Control Systems User Manual, publication CNET-UM001

• Logix5000 Controllers Design Guidelines Reference Manual, publication 1756-RM094

DeviceNet Network Communication

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 the 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

• Control I/O modules.

• Require an adapter for distributed I/O on DeviceNet links.

• Communicate with other DeviceNet devices (messages).

• Link an EtherNet/IP network to a DeviceNet network.

• Require multiple networks.

• Link a ControlNet network to a DeviceNet network.

• Require multiple networks.

1756-DNB

1788-EN2DN

1788-CN2DN

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Communicate over Networks 29

Required Software for DeviceNet Communication

Software Functions Requirement

RSLogix 5000 • Configure ControlLogix projects.

• Define EtherNet/IP communication.

RSNetWorx for DeviceNet

• Configure DeviceNet devices.

• Define the scan list for those devices.

RSLinx • Configure communication devices.

• Provide diagnostics.

• Establish communication between devices.

The DeviceNet communication module:

• supports messaging to devices, not controller to controller.

• shares a common application layer with ControlNet and

EtherNet/IP networks.

• offers diagnostics for improved data collection and fault detection.

• requires less wiring than traditional, hardwired systems.

ControlLogix DeviceNet Network Overview

ControlLogix Controller with 1756-ENBT Module

EtherNet/IP Network

CompactLogix Controller

FLEX Adapter and I/O

Linking Devices

Yes

Personal Computer

Input/output Devices

Motor Starter

PowerFlex ac Drive

DeviceNet Network

Sensor

PWR

STS

PORT

MOD PORT

NET A MOD

NET B NET A

NET B

Indicator Lights

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Pushbutton Cluster

Bar Code Scanner

30 Communicate over Networks

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 memory. The 1756-DNB module supports up to:

• 124 DINTs of input data.

• 123 DINTs of output data.

Additional Resources

For more information, consult these publications:

• DeviceNet Modules in Logix5000 Control Systems User Manual, publication DNET-UM004

• Logix5000 Controllers Design Considerations Reference Manual, publication 1756-RM094

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Communicate over Networks 31

Serial Network Communication

Mode Functions

DF1 point-to-point

Communication between the controller and one other DF1-protocol-compatible device.

This is the default system mode. Default parameters are:

The ControlLogix controller has one built-in RS-232 port.

Functions Required

• Communicates between a controller and other DF1-compatible devices using DF1 protocols.

• Uses modems.

• Controls SCADA applications.

• Controls ASCII devices.

• Requires additional RS-232 connections.

• Requires RS-422 and/or RS-485 connections.

IMPORTANT

DF1 Modes for Logix5000 Controllers

Limit the length of RS-232 serial cables to 15.2 m (50 ft).

Built-in serial port

1756-MVI

1756-MVID

• Baud Rate: 19200

• Data Bits: 8

• Parity: None

• Stop Bits: 1

• Control Line: No Handshake

• RTS send Delay: 0

• RTS Off Delay: 0

This mode is typically used to program the controller through its serial port.

DF1 master mode

DF1 slave • Using a controller as a slave station in a master/slave serial communication network.

User • Communication with ASCII devices.

DH-485 Communication with other DH-485 devices multi-master, token passing network allowing programming and peer-to-peer

• Control of polling and message transmission between the master and slave nodes.

• The master/slave network includes one controller configured as the master node and up to 254 slave nodes. Link slave

nodes using modems or line drivers.

• A master/slave network can have node numbers from 0...254. Each node must have a unique node address. Also, at least 2 nodes must exist to define your link as a network, one master and one slave station being the two nodes.

• 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.

• 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.

• This requires your program to use ASCII instructions to read and write data from and to an ASCII device.

messaging.

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32 Communicate over Networks

Communicate with DF1 Devices

You can configure the controller as a master or slave on a serial communication network. Use serial communication to get information to and from remote controllers (stations) when:

• the system contains three or more stations.

• communication occurs on a regular basis and requires

leased-line, radio, or power-line modems.

ControlLogix DF1 Device Communication

EtherNet/IP Network

RS-232 Connection

Modem

DH+ Connection

RS-232 Connection

Modem

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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.

The Controller Properties dialog appears.

2. Click the Serial Port tab.

3. From the Mode pull-down menu, choose System.

4. Specify DF1 communication settings.

5. Click the System Protocol tab.

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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

• 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:

• read ASCII characters from a weigh scale module or bar code reader.

• send and receive messages from an ASCII-triggered device, such as a MessageView terminal.

Connection from the Controller’s Serial Port to the ASCII Device

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.

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Communicate over Networks 35

The Controller Properties dialog appears.

2. Click the Serial Port tab.

3. From the Mode pull-down menu, choose User.

4. Specify ASCII communication settings.

5. Click the User Protocol tab.

6. Specify ASCII user protocol settings.

7. Click OK.

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36 Communicate over Networks

The controller supports several ladder diagram (LD) and structured text (ST) instructions to manipulate ASCII characters.

Read and Write ASCII Characters

Instruction Code Command

ABL 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 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

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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

Communicate over Networks 37

Additional Resources

For additional information, consult these publications:

• 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.

DH-485 Network Communication

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 and lead to timeouts and decreased RSLogix 5000 configuration performance.

IMPORTANT

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.

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.

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38 Communicate over Networks

ControlLogix DH-485 Network Communication Overview

Connection from ControlLogix Controller to Port 1 or Port 2

1761-NET-AIC+ Converter

DH-485 Network

ControlLogix Controller

1747-AIC Programmable 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.

IMPORTANT

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 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 DB-9 RS-232, DTE connection

Port 2 Mini-DIN 8 RS-232 connection

1747-CP3 or 1761-CBL-AC00

1761-CBL-AP00 or 1761-CBL-PM02

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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.

The Controller Properties dialog appears.

2. Click the Serial Port tab.

3. From the Mode pull-down menu, choose System.

4. Specify 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.

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40 Communicate over Networks

Click the System Protocol tab.

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 performance, make sure:

•the maximum station address is the highest node number being used on the network.

•that all the devices on the same DH-485 network have the same selection for the maximum station address.

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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.

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 Communication

For DH+ network communication, use a 1756-DHRIO module to exchange information between:

• PLC controllers and SLC controllers.

• ControlLogix controllers and PLC or SLC controllers.

• ControlLogix controllers

Functions Required

• Share data with program maintenance on a plantwide and cell-level basis.

• Send data regularly.

• Transfer information between controllers.

You can connect a maximum of 32 stations to a single DH+ link.

• Channel A supports 57.6 Kbps, 115.2 Kbps, and 230.4 Kbps.

• Channel B supports 57.6 Kbps and 115.2 Kbps.

Module

1756-DHRIO

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42 Communicate over Networks

ControlLogix DH+ Network Communication Overview

DH+ Network

PLC-5 Processor

SLC 500 Controller

Data Collection and Recipe Management

EtherNet/IP Network

ControlLogix Controller

RSView Station SLC 500 ControllerPLC-5 Controller RSView Station

Workstation

ControlLogix Controller

DH+ Network

Communicate over a DH+ Network

For the controller to communicate to a workstation or other device over a DH+ network, use RSLinx software to:

• specify a unique link ID for each ControlLogix backplane and additional network in the communication path.

• 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 additional information, consult the ControlLogix Data Highway Plus - Universal Remote I/O Module User Manual, publication 1756-UM514.

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Communicate over Networks 43

Universal Remote I/O Communication

For universal remote I/O communication, use a 1756-DHRIO module.

Functions Required

Module

• Establish connections between controllers and I/O adapters.

• Send data regularly.

• Distribute control so that each controller has its own I/O.

• Communicate with a supervisory controller.

• Use an RIO scanner.

• Communicate with as many as 32 RIO adapters.

• Support HART (Highway Addressable Remote Transducer) devices.

• Use scheduled connections to update data on a ControlLogix

controller.

1756-DHRIO

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 I/O Communication Overview

ControlLogix Controller

Universal Remote I/O Network

1771-ASB and I/O Modules

1746-ASB and I/O Modules

PLC-5 Controller in Adapter Mode

1794-ASB and I/O Modules

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44 Communicate over Networks

Communicate Over a Universal Remote I/O Network

For the controller to control I/O over a universal remote I/O network, you must 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:

• 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

• 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:

• ControlLogix Data Highway Plus - Universal Remote I/O Module User Manual, publication 1756-UM514

• Process Remote I/O Interface Module User Manual, publication 1757-UM007

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Communicate over Networks 45

Foundation Fieldbus

Foundation Fieldbus is an open interoperable fieldbus designed for process control instrumentation.

Application Required Linking Device

• Bridge an EtherNet/IP network to Foundation Fieldbus.

1757-FFLD

• Connect via a low-speed serial (H1) and high-speed Ethernet (HSE) network connections.

• Access devices directly via an OPC server.

• Connect via low-speed serial (H1) connections.

1788-CN2FF

• Bridge a ControlNet network to a Foundation Fieldbus.

• Support redundant ControlNet media.

Foundation Fieldbus distributes and executes control in the device. The Foundation Fieldbus linking device:

• bridges from an Ethernet/IP network to an H1 connection.

• accepts either HSE or EtherNet/IP messages and converts them

to the H1 protocol.

Foundation Fieldbus Overview

ControlLogix Controller with

a 1756-ENBT Module

LINK NET OK

RSFieldbus

24V dc Power Supply

1757-FFLD Linking Device

FOUNDATION F

iel

dbu

H1-1

H1-2

OUNDATIO

iel

dbu

H1-3

inking

evi

H1-4

STATU

WDOG

MOD

Power Conditioner

Field Device Field Device

Additional Resources

For additional information, consult these devices:

• RSFieldbus User Manual, publication RSFBUS-UM001

• Foundation Fieldbus Linking Device User Manual, publication

1757-UM010

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46 Communicate over Networks

HART (Highway Addressable Remote Transducer) Protocol

HART is an open protocol designed for process control instrumentation.

Functions Required Device

• Acquire data or control application with slow update requirements, such as a tank farm.

• Does not require external hardware to access HART signal.

• Does not provide a direct connection to asset management

software.

• Contain analog and HART in one module.

• Does not require external hardware to access HART signal.

• Transmit HART commands as unscheduled messages.

• Support asset management software to HART device

• Contain analog and HART in one module.

• Provide instrumentation in hazardous locations (FLEX Ex).

• Transmit HART commands as unscheduled messages.

• Directly connect asset management software to HART devices.

Prosoft interface

MVI56-HART

Spectrum analog I/O modules

• 1756sc-IF8H

• 1756sc-OF8H

1794 FLEX I/O modules

• 1794-IE8H

• 1794-OE8H

1797 FLEX Ex I/O modules

• 1797-IE8H

• 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

ControlLogix Controller with 1756SC-IF8H or 1756SC-OF8H Modules

HART Field Devices

Additional Resources

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For additional information, consult these resources:

• FLEX Ex HART Analog Modules User Manual, publication 1797-6.5.3

• Encompass website at http://automation/rockwell/encompass

Chapter

Manage Controller Communication

Introduction

Connection Overview

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

A Logix5000 system uses a connection to establish a communication link between two devices. The types of connections include:

• controller-to-local I/O modules or local communication modules.

• controller-to-remote I/O or remote communication modules.

• controller-to-remote I/O (rack-optimized) modules.

• produced and consumed tags.

• 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.

47 Publication 1756-UM001G-EN-P - January 2007

48 Manage Controller Communication

Produce and Consume (Interlock) Data

Tag Type Description

Produced A produced tag lets other controllers to consume the tag, which means that a

Consumed Each consumed tag requires one connection for the controller that is consuming the

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

controller can receive the tag data from another controller. The producing controller uses one connection for the produced tag and one connection for each consumer. The controller’s 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 I/O.

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

• 1756-ENBT module

• 1756-EWEB module

• 1756-CNB module

• 1756-CNBR module

128

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 Reference Manual, publication 1756-RM094

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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

Method

CIP data table read or write N/A Yes Yes

PLC-2, PLC-3, PLC-5, or SLC (all types)

CIP generic N/A

Block-transfer read or write N/A Yes Yes

(1)

You can connect CIP generic messages. However, for most applications we recommend you leave CIP generic messages unconnected.

(2)

Consider caching only if the target module requires a connection.

CIP No No

CIP with Source ID No No

DH+ Yes Yes

Connected Message

Optional

(1)

Message Can Be Cached

(2)

Yes

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

Message Execution

Repeatedly Cache the connection.

Infrequently Do not cache the connection.

Function

This keeps the connection open and optimizes execution time. Opening a connection each time the message executes increases execution time.

This closes the connection upon completion of the message, which frees up that connection for other uses.

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50 Manage Controller Communication

Additional Resources

For additional information, consult these publications:

• 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

Quantity

Local I/O module (always a direct connection) 1

1756-M16SE, 1756-M08SE, 1756-M02AE 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

Connections per Device

Tota l

Tota l Connections

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Manage Controller Communication 51

The number of connections the module itself supports determines how many remote connections the controller can access through that module.

Remote Connections

Remote Connection Type Device

Quantity

Remote ControlNet communication module

I/O configured as direct connection (none)

I/O configured as rack-optimized connection

Remote I/O module over a ControlNet network (direct connection) 1

Remote EtherNet/IP communication module

I/O configured as direct connection (none)

I/O configured as rack-optimized connection

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 1

Produced tag

Each consumer

Consumed tag 1

Connections per Device

0 or

Tota l Connections

Message (depending on type) 1

Block-transfer message 1

Total

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52 Manage Controller Communication

Connections Example

In this example system, the 1756 ControlLogix controller:

• controls local digital I/O modules in the same chassis.

• controls remote I/O devices on a DeviceNet network.

• sends and receives messages to and from a CompactLogix

controller on an EtherNet/IP network.

• produces one tag that the 1794 FlexLogix controller consumes.

• is programmed via RSLogix 5000 programming software.

Workstation

Redistation

Series 9000 Photoeye

1769-L35E CompactLogix with 1769-SDN Module

EtherNet/IP Network

1769-ADN Adapter with Compact I/O Modules

DeviceNet Network

ControlLogix Controller with 1756-ENBT and 1756-DNB Modules

FlexLogix with 1788-DNBO Daughtercard

The ControlLogix controller in this example uses these connections:

Example Connection Types

Connection Type Device

Quantity

Connections per Device

Controller to local I/O modules 4 1 1

Controller to 1756-ENBT module 1 0 0

Controller to 1756-DNB module 1 2 2

Controller to RSLogix 5000 programming software 1 1 1

Message to CompactLogix controller 2 1 2

Produced tag

Consumed by FlexLogix controller

Tota l 8

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Tota l Connections

Chapter

Place, Configure, and Monitor I/O Modules

Introduction

Select I/O Modules

This chapter explains how to place, configure, and monitor I/O modules.

Topic Page

Select I/O Modules 53

Place Local I/O 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 I/O at Runtime 61

Determine When Data Is Updated 63

Reconfigure an I/O Module 64

When selecting 1756 I/O modules, select:

• specialty I/O modules, when appropriate.

Some modules have field-side diagnostics, electronic fusing, or individually-isolated inputs/outputs.

• 1756 remote terminal blocks (RTBs) or 1492 wiring systems for the I/O modules.

• 1492 PanelConnect modules and cables to connect input modules to sensors.

Additional Resources

For additional information, consult the ControlLogix Selection Guide, publication 1756-SG001.

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54 Place, Configure, and Monitor I/O Modules

Place Local I/O Modules

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 supports distributed (remote) I/O via these networks:

• EtherNet/IP

• ControlNet

• DeviceNet

• Universal remote I/O

Additional Resources

For additional information, consult these publications:

• ControlLogix Digital I/O Modules User Manual, publication 1756-UM058

• ControlLogix Analog I/O Modules User Manual, publication 1756-UM009

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Place, Configure, and Monitor I/O Modules 55

Configure I/O

Configuration Option Description

Requested Packet Interval (RPI)

Change of State (COS)

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.

• Typically, you configure an RPI in milliseconds (ms). The range is 0.2...750 ms.

• If a ControlNet network connects the devices, the RPI reserves a 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.

Digital I/O 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.

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 I/O Modules

Add I/O modules to the

1756 backplane.

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

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.

• connections.

• network usage.

• 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 configuration for that slot before the controller opens a connection to the module. Keying options differ depending on your application needs.

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56 Place, Configure, and Monitor I/O Modules

I/O 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 I/O module. The controller

maintains and monitors the connection between the controller and the I/O 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 I/O modules, you can select rack-optimized communication. A rack-optimized connection consolidates

connection usage between the controller and all of the digital I/O 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

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Configure Distributed I/O on

To communicate with distributed I/O modules over an EtherNet/IP network, add an EtherNet/IP adapter and I/O modules to the I/O

an EtherNet/IP Network

Configuration folder of the controller.

Within the I/O Configuration folder, organize the modules into a hierarchy of tree/branch and parent/child.

Configuring I/O on an EtherNet/IP Network

For a typical distributed I/O network…

1768-ENBT

Module

…you build the I/O configuration in this order.

Controller

Remote Adapter

I/O

Module

Device

1. Add the remote adapter for the distributed I/O chassis or DIN rail.

2. Add the distributed I/O modules.

Additional Resources

For additional information, consult EtherNet/IP Communication Modules in Logix5000 Control Systems User Manual, publication ENET-UM001.

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58 Place, Configure, and Monitor I/O Modules

Configure Distributed I/O on

To communicate with the I/O modules over a ControlNet 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 I/O on a ControlNet Network

For a typical distributed I/O network…

Local

Controller

…you build the I/O configuration in this order

Communication

Module

Remote

Adapter

I/O

Module

Device

1.Add the local communication module

2.Add the remote adapter for the

distributed I/O chassis or DIN rail.

3.Add the I/O module.

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(bridge).

Additional Resources

For additional information, consult ControlNet Modules in Logix5000 Control Systems User Manual, publication CNET-UM001.

Place, Configure, and Monitor I/O Modules 59

Configure Distributed I/O on

To communicate with the I/O modules over a DeviceNet network, add the DeviceNet bridge to the I/O Configuration folder of the

a DeviceNet Network

controller. You define a scanlist within the DeviceNet scanner to communicate data between devices and the controller.

Configuring Distributed I/O on a DeviceNet Network

For a typical distributed I/O network…

Single Network

ScannerController

Several Smaller Distributed Networks (subnets)

Controller

Device

Device Device Device Device

Linking Device

Device Device Device Device Device

Device

Linking Device

…you build the I/O configuration in this order

Add the local communication module (bridge).

Additional Resources

For additional information, consult DeviceNet Communication Modules in Logix5000 Control Systems User Manual, publication DNET-UM004.

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60 Place, Configure, and Monitor I/O Modules

Address I/O Data

I/O information is presented as a set of tags.

• 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 .Bit

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 I/O module in its chassis or DIN rail

Type Type of data

I = input

= Optional

O = output

C = configuration

S = status

Member Specific data from the I/O module; depends on what type of data the module can store.

• For a digital module, a Data member usually stores the input or output bit values.

• 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 I/O module; depends on the size of the I/O module (0...31 for a 32-point module)

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Place, Configure, and Monitor I/O Modules 61

Add 1756 I/O at Runtime

With RSLogix 5000 programming software, version 16, you:

• can only add 1756 I/O modules to the Controller Organizer at runtime.

• can remotely add the 1756 I/O modules to the local chassis via the unscheduled portion of a ControlNet network.

• can remotely add the 1756 I/O modules to the local chassis via the unscheduled portion of an EtherNet/IP network.

ControlNet I/O Considerations

When you add ControlNet I/O at runtime:

• 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.

• 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.

• you can add I/O modules until you reach:

– 75% utilization of the 1756-CNB or 1756-CNBR

communication module.

– a utilization increase of 1...4% 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.

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62 Place, Configure, and Monitor I/O Modules

EtherNet/IP I/O Considerations

When you add EtherNet/IP I/O at runtime:

• 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.

• you can add I/O modules until you reach the limits of the communication module.

Module Type Pulses per

Second, Max

1756-ENBT 4500

1756-ENET, Series B

810 160 64

Additional Resources

For additional information, consult the EtherNet/IP Performance Application Guide, publication ENET-AP001.

TCP Connections, Max

CIP Connected Messages, Max

128

Connected Bridged Messages, Max

128 32

Connected End Node Messages, Max

Unconnected Messages, Max

256

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Place, Configure, and Monitor I/O Modules 63

Determine When Data Is Updated

Input or Output Data?

Input

Analog or Digital?

Analog

RTS ≤ RPI?

Yes

Data is sent to the backplane at the RTS.

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

ControlLogix controllers update date asynchronously with the execution of logic. Use this flowchart to determine when a producer, such as a controller, input module, or bridge module, will send data.

Overview - Updating Data

Digital

Output

COS for Any Point on the Module?

Yes

Analog or Digital?

Analog

Remote or Local?

Remote

Digital

Local

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

• Over a ControlNet network, remote data is sent at the actual packet interval.

• Over an EtherNet/IP network, remote data is usually sent close to the RPI.

Data is sent to the backplane at the RPI.

Data is sent to the backplane at the RPI and at the end of every task.

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64 Place, Configure, and Monitor I/O Modules

Reconfigure an I/O Module

If an I/O module supports reconfiguration, you can reconfigure the module via:

• RSLogix 5000 programming software.

• a MSG instruction in program logic.

WARNING

Use care when changing the configuration of an I/O module. You could inadvertently cause the I/O module to operate incorrectly.

Reconfigure a Module via RSLogix 5000 Programming Software

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.

The Module Properties dialog appears.

2. Reconfigure the I/O module.

3. Click OK.

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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:

• input modules continue to send input data to the controller.

• 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..

EXAMPLE

Reconfigure an I/O module

When reconfigure[5] is on, the MOV instruction sets the high alarm to 60 for the local module in slot 4. 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.

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66 Place, Configure, and Monitor I/O Modules

Notes:

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Develop Applications

Chapter

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-PM001.

• Logix5000 Controllers Design Considerations Reference Manual, publication 1756-RM094

Manage Tasks

67 Publication 1756-UM001G-EN-P - January 2007

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.

• The controller executes only one task at a time.

• One task can interrupt another execution and take control.

• In any given task, only one program executes at a time.

68 Develop Applications

DevelopPrograms

Control Application

Tas k 1

The controller operating system is a preemptive multitasking system that is IEC 1131-3 compliant. This environment provides:

• tasks to configure controller execution.

• programs to group data and logic.

• routines to encapsulate executable code written in a single

programming language.

Program Development Overview

Controller Fault Handler

Task 8

Configuration

Status

Program 32

Watchdog

Program 1

Main Routine

Fault Routine

Controller (global) Tags I/O Data System-shared Data

Program (local)

Ta gs

Other Routines

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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, communication, and other tasks) is used to execute the programs in the continuous task.

• The continuous task runs constantly. When the continuous task completes a full scan, it restarts immediately.

• A project does not require a continuous task. If used, there can be only one continuous task.

• At a set interval,

such as every 100 ms

• Multiple times within the scan of your other logic

Immediately when an event occurs

Periodic A periodic task performs a function at a specific interval.

• Whenever the time for the periodic task expires, the task interrupts any lower priority tasks, executes once, and then returns control to where the previous task left off.

• You can configure the time period from 0.1...2000 μs. The default is 10 ms. It is also controller and configuration dependent.

• The performance of a periodic task depends on the type of Logix5000 controller and on the logic in the task.

Event An event task performs a function only when a specific event (trigger) occurs. The trigger for the event

task can be:

• a consumed tag trigger.

• an EVENT instruction.

• an axis trigger.

• 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 only 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.

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70 Develop Applications

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 similar 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.

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Develop Applications 71

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.

2. Scroll down to select the appropriate set of sample projects.

Additional Resources

For more information, consult Logix5000 Controllers Design Considerations Reference Manual, publication 1756-RM094.

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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:

• organize your data to mirror your machinery.

• document your application as you develop it.

Tag Organization Overview

Analog I/O Device

Integer Value

Storage Bit

Counter

Tim er

Digital I/O Device

When you create a tag, you assign these properties to the tag:

• tag type

• data type

• scope

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Develop Applications 73

Select a Programming

The ControlLogix controller supports these programming languages, both online and offline.

Language

Logix5000 Programming Languages

Required Language Programs

Ladder diagram (LD) 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) Continuous process and drive control

Loop control

Calculations in circuit flow

Sequential function chart (SFC) High-level management of multiple operations

Repetitive sequence of operations

Batch process

Motion control using structured text

State machine operations

Structured text (ST) Complex mathematical operations

Specialized array or table loop processing

ASCII string handling or protocol processing

Add-On Instructions

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:

• ease maintenance by animating logic for a single instance.

• protect intellectual property with locking instructions.

• 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.

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74 Develop Applications

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 one of three RSLogix 5000 software programming editors.

• Standard Ladder

• Function Block Diagram

• 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

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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.

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 changes 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.

Monitor Controller Status

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:

• AXIS

• CONTROLLER

• CONTROLLERDEVICE

• CST

• DF1

• FAULTLOG

• MESSAGE

• MODULE

• MOTIONGROUP

• PROGRAM

• ROUTINE

• SERIALPORT

• TASK

• WALLCLOCKTIME

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76 Develop Applications

Additional Resources

For additional information, consult the Logix5000 Controllers General Instructions Reference Manual, publication 1756-RM003.

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.

• The I/O LED on the front of the controller flashes green.

• 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.

• The GSV instruction gets the status of the I/O LED and stores it in the I_O_LED tag.

• If I_O_LED equal 2, the controller has lost communication with at least one device.

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Get System Value

GSV

CIP Object Class MODULE CIP Object Name Attribute Name LedStatus Dest I_O_LED

EQU Equal Source A I_O_LED

Source B 2

where:

I_O_LED is a DINT tag that stores the status of the I/O LED on the front of the controller.

Develop Applications 77

Determine if Communication Has Timed Out with a Specific I/O Module

If communication times out with a device (module) in the I/O configuration of the controller, the controller produces a fault code for the module.

• The GSV instruction gets the fault code for Io_Module and stores it in the Module_Status tag.

• If Module_Status is any value other than 4, the controller is not communicating with the module.

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78 Develop Applications

Interrupt the 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.

The Module Properties dialog appears.

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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.

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.

The Controller Properties dialog appears.

2. Click the Advanced tab.

3. Specify the system overhead settings.

System overhead functions include:

• communication with programming and HMI devices (such as RSLogix 5000 programming software).

• responding to messages.

• transmission of messages.

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80 Develop Applications

4. 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 the 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

10% 9 ms 1 ms

20% 4 ms 1 ms

33% 2 ms 1 ms

50% 1 ms 1 ms

Periodic

System Overhead

Continuous Task

At a time slice of 10%, system overhead interrupts the continuous task every 9 ms (of continuous task time).

Legend:

Task executes.

Task is interrupted (suspended).

1 ms 1 ms

9 ms 9 ms

0 5 10 15 20 25

Elapsed Time (ms)

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Periodic Task

System Overhead

Continuous Task

System Overhead

Continuous Task

Develop Applications 81

The interruption of a periodic task increases the elapsed time (clock time) between the execution of system overhead functions.

1 ms 1 ms 1 ms 1 ms 1 ms

1 ms 1 ms

9 ms of Continuous Task Time 9 ms of Continuous Task Time

0 5 10 15 20 25

Elapsed Time (ms)

If you use the default time slice of 20%, the system overhead interrupts the continuous task every 4 ms.

1 ms 1 ms 1 ms 1 ms 1 ms

4 ms 4 ms 4 ms 4 ms 4 ms

5 10152025

Elapsed Time (ms)

System Overhead

Continuous Task

Periodic Task

System Overhead

Continuous Task

If you increase the time slice to 50%, the system overhead interrupts the continuous task every millisecond.

1 ms

5 10152025

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.

5 10152025

Elapsed Time (ms)

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82 Develop Applications

Notes:

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Configure PhaseManager

Chapter

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-UM001.

PhaseManager Overview

Term Description

Equipment phase • As with a program, an equipment phase is run in a task and is given a set of routines and tags.

• Unlike a program, an equipment phase runs by a state model and lets you do one activity.

State model • 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.

• 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:

• calls the main routine (state routine) for an acting state.

• manages the transitions between states with minimal coding.

• 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.

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PhaseManager lets you add equipment phases to your controller. An equipment phase helps you lay out your code in sections that are easier to write, find, follow, and change.

PhaseManager Terms

84 Configure PhaseManager

Controller

Controller Tags

Tasks

MainTask

PhaseManager Overview

A PHASE tag gives you the status of an equipment phase.

An equipment phase directs one activity of your equipment.

Add Water Phase

Mix Phase

Drain Phase

Space Parts Phase

MainProgram

My Equipment Program

A state model divides the activity into a series of states.

Running State Routine

How to add water

Equipment phase instructions control the transitions between states and handle faults.

PSC POVR PCLF PRNP PATT

PCMD PFL PXRQ PPD PDET

Other code controls the specific actions of your equipment.

Water Feed

Conveyor Enable Axes

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Configure PhaseManager 85

State Model Overview

Start

Idle

Resetting

Reset

Running

Complete

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

Hold

Holding

Hold

Restarting

Stop

Stopping

Held

Restart

Abort

Aborting

Your equipment can go from any state in the box to the stopping or aborting state.

Acting

Acting states represent the things your equipment does at a given time.

Waiting

Reset

Waiting states 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?

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86 Configure PhaseManager

= Transition

Command Done — No command. Use PSC instruction instead.

How Equipment Changes States

The state model’s arrows show the states through which your equipment progresses.

• Each arrow is called a transition.

• A state model lets the equipment make only certain transitions.

This restriction standardizes the equipment’s behavior so that other equipment using the same model will behave the same way.

PhaseManager Transition Commands

Your equipment can go from any state in the box to the stopping or aborting state.

Fault (specific use of the abort command)

Idle

Resetting

Reset

Start

Running

Complete

Reset

Hold

Holding

Hold

Restart

Restarting

Stop

Abort

Stopping

Stopped Aborted

Held

Aborting

Abort

Type of Transition 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

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.

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Current Equipment Phase

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.

1. Take ownership of the equipment phase.

2. Give a command.

Compare PhaseManager to Other State Models

You can compare PhaseManager state models to 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

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88 Configure PhaseManager

Minimum System Requirements

Equipment Phase Instructions

To develop PhaseManager programs, you need:

• a ControlLogix controller, firmware revision 16.0 or later.

• a communication path to the controller.

• 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 Instruction 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:

• prevent another program or RSBizWare Batch software from commanding a phase.

• make sure another program or RSBizWare Batch software does not already own a phase.

PDET Relinquish ownership of a phase.

POVR Override a command.

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Develop Motion Applications

Chapter

Introduction

RSLogix 5000 Programming

Software

Integrated

Axis

Configuration

Programming

Motion

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

ControlLogix Controller

Program Execution

Motion Planner

Position Velocity

1756 Analog Motion Module

Drive

Position Velocity

Motor Feedback

Drive

Position Velocity

Motor Feedback

1756 SERCOS Interface Module

SERCOS Interface Drive

Position Velocity

Motor Feedback

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90 Develop Motion Applications

Make the Controller the CST Master

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.

The Controller Properties dialog appears.

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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.

Develop Motion Applications 91

Add the Motion Modules

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 Required Motion Module

Rockwell Automation SERCOS interface drives

Analog command signal Quadrature feedback 1756-M02AE

⇒ ⇒ ⇒ ⇒ 1756-M03SE (3 axes)

1756-M08SE (8 axes)

1756-M16SE (16 axes)

1756-L60M03SE (3 axes)

LDT feedback 1756-HYD02

SSI feedback 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.

The Select Module dialog appears.

2. Double-click Motion.

3. Select the motion module you want to add.

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92 Develop Motion Applications

4. 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

• ControlLogix Selection Guide, publication 1756-SG001

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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.

The Select Module dialog appears.

2. Double-click Other.

3. Select your drive.

Choose from these SERCOS interface drives:

• 1394

• Kinetix 6000

• Ultra3000

• 8720MC

4. Click OK.

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94 Develop Motion Applications

The New Module dialog appears.

5. 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

• ControlLogix Selection Guide, publication 1756-SG001

• Logix5000 Motion Module User Manual, publication 1756-UM006

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Develop Motion Applications 95

Set Up Each SERCOS Interface Module

To set the data rate and cycle time for each SERCOS interface module in your project, perform this procedure.

1. In the I/O configuration tree in RSLogix 5000 programming

software, right-click your module and select Properties.

The Module Properties dialog appears.

2. Click the SERCOS Interface tab.

3. From the Data Rate pull-down menu, choose Auto Detect.

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96 Develop Motion Applications

4. From the Cycle Time pull-down menu, choose the cycle time.

Baud Rate of Drive

4 MB 1 or 2 Kinetix 6000 0.5 ms

8 MB 1…4 Kinetix 6000 0.5 ms

Number of Drives on Ring

3 or 4 1 ms

5…8 2 ms

9…16 Not possible. You must

1…4 Not Kinetix 6000 1 ms

5…8 2 ms

9…16 Not possible. You must

5…8 1 ms

9…16 2 ms

1…8 Not Kinetix 6000 1 ms

9…16 2 ms

Type of Drive Cycle Time

5. Click OK.

have 2 motion modules.

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Develop Motion Applications 97

Add the Motion Group

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

Motion Planner

Scans of your code,

System overhead,

and so on

IMPORTANT

0 ms 10 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.

You can add a motion group to set up the motion planner.

tasks regardless of their priority.

20 ms 30 ms 40 ms

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. 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.

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98 Develop Motion Applications

The New Tag dialog appears.

3. In the Name box, enter the tag name.

4. From the Data Type pull-down menu, choose

MOTION_GROUP.

5. Click OK.

The Motion Group Wizard dialog appears.

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6. Click Next.

Develop Motion Applications 99

The Motion Group Wizard Attributes dialog appears.

7. In the Coarse Update Period box, enter the intervals at which

you want to run your motion planner.

8. Click Finish.

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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 Data Type

• 1756-M03SE

• 1756-M08SE

• 1756-M16SE

• 1756-L60M03SE

1756-M08SEG AXIS_GENERIC_DRIVE

AXIS_SERVO_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.

Analog

SERCOS Interface

The New Tag dialog appears.

3. In the Name box, enter the name of your new axis.

4. Leave Open AXIS_SERVO_DRIVE Configuration unchecked.

5. Click OK.

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Allen-Bradley 1756-L55M13, 1756-L55M22, 1756-L55M12, 1756-L55M14, 1756-L55M16 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Summary of Changes

Introduction

Updated Information

Table of Contents

Preface

About this Publication

Who Should Use This Publication

Additional Resources

ControlLogix System Overview

Introduction

Design

Install Hardware

Directly Connect to the Controller via the Serial Port

Introduction

Connect the Controller to via the Serial Port

Configure the Serial Driver

Select the Controller Path

Communicate over Networks

Introduction

EtherNet/IP Network Communication

Connections Over an EtherNet/IP Network

Additional Resources

ControlNet Network Communication

Connections Over a ControlNet Network

Additional Resources

DeviceNet Network Communication

Connections over DeviceNet

Additional Resources

Serial Network Communication

Communicate with DF1 Devices

Communicate with ASCII Devices

Modbus Support

DH-485 Network Communication

Additional Resources

DH+ Network Communication

Communicate over a DH+ Network

Universal Remote I/O Communication

Communicate Over a Universal Remote I/O Network

Foundation Fieldbus

Additional Resources

HART (Highway Addressable Remote Transducer) Protocol

Additional Resources

Manage Controller Communication

Introduction

Connection Overview

Additional Resources

Produce and Consume (Interlock) Data

Additional Resources

Send and Receive Messages

Determine Whether to Cache Message Connections

Calculate Connection Use

Connections Example

Place, Configure, and Monitor I/O Modules

Introduction

Select I/O Modules

Additional Resources

Place Local I/O Modules

Additional Resources

Configure I/O

I/O Connections

Additional Resources

Additional Resources

Additional Resources

Additional Resources

Address I/O Data

Add 1756 I/O at Runtime

ControlNet I/O Considerations

EtherNet/IP I/O Considerations

Determine When Data Is Updated

Reconfigure an I/O Module

Reconfigure a Module via RSLogix 5000 Programming Software

Reconfigure an I/O Module via a MSG Instruction

Develop Applications

Introduction

Additional Resources