Rockwell Automation ControlLogix, GuardLogix, CompactLogix, Compact GuardLogix, SoftLogix Reference Manual

Logix 5000 Controllers
Design Considerations

ControlLogix, GuardLogix, CompactLogix,

Compact GuardLogix, SoftLogix

Reference Manual

Original Instructions

Logix 5000 Controllers

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.

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, when necessary, we use notes to make you aware of safety considerations.

WA RN I NG : 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.

ATTENTION: 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.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

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

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

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential
Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory
requirements for safe work practices and for Personal Protective Equipment (PPE).

2 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

Table of Contents

Preface

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1
5580 Controller and 5380
Controllers

ControlLogix 5580 and GuardLogix 5580 Controllers . . . . . . . . . . . 11

CompactLogix 5380 and Compact GuardLogix 5380 Controllers. 12

Process Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Extended Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Programming Techniques. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Data Alignment Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Produced and Consumed Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Chapter 2

5480 Controller CompactLogix 5480 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Extended Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Programming Techniques. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Data Alignment Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Produced and Consumed Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5570 Controllers and 5370
Controllers

Chapter 3

ControlLogix 5570 and GuardLogix 5570 Controllers . . . . . . . . . . . 21

CompactLogix 5370 and Compact GuardLogix 5370 Controllers. 22

Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

CompactLogix 5370 and Compact GuardLogix 5370 Controllers. 23

Controller Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Determine Total Connection Requirements. . . . . . . . . . . . . . . . . 25

System Overhead Percentage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Manage the System Overhead Timeslice Percentage . . . . . . . . . . 28

I/O Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Programming Techniques. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Produced and Consumed Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 3

Table of Contents

Chapter 4

Logic Execution Decide When to Use Tasks, Programs, and Routines . . . . . . . . . . . . . 31

Specify Task Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Manage User Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Pre-defined Tasks in ControlLogix and CompactLogix Process

Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Considerations that Affect Task Execution. . . . . . . . . . . . . . . . . . . . . . 34

Configure a Continuous Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Configure a Periodic Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Configure an Event Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Guidelines to Configure an Event Task. . . . . . . . . . . . . . . . . . . . . . 36

Additional Considerations for Periodic and Event Tasks. . . . . . 36

Access the Module Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Develop Application Code in Routines . . . . . . . . . . . . . . . . . . . . . . . . . 37

Comparison of Programming Languages . . . . . . . . . . . . . . . . . . . . 38

Programming Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Inline Duplication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Indexed Routine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Buffered Routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Controller Prescan of Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Add-On Instruction Prescan Logic. . . . . . . . . . . . . . . . . . . . . . . . . . 40

Controller Postscan of SFC Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Add-On Instruction Postscan Logic. . . . . . . . . . . . . . . . . . . . . . . . . 41

Timer Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

SFC Step Timer Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Edit an SFC Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Modular Programming
Techniques

Chapter 5

Guidelines for Code Reuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Naming Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Parameter Name Prefixes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Guidelines for Subroutines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Guidelines for User-defined Data Types. . . . . . . . . . . . . . . . . . . . . . . . . 51

Naming Conventions for User-Defined Data Types. . . . . . . . . . 51

UDT Member Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Guidelines for Add-On Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Add-On Instruction Design Concepts . . . . . . . . . . . . . . . . . . . . . . 55

Naming Conventions for Add-On Instructions . . . . . . . . . . . . . . 55

Comparison of Subroutines and Add-On Instructions. . . . . . . . 55

Comparison of Partial Import/Export and

Add-On Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Guidelines for Program Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Comparison of Program Parameters and

Add-On Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Compare Controller Organizer and Logical Organizer . . . . . . . . . . . 58

4 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

Chapter 6

Table of Contents

Structure Logic According to
Standards

Physical Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Separate a Process Unit into Equipment Modules and Control

Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Physical Model Naming Conventions . . . . . . . . . . . . . . . . . . . . . . . 62

Procedural Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Identify Operations and Phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Procedural Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Procedural Control States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Procedural Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Procedural Model Naming Conventions . . . . . . . . . . . . . . . . . . . . 68

State Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Chapter 7

Produced and Consumed Data Guidelines for Produced and Consumed Tags . . . . . . . . . . . . . . . . . . . 72

Guidelines for Produced and Consumed Axis. . . . . . . . . . . . . . . . . . . . 73

Guidelines to Specify an RPI Rate for Produced and

Consumed Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Guidelines to Manage Connections for Produced and

Consumed Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Configure an Event Task Based on a Consumed Tag . . . . . . . . . . . . . 74

Compare Messages and Produced/Consumed Tags . . . . . . . . . . . . . . 74

Chapter 8

Data Structures Guidelines for Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Guidelines for Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Indirect Addresses of Arrays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Guidelines for Array Indexes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Guidelines for User-defined Data Types (UDT) . . . . . . . . . . . . . . . . . 79

Select a Data Type for Bit Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Serial Bit Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Guidelines for String Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

PLC-5/SLC 500 Access of Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Configure Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Guidelines for Base Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Create Alias Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Guidelines for Data Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Guidelines for Tag Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Guidelines for Extended Tag Properties . . . . . . . . . . . . . . . . . . . . . . . . . 86

Tag Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Protect Data Access Control at Tag Level . . . . . . . . . . . . . . . . . . . . . . . 87

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 5

Table of Contents

Chapter 9

Communicate with I/O Buffer I/O Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Guidelines to Specify an RPI Rate for I/O Modules . . . . . . . . . . . . . . 90

Communication Formats for I/O Modules. . . . . . . . . . . . . . . . . . . . . . 91

Direct Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Rack-optimized Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Peer Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Electronic Keying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

More Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Guidelines to Manage I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . 94

Create Tags for I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Controller Ownership . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Runtime/Online Addition of Modules. . . . . . . . . . . . . . . . . . . . . . . . . . 98

Online Addition of Module and Connection Types . . . . . . . . . . 99

Design Considerations for Runtime/Online Addition

of Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Chapter 10

Determine the Appropriate
Network

EtherNet/IP Network Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Guidelines for EtherNet/IP Networks . . . . . . . . . . . . . . . . . . . . . . . . . 103

ControlNet Network Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Guidelines for ControlNet Networks . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Guidelines for Unscheduled ControlNet Networks . . . . . . . . . . . . . 105

Compare Scheduled and Unscheduled ControlNet

Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

DeviceNet Network Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Guidelines for DeviceNet Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Chapter 11

Communicate with Other
Devices

Cache Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Message Buffers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Outgoing Unconnected Buffers. . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Guidelines for Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Guidelines to Manage Message Connections. . . . . . . . . . . . . . . . . . . . 112

Guidelines for Block Transfer Messages . . . . . . . . . . . . . . . . . . . . . . . . 113

Map Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Chapter 12

Alarms Guidelines for Tag-Based Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Access Tag-based Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Guidelines for Instruction-Based Alarms . . . . . . . . . . . . . . . . . . . . . . . 117

Configure Logix-based Alarm Instructions . . . . . . . . . . . . . . . . . . . . . 118

Automatic Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

6 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

Chapter 13

Table of Contents

Optimize an Application for Use
with HMI

Linx-based Software Use of Controller Memory . . . . . . . . . . . . . . . . 121

HMI Implementation Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Guidelines for FactoryTalk View Software . . . . . . . . . . . . . . . . . . . . . 122

How a Data Server Communicates with the Controllers. . . . . . . . . 122

Compare RSLinx Classic and FactoryTalk Linx Software. . . . . . . . 124

Guidelines for Linx-based Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Guidelines to Configure Controller Tags. . . . . . . . . . . . . . . . . . . . . . . 125

Reference Controller Data from FactoryTalk View Software . 125

Chapter 14

Develop Equipment Phases Guidelines for Equipment Phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Equipment Phase Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Chapter 15

Manage Firmware Guidelines to Manage Controller Firmware . . . . . . . . . . . . . . . . . . . . 129

Compare Firmware Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Guidelines for the Firmware Supervisor . . . . . . . . . . . . . . . . . . . . . . . . 131

Access Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 7

Table of Contents

Notes:

8 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

Preface

Overview

Summary of Changes

Throughout this publication, the term “programming software” refers to:

• Studio 5000 Logix Designer® application, version 21 or later

• RSLogix 5000® software, version 16 or later

This publication features these controllers, and where applicable, the
controllers are known as:

Controller Family Includes these controllers

5580 controllers ControlLogix® 5580 and GuardLogix® 5580 controllers

5380 controllers CompactLogix™ 5380 and Compact GuardLogix 5380 controllers

5480 controllers CompactLogix 5480 Controllers

5570 controllers ControlLogix 5570 and GuardLogix 5570 controllers

5370 controllers CompactLogix 5370 and Compact GuardLogix 5370 controllers

This manual contains new and updated information as indicated in the
following table.

Top ic Pag e

Added ControlLogix 5580 NSE, ControlLogix-XT™ 5580, and ControlLogix 5580 Process controllers. Throughout

Added CompactLogix 5380 Process controllers Throughout

Added Pre-defined Tasks in ControlLogix and CompactLogix Process Controllers 33

Updated table: Online Addition of Module and Connection Types 99

Added information on Automatic Diagnostics. 119

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 9

Preface

Additional Resources

Resource Description

• EtherNet/IP™ Network Devices User Manual, publication ENET-UM006

• ControlNet® Modules in Logix 5000™ Control Systems User Manual, publication CNET-UM001

• DeviceNet® Modules in Logix 5000 Control Systems User Manual, publication DNET-UM004

• System Security Design Guidelines Reference Manual, SECURE-RM001

• Configure System Security Features User Manual, SECURE-UM001

• CIP Security™ with Rockwell Automation Products Application Technique, SECURE-AT001

• Replacement Guidelines: Logix 5000 Controllers Reference Manual, publication 1756-RM100

• Logix 5000 Common Procedures Programming Manual, publication 1756-PM001

• ControlLogix 5580 Controllers User Manual, publication 1756-UM543

• ControlLogix System User Manual, publication 1756-UM001

• Motion Configuration and Startup User Manual, publication MOTION-UM001

• Motion Coordinate System User Manual, publication MOTION-UM002

• CompactLogix 5370 Controllers User Manual, publication 1769-UM021

• CompactLogix 5380 and Compact GuardLogix 5380 Controllers User Manual,
publication 5069-UM001

• 1768 CompactLogix System User Manual,publication 1768-UM001

• 1769 CompactLogix System User Manual, publication 1769-UM011

• 1769 Packaged CompactLogix Controllers Quick Start and User Manual,
publication IASIMP-QS010

These documents contain additional information about the controllers.

Networks

Provides guidance on how to conduct vulnerability assessments,
implement Rockwell Automation products in a secure system, harden
the control system, manage user access, and dispose of equipment.

Logix 5000™ Controllers

Control Logix Controllers

Compac tLogix Controllers

You can view or download publications at

http://www.rockwellautomation.com/literature/

.

10 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5580 Controller and 5380 Controllers

This chapter highlights these controllers, and where applicable, the controllers
are known as:

Controller Family Includes these controllers

5580 controllers ControlLogix® 5580 and GuardLogix® 5580 controllers

5380 controllers CompactLogix™ 5380 and Compact GuardLogix 5380 controllers

ControlLogix 5580 and GuardLogix 5580 Controllers

Characteristic ControlLogix 5580 Controllers and GuardLogix 5580 Controllers

Controller tasks:

• Continuous

•Periodic

•Event

Event tasks Consumed tag, EVENT instruction triggers, Module Input Data changes, and motion events

User memory 1756-L81E, 1756-L81EK, 1756-L81E-NSE, 1756-L81EXT, 1756-L81EP 3 MB

Built-in ports Single-port Ethernet port, 10 Mbps/100 Mbps/1 Gbps

Communication options • EtherNet/IP™

•32

• 1000 programs/task

1756-L82E, 1756-L82EK, 1756-L82E-NSE, 1756-L82EXT 5 MB

1756-L83E, 1756-L83EK, 1756-L83E-NSE, 1756-L83EXT, 1756-L83EP 10 MB

1756-L84E, 1756-L84EK, 1756-L84E-NSE, 1756-L84EXT 20 MB

1756-L85E, 1756-L85EK, 1756-L85E-NSE, 1756-L85EXT, 1756-L85EP 40 MB

1756-L81ES 3 MB +1.5 MB safety

1756-L82ES 5 MB + 2.5 MB safety

1756-L83ES 10 MB +5 MB safety

1756-L84ES 20 MB + 6 MB safety

1-port USB client

• ControlNet®

• DeviceNet®

• Data Highway Plus™

• Remote I/O

•SynchLink™

•USB Client

Chapter 1

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 11

Chapter 1 5580 Controller and 5380 Controllers

Characteristic ControlLogix 5580 Controllers and GuardLogix 5580 Controllers

Network nodes Studio 5000 Logix Designer® application, version 30 or later

1756-L81E, 1756-L81EK, 1756-L81E-NSE, 1756-L81EXT, 1756-L81EP, 1756­L81ES

1756-L82E, 1756-L82EK, 1756-L82E-NSE, 1756-L82EXT, 1756-L82ES 175

1756-L83E, 1756-L83EK, 1756-L83E-NSE, 1756-L83EXT, 1756-L83EP, 1756­L83ES, 1756-L84E, 1756-L84EK, 1756-L84E-NSE, 1756-L84EXT, 1756-L84ES

1756-L85E, 1756-L85EK, 1756-L85E-NSE, 1756-L85EXT, 1756-L85EP 300

Controller redundancy Fully supported with Studio 5000 Logix Designer Application version 33 later for ControlLogix 5580 controllers. Uses the same

firmware revision as standard ControlLogix 5580 controllers, but requires that redundanc y is enabled on the Redundancy tab
of the Controller Properties dialog.

Integrated motion EtherNet/IP

100

250

CompactLogix 5380 and Compact GuardLogix 5380 Controllers

Characteristic CompactLogix 5380 Controllers and Compact GuardLogix 5380 Controllers

Controller tasks:

• Continuous

•Periodic

•Event

Event tasks Consumed tag, EVENT instruction triggers, Module Input Data changes, and motion events

User memory 5069-L306ER, 5069-L306ERM 0.6 MB

• Built-in ports • 2 - Ethernet ports, 10 Mbps/100 Mbps/1 Gbps

• Communication options •EtherNet/IP

•32

• 1000 programs/task

5069-L310ER, 5069-L310ER-NSE, 5069-L310ERM 1 MB

5069-L320ER, 5069-L320ERM, 5069-L320ERMK,
5069-L320ERP

5069-L330ER, 5069-L330ERM, 5069-L330ERMK 3 MB

5069-L340ER, 5069-L340ERM, 5069-L340ERP 4 MB

5069-L350ERM, 5069-L320ERMK 5 MB

5069-L380ERM 8 MB

5069-L3100ERM 10 MB

5069-L306ERS2, 5069-L306ERMS2 0.6 MB + 0.3 MB safety

5069-L310ERS2, 5069-L310ERMS2 1 MB + 0.5 MB safety

5069-L320ERS2, 5069-L320ERMS2,
5069-L320ERS2K, 5069-L320ERMS2K

5069-L330ERS2, 5069-L330ERMS2,
5069-L330ERS2K, 5069-L330ERMS2K

5069-L340ERS2, 5069-L340ERMS2 4 MB + 2 MB safety

5069-L350ERS2, 5069-L350ERMS2,
5069-L350ERS2K, 5069-L350ERMS2K

5069-L380ERS2, 5069-L380ERMS2 8 MB + 4 MB safety

5069-L3100ERS2, 5069-L3100ERMS2 10 MB + 5 MB safety

•1-port USB client

•USB Client

2 MB

2 MB + 1 MB safety

3 MB + 1.5 MB safety

5 MB + 2.5 MB safety

12 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5580 Controller and 5380 Controllers Chapter 1

Characteristic CompactLogix 5380 Controllers and Compact GuardLogix 5380 Controllers

Network nodes Studio 5000 Logix Designer application, version 31or later

5069-L306ER, 5069-L306ERM, 5069-L306ERS2,
5069-L306ERMS2

5069-L310ER, 5069-L310ER-NSE, 5069-L310ERM,
5069-L310ERS2, 5069-L310ERMS2

5069-L320ER, 5069-L320ERM, 5069-L320ERMK,
5069-L320ERP, 5069-L320ERS2, 5069-L320ERMS2

5069-L320ERS2K, 5069-L320ERMS2K

5069-L330ER, 5069-L330ERM, 5069-L330ERMK,
5069-L330ERS2, 5069-L330ERMS2

5069-L330ERS2K, 5069-L330ERMS2K

5069-L340ER, 5069-L340ERM, 5069-L340ERP, 5069­L340ERS2, 5069-L340ERMS2

5069-L350ERM, 5069-L350ERMK, 5069-L350ERS2,
5069-L350ERMS2

5069-L350ERS2K, 5069-L350ERMS2K

5069-L380ERM, 5069-L380ERS2, 5069-L380ERMS2 150

5069-L3100ERM, 5069-L3100ERS2, 5069-L3100ERMS2 180

Controller redundancy Logix Hot Backup - CompactLogix 5380 Controllers only

Integrated motion EtherNet/IP

16

24

40

60

90

120

Process Controllers

Controller Memory

ControlLogix 5580 and CompactLogix 5380 process controllers are
extensions of the Logix 5000™ controller family that focus on plant-wide
process control.

The process controllers come configured with a default process tasking model
and dedicated PlantPAx® process instructions that are optimized for process
applications and that improve design and deployment efforts. The process
controllers support release 5.0 of the Rockwell Automation Library of Process
Objects.

For more information on the process library, see the Rockwell Automation
Library of Process Objects Reference Manual, publication PROCES-RM200

For more information on process controller application guidelines, see the
PlantPAx DCS Configuration and Implementation User Manual,
publication PROCES-UM100

.

The Logix CPU runs control and motion, communications, and packet
processing each on a separate core.

• The Logix Engine executes the user program, the control task, and the
motion task.

• The Communications core manages all Class 3 and unconnected
communications via the Ethernet, USB, and backplane communication
ports. Communications do not interrupt the user task. The System
Overhead Time Slice Percentage setting is no longer available and not
necessary.

• The Packet Processing Engine moves all Ethernet Class 1 packets to and
from the wire, and moves all packets to and from the backplane.

.

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 13

Chapter 1 5580 Controller and 5380 Controllers

Logic and Data Memory

Program source code

Tag dat a

Logix CPU

Logix Engine

Commun ications Co re

Packet Processing Engine

1756 ControlLogix 5580 controllers and CompactLogix 5380 controllers- Memory is in one, contiguous section.

Logic and Data Memory

Program source code

Tag data

Logix CPU

Logix E ngine

Communications Core

Packet Processing Engine

1756 GuardLogix 5580 controllers and Compact GuardLogix 5380 controllers- Memory is in one, contiguous section.

Funct ional Saf ety
Diagnostic Core

The controller allocates memory as needed to help prevent many runtime
errors that are related to free memory. Runtime memory no longer consumes
application memory space.

The GuardLogix CPU performs the same functions as the ControlLogix 5580
and CompactLogix 5380 controllers, with these differences:

• The Logix Engine executes the user program, the control task, the
motion task, and the safety task.

• The Functional Safety Diagnostic Core runs the safety task with
inverted data, and compares the results to the safety task that runs on the
Logix Engine.

Data Types

The controllers support IEC 61131-3 atomic data types. The controllers also
support compound data types, such as arrays, predefined structures (such as
counters and timers), and user-defined structures).

The Logix CPU reads and manipulates 32-bit data values. The minimum
memory allocation for data in a tag is 4 bytes. When you create a standalone tag
that stores data that is less than 4 bytes, the controller allocates 4 bytes, but the
data only fills the part that it needs.

For more information See Data Structures on page 75

Data Type Bits

64…32 31 16 15 8 7 1 0

BOOL

SINT

INT Not allocated Allocated but not used -32,768…32,767

DINT

REAL

LINT -922337203685477580…+9223372036854775807

Not allocated Allocated but not used 0 or 1

Not allocated Allocated but not used -128…+127

Not allocated -2,147,483,648…2,147,483,647

Not allocated -3.40282347E38…-1.17549435E

0

1.17549435E

-38

(negative values)

-38

…3.40282347E38 (positive values)

.

14 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5580 Controller and 5380 Controllers Chapter 1

Extended Data Types

The 5380 and 5580 controllers support these extended data types:

Data Type Bits

64…32 31 16 15 8 7…1 0

USINT Not allocated Allocated but not used Unsigned 0…255

UINT Not allocated Allocated but not used Unsigned 0…65,535

UDINT Not allocated Unsigned 0…4,294,967,295

ULINT Unsigned 0…18,446,744,073,709,551,615

LREAL -1.7976931348623157E308…-2.2250738585072014E-308 (negative values)

0.0

2.2250738585072014E-308…1.7976931348623157E308 (positive values)

The compute, compare, and math instructions support these extended data
types for 64-bit operations.

Programming Techniques

Programming Technique Consideration

Subroutines For Logix Designer application Version 28 and later on 5580 and 5380 controllers:

Add-On Instructions For 5580 controllers 5380 controllers, you can nest Add-On Instructions up to 25 levels.

PhaseManager™ equipment phases The PhaseManager option is support on 5580 and 5380 controllers as of firmware revision 32.

• JSR calls are limited to 40 input parameters and 40 output parameters.

• There is a maximum of 25 JSR nesting levels.

For more information See Modular Programming Techniques on page 45.

Data Alignment Rules

The 5580, 5380, and all 64-bit controllers have these data alignment rules on
UDTs:

• 8-byte (64-bit) data types (LINT, ULINT, and LREAL) are placed on
8-byte address boundaries in RAM. The Studio 5000 Logix Designer
application manages this requirement automatically.

• UDTs that have no 8-byte elements retain the existing 4-byte memory
allocation rules.

• UDTs that contain LINTs are considered to be 8-byte data types and
their size is a multiple of 8 bytes.

• 8-byte data types (LINTs or embedded UDTs) within a data structure
are aligned on an 8-byte boundary.

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 15

Chapter 1 5580 Controller and 5380 Controllers

Produced and Consumed Data

Connections

The controller supports:

•Total number of produced tags 255

• Maximum number of multicast produce tags out of the Ethernet port 
32

• Maximum number of consumed tags  255

For more information See Produced and Consumed Data on page 71

The controller supports:

• Dedicated Class 1 (I/O, Produce and Consume, implicit, and so on)
connection pool to support controller node count

• Dedicated Class 3 (HMI, message instructions, explicit, and so on)
connection pool to support up to 512 connections

– This pool is split; 256 incoming and 256 outgoing connections

• 256 cached buffers

• 320 unconnected buffers for establishing connections
– This value is fixed and cannot be increased with a CIP™ Generic

message instruction.

.

16 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5480 Controller

CompactLogix 5480 Controller

Characteristic CompactLogix™ 5480 Controller

Controller tasks:

• Continuous

•Periodic

•Event

Event tasks Consumed tag, EVENT instruction triggers, Module Input Data changes, and motion events

User memory Windows 10 (commercial operating system on

Built-in ports Logix control engine use:

•32 tasks

• 1000 programs/task

• All event triggers

controller)

Logix control engine

5069-L430ERMW 3 MB

5069-L450ERMW 5 MB

5069-L4100ERMW 10 MB

5069-L4200ERMW 20 MB

• 3 - Ethernet, 10 Mpbs/100 Mbps/1 Gbps

• 1 - USB client
IMPORTANT: Consider the following

• When the controller operates in Dual-IP mode, each Ethernet port requires a unique IP address.

• When the controller operates in Linear/DLR mode, the controller uses only one IP address.

•RAM: 6 GB

•SSD: 64 GB

Chapter 2

Windows 10 use:

• 1 - Ethernet, 10 Mbps/100 Mbps/1 Gbps

• 2 - USB 3.0 ports

•1 - DisplayPort

Communication options •Dual-port EtherNet/IP™

Network nodes Studio 5000 Logix Designer® application, version 32.00.00 or later

Controller redundancy None

Integrated motion Tot al axi s c oun t 512 (Any combination of physical, virtual, or consumed axes)

•USB Client

5069-L430ERMW

5069-L450ERMW 120

5069-L4100ERMW 180

5069-L4200ERMW

5069-L46ERMW

Virtual axis, max 512

Position-loop axis, max 150

Axes/ms, max 100

60

250

250

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 17

Chapter 2 5480 Controller

Logic and Data Memory

Program source code

Tag dat a

Logix CPU

Logix Engine

Commun ications Co re

Packet Processing Engine

1756 CompactLogix 5480 controllers- Memory is in one, contiguous section.

Controller Memory

The Logix CPU runs control and motion, communications, and packet
processing each on a separate core.

• The Logix Engine executes the user program, the control task, and the
motion task.

• The Communications core manages all Class 3 and unconnected
communications via the Ethernet, USB, and backplane communication
ports. Communications do not interrupt the user task, and you do not
need to adjust the System Overhead Time Slice Percentage.

• The Packet Processing Engine moves all Ethernet Class 1 packets to and
from the wire, and moves all packets to and from the backplane.

The controller allocates memory as needed to help prevent many runtime errors
that are related to free memory. Runtime memory no longer consumes
application memory space.

Data Types

The controllers support IEC 61131-3 atomic data types. The controllers also
support compound data types, such as arrays, predefined structures (such as
counters and timers, and user-defined structures.)

The Logix CPU reads and manipulates 32-bit data values. The minimum
memory allocation for data in a tag is 4 bytes. When you create a standalone tag
that stores data that is less than 4 bytes, the controller allocates 4 bytes, but the
data only fills the part that it needs.

For more information See Data Structures on page 75

Data Type Bits

64…32 31 16 15 8 7 1 0

BOOL

SINT Not allocated Allocated but not used -128…+127

INT

DINT

REAL Not allocated -3.40282347E38…-1.17549435E

LINT -9223372036854775808…+9223372036854775807

Not allocated Allocated but not used 0 or 1

Not allocated Allocated but not used -32,768…32,767

Not allocated -2,147,483,648…2,147,483,647

-38

(negative values)

0

1.17549435E

-38

…3.40282347E38 (positive values)

.

18 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5480 Controller Chapter 2

Extended Data Types

The 5480 controller supports these extended data types:

Data Type Bits

64…32 31 16 15 8 7…1 0

USINT Not allocated Allocated but not used Unsigned 0…255

UINT Not allocated Allocated but not used Unsigned 0…65,535

UDINT Not allocated Unsigned 0…4,294,967,295

ULINT Unsigned 0…18,446,744,073,709,551,615

LREAL -1.7976931348623157E308…-2.2250738585072014E-308 (negative values)

0.0

2.2250738585072014E-308…1.7976931348623157E308 (positive values)

The compute, compare, and math instructions support these extended data types
for 64-bit operations.

Programming Techniques

Programming Technique Consideration

Subroutines For Logix Designer application Version 32.00.00 and later:

Add-On Instructions You can nest Add-On Instructions up to 25 levels.

PhaseManager™ equipment phases The PhaseManager option is supported on 5480 controller s as of firmware revision 32.

• JSR calls are limited to 40 input parameters and 40 output parameters.

• There is a maximum of 25 JSR nesting levels.

For more information See Modular Programming Techniques on page 45.

Data Alignment Rules

The 5480 controllers have these data alignment rules on UDTs:

• 8-byte (64-bit) data types (LINT, ULINT, and LREAL) are placed on 8­byte address boundaries in RAM. The Studio 5000 Logix Designer
application manages this requirement automatically.

• UDTs that have no 8-byte elements retain the existing 4-byte memory
allocation rules.

• UDTs that contain LINTs are considered to be 8-byte data types and their
size is a multiple of 8 bytes.

• 8-byte data types (LINTs or embedded UDTs) within a data structure are
aligned on an 8-byte boundary.

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 19

Chapter 2 5480 Controller

Produced and Consumed Data

Connections

The controller supports:

•Total number of produced tags 255

• Maximum number of multicast produce tags out of the Ethernet port  32

• Maximum number of consumed tags  255

For more information See Produced and Consumed Data on page 71

The controller supports:

• Dedicated Class 1 (I/O, Produce and Consume, implicit, and so on)
connection pool to support controller node count

• Dedicated Class 3 (HMI, message instructions, explicit, and so on)
connection pool to support up to 512 connections

– This pool is split; 256 incoming and 256 outgoing connections

• 256 cached buffers

• 320 unconnected buffers for establishing connections
– This value is fixed and cannot be increased with a CIP™ Generic

message instruction.

.

20 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5570 Controllers and 5370 Controllers

This chapter highlights these controllers, and where applicable, the controllers
are known as:

Controller Family Includes these controllers

5570 controllers ControlLogix® 5570 and GuardLogix® 5570 controllers

5370 controllers CompactLogix™ 5370 and Compact GuardLogix 5370 controllers

ControlLogix 5570 and GuardLogix 5570 Controllers

Characteristic ControlLogix 5570 Controllers

GuardLogix 5570 Controllers
Armor™ ControlLogix 5570 Controllers
Armor™ GuardLogix® 5570 Controllers

Controller tasks:

• Continuous

•Periodic

•Event

Event tasks Consumed tag, EVENT instruction triggers, Module Input Data changes, and motion events

User memory 1756-L71, 1756-L71EROM 2 MB

Built-in ports 1756-L71, 1756-L72, 1756-L73, 1756-L73XT, 1756-L74,

Communication options • EtherNet/IP

Controller connections 500 connections

Controller redundancy 1756-L71, 1756-L72, 1756-L73, 1756-L73XT, 1756-L74, and 1756-L75 controllers only.

Integrated motion EtherNet/IP

•32

• 1000 programs/task

1756-L72, 1756-L72EROM 4 MB

1756-L73, 1756-L73XT, 1756-L73EROM 8 MB

1756-L74 16 MB

1756-L75 32 MB

1756-L71S, 1756-L71EROMS 2 MB +1 MB safety

1756-L72S, 1756-L72EROMS 4 MB + 2 MB safety

1756-L73S, 1756-L73EROMS 8 MB + 4 MB safety

1756-L75, 1756-L71S, 1756-L72S, 1756-L73S

1756-L71EROM, 1756-L71EROMS, 1756-L72EROM,
1756-L72EROMS, 1756-L73EROM, 1756-L73EROMS

• ControlNet®

• DeviceNet®

•Data Highway Plus™

• Remote I/O

•SynchLink™

•USB Client

Full support with a separate redundancy firmware revision.

1-port USB Client

• 1-port USB client

• Dual-port EtherNet/IP™, 10 Mpbs/100 Mbps

Chapter 3

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 21

Chapter 3 5570 Controllers and 5370 Controllers

CompactLogix 5370 and Compact GuardLogix 5370 Controllers

Characteristic CompactLogix 5370 Controllers and Compact GuardLogix 5370 Controllers

Armor CompactLogix 5370 Controllers and Armor Compact GuardLogix 5370 Controllers

Controller tasks:

• Continuous

•Periodic

•Event

Event tasks Consumed tag, EVENT instruction triggers, and motion events

User memory 1769-L16ER-BB1B 384 KB

Built-in ports Dual-port EtherNet/IP

Communication options EtherNet/IP

Controller connections 256 connections

Network nodes 1769-L16ER-BB1B 4

•32

• 1000 programs/task

1769-L18ER-BB1B, 1769-L18ERM-BB1B, 1769-L18ERM-BB1BK 512 KB

1769-L24ER-QB1B, 1769-L24ER-QBFC1B,
1769-L24ER-QBFC1BK

1769-L19ER-BB1B, 1769-L19ER-BB1BK,
1769-L27ERM-QBFC1B, 1769-L30ER, 1769-L30ERK,
1769-L30ER-NSE, 1769-L30ERM, 1769-L30ERMK

1769-L33ER, 1769-L33ERK, 1769-L33ERM, 1769-L33ERMK,
1769-L33ERMO

1769-L36ERM, 1769-L36ERMO 3 MB

1769-L37ERM, 1769-L37ERMK, 1769-L37ERMO 4 MB

1769-L38ERM, 1769-L38ERMK, 1769-L38ERMO 5 MB

1769-L30ERMS 1 MB + 0.5 MB safety

1769-L33ERMS, 1769-L33ERMSK, 1769-L33ERMOS 2 MB + 1 MB safety

1769-L36ERMS, 1769-L36ERMOS 3 MB + 1.5 MB safety

1769-L37ERMS, 1769-L37ERMSK, 1769-L37ERMOS 4 MB + 1.5 MB safety

1769-L38ERMS, 1769-L38ERMSK, 1769-L38ERMOS 5 MB + 1.5 MB safety

1-port USB Client

Embedded switch
Single IP address
DeviceNet
USB Client

1769-L18ER-BB1B, 1769-L18ERM-BB1B,
1769-L18ERM-BB1BK, 1769-L19ER-BB1B, 1769-L19ER-BB1BK

1769-L27ERM-QBFC1B, 1769-L30ER,
1769-L30ERK,1769-L30ER-NSE, 1769-L30ERM,
1769-L30ERMK, 1769-L30ERMS

1769-L33ER, 1769-L33ERK, 1769-L33ERM, 1769-L33ERMK,
1769-L33ERMS, 1769-L33ERMSK, 1769-L33ERMO,
1769-L33ERMOS

1769-L36ERM, 1769-L36ERMS, 1769-L36ERMO,
1769-L36ERMOS

1769-L37ERM, 1769-L37ERMS, 1769-L37ERMO,
1769-L37ERMOS, 1769-L37ERMK, 1769-L37ERMSK

1769-L38ERM, 1769-L38ERMS, 1769-L38ERMO,
1769-L38ERMOS, 1769-L38ERMK, 1769-L38ERMSK

750 KB

1 MB

2 MB

8

16

32

48

64

80

22 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5570 Controllers and 5370 Controllers Chapter 3

Logic and Data Memory

Logix
CPU

Backplane CPU

I/O Memory

Program source code

Tag data

HMI tag group lists

I/O data

I/O force tables

Message buffers

Produced/consumed tags

1756 ControlLogix 5570 controllers - Memory is separated into isolated sections.

Project Documentation Memor y

Comment descriptions

Alarm log

Extended tag properties

I/O Memory

Program source code

Tag data

HMI tag group lists

I/O data

I/O force tables

Message buffers

Produced/consumed tags

CompactLogix 5370 controllers - Memory is separated into isolated segments.

Logix
CPU

Logic and Data Memory

Comment descriptions

Alarm log

Extended tag properties

Project Documentation Memory

Characteristic CompactLogix 5370 Controllers and Compact GuardLogix 5370 Controllers

Armor CompactLogix 5370 Controllers and Armor Compact GuardLogix 5370 Controllers

Controller redundancy Back up via DeviceNet - CompactLogix 5370 L3 Controllers and Compact GuardLogix 5370 L3 controllers only

Logix Hot Backup - CompactLogix 5370 L3 Controllers only

Integrated motion EtherNet/IP

Conformal coating 1769-L30ERK,1769-L30ERMK, 1769-L33ERK, 1769-L33ERMK, 1769-L33ERMSK, 1769-L37ERMK, 1769-L37ERMSK,

1769-L38ERMK, 1769-L38ERMSK

Controller Memory

CompactLogix 5370 and Compact GuardLogix 5370 Controllers

The Logix CPU executes application code and messages. The backplane CPU
transfers I/O memory and other module data on the backplane. This CPU
operates independently from the Logix CPU, so it sends and receives I/O
information asynchronous to program execution.

TIP CPU usage is based on the number of devices in the I/O tree. About 6% of the CPU is used

for every 100 devices in the I/O tree.

The Logix CPU executes application code and messages.

Controller I /O Task Priorit y Communication Task Priority

CompactLogix 5370 6 12

Rockwell Automation Publication 1756-RM094K-EN-P - October 2020 23

Chapter 3 5570 Controllers and 5370 Controllers

Controller Connections

The controller uses a connection to establish a communication link between
two devices.

IMPORTANT The topics in this section apply only to ControlLogix 5570 and earlier

controllers, and CompactLogix 5370 and earlier controllers operation

Connections can be made to the following:

• 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

• Access to programming software

• Linx-based software access for HMI or other software applications

The controllers have different communication limits.

Communication Attribute 1756-L7x ControlLogix 1756-L6x ControlLogix 1769 CompactLogix CompactLogix 5370 1768 CompactLogix

Connections 500 250 100 256 250

Cached messages 32 for messages and block transfers combined

Unconnected receive buffers 3

Unconnected transmit buffers Default 20 (can be increased to 40) Default 10 (can be increased to 40)

The limit of connections can ultimately reside in the communication module
you use for the connection. If a message path routes through a communication
module, the connection that is related to the message also counts toward the
connection limit of that communication module.

Controller Communication Device Supported Connections

ControlLogix 1756-CN2R, 1756-CN2RXT

1756-CN2/B

1756-CNB,1756 -CNBR 64 CIP connections depending on RPI, recommend that you use only 48 connections

1756-EN2F, 1756-EN2T, 1756-EN2TR,
1756-EN2TP, 1756-EN2TXT, 1756-EN3TR

1756-EN4TR CIP connected messages:

1756-ENBT
1756-EWEB

CompactLogix 5370 Built-in Ethernet ports See the CompactLogix 5370 Controllers User Manual, publication 1769-UM021, for information on how to

(1) There are 1000 explicit connections and 528 implicit connections.

100 CIP™ connections
(any combination of scheduled and message connections)

128 CIP connections

(any combination of scheduled and message connections)

256 CIP connections
128 TCP/IP connections

• 1000 I/O

(1)

•528
512 TCP/IP connections

128 CIP connections
64 TCP/IP connections

count EtherNet/IP nodes on the I/O Configuration section of the programming software.

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5570 Controllers and 5370 Controllers Chapter 3

Determine Total Connection Requirements

The total connections for a controller include both local and remote
connections. Counting local connections is not an issue for CompactLogix
controllers. They support the maximum number of modules that are permitted
in their systems.

When designing your CompactLogix 5370 controllers, you must consider
these resources:

• EtherNet/IP network nodes

• Controller connections

For more information, see the CompactLogix 5370 Controllers User Manual,
publication 1769-UM021

The ControlLogix controllers support more communication modules than the
other controllers, so you must tally local connections to make sure that you stay
within the connection limit.

.

Use this table to tally local connections.

Connection Type Device Quantity x Connections per Module = Total Connections

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

SERCOS Motion module x 3 =

ControlNet communication module x 0 =

EtherNet/IP communication module x 0 =

DeviceNet communication module x 2 =

DH+/Remote I/O communication module x 1 =

DH-485 communication module x 1 =

Programming software access to controller x 1 =

Tot a l

IMPORTANT A redundant system uses eight connections in the controller.

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Chapter 3 5570 Controllers and 5370 Controllers

The communication modules that you select determine how many remote
connections are available. Use this table to tally remote connections.

Connection Type Device Quantity x Connections per Module = Total Connections

Remote ControlNet communication module

Configured as a direct (none) connection
Configured as a rack-optimized connection

Remote EtherNet/IP communication module

Configured as a direct (none) connection
Configured as a rack-optimized connection

Remote device over a DeviceNet network
(accounted for in rack-optimized connection for local DeviceNet module)

Safety device on a DeviceNet or EtherNet/IP network x 2 =

Other remote communication adapter x 1 =

Distributed I/O module (individually configured for a direct connection) x 1 =

Produced tag and first consumer

Each additional consumer

Consumed tag x 1 =

Connected message (CIP Data Table read/write and DH+™) x 1 =

Block transfer message x 1 =

Linx-based software access for HMI or other software applications x 4 =

FactoryTalk® Linx software for HMI or other software applications x 5 =

Tot a l

x

0 or
1

x

0 or
1

x0 =

x2

1

=

=

=

System Overhead Percentage

The system overhead timeslice specifies the percentage of continuous task
execution time that is devoted to communication and background redundancy
functions.

• Message communication is any communication that you do not
configure through the I/O configuration folder of the project, such as
MSG instructions.

• Message communication occurs only when a periodic or event task is not
running. If you use multiple tasks, make sure that their scan times and
execution intervals leave enough time for message communication.

• System overhead interrupts only the continuous task.

• The controller performs message communication for up to 1 ms at a
time and then resumes the continuous task.

• Adjust the update rates of the tasks as needed to get the best trade-off
between executing your logic and servicing message communication.

System overhead functions include the following:

• Communicating with HMI devices and programming software

• Sending and responding to messages

• Alarm management processing

• Redundancy qualification

26 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

5570 Controllers and 5370 Controllers Chapter 3

Continuous Task Restarts

Periodic Task Rest arts

Continuous Task

10% CPU Overhead

Continuous Task

25% CPU Overhead

Peri odic Tas k

CPU Overhead

The controller performs system overhead functions for up to 1 ms at a time. If
the controller completes the overhead functions in less than 1 ms, it resumes
the continuous task. The following chart compares a continuous and periodic
task.

Example Description

Continuous task
10% CPU overhead

Continuous task
25% CPU overhead

Periodic task Placing the same code in a periodic tas k yields even more time for communication processing. The bottom example assumes that the

In the top example, the system overhead timeslice is set to 10%. Given 40 ms of code to execute, the continuous task completes the
execution in 44 ms. During a 60 ms period, the controller is able to spend 5 ms on communication processing.

By increasing the system overhead timeslice to 25%, the controller completes the continuous task scan in 57 ms. The controller spends
15 ms of a 60 ms time span on communication processing.

code is in a 60 ms periodic task. The code executes to completion and then goes dormant until the 60 ms, time-based trigger occurs.
While the task is dormant, all CPU bandwidth can focus on communication. Because the code takes only 40 ms to execute, the controller
can spend 20 ms on communication processing. Depending on the amount of communication to process during this 20 ms window, it can
be delayed as it waits for other modules in the system to process the data that was communicated.

The CPU timeslices between the continuous task and system overhead. Each
task switch between user task and system overhead takes additional CPU time
to load and restore task information. You can calculate the continuous task
interval as:

ContinuousTime=(100/SystemOverheadTimeSlice%) - 1

The programming software forces at least 1 ms of execution time for the
continuous task, regardless of the system overhead timeslice. This more
efficiently uses system resources because letting shorter execution times of the
continuous task exist means switching tasks more frequently.

System Overhead Timeslice % Communication Execution (ms) Continuous Task Execution (ms)

10 1 9

20 1 4

33 1 2

50 1 1

66 2 1

80 4 1

90 9 1

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Chapter 3 5570 Controllers and 5370 Controllers

Program Scan
Time

Tag s Pe r
Second

System Timeslice %

Tags per Second

Program Scan Time in Milliseconds

Manage the System Overhead Timeslice Percentage

As the system overhead timeslice percentage increases, time that is 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.

IMPORTANT System Overhead Time Slice does not apply to ControlLogix 5580 or

CompactLogix 5380 controllers.

Consideration Description

Continuous task always has at least 1 ms execution time The programming software forces the continuous task to have at least 1 ms of executio n time, regardless of the

Impact on communication and scan time Increasing the system overhead timeslice percentage decreases execution time for the continuous task while it

setting for the system overhead timeslice. This results in more efficient controller use because excessive swapping
between tasks uses valuable CPU resources.

increases communication performance.
Increasing the system overhead timeslice percentage also increases the amount of time it takes to execute a

continuous task - increasing overall scan time.

Unused portion of system overhead timeslice You can configure any unused portion of the system overhead timeslice to:

System overhead System overhead is the time that the controller spends on message communication and background tasks.

28 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020

• Run the continuous task, which results in faster execution of application code and increases the variability of the
program scan.

• Process communication, which results in more predictable and deterministic scan time for the continuous task.
(This is for development and testing of an application to simulate communication.)

• Message communication is any communication that you do not configure through the I/O configuration folder of
the project, such as MSG instructions.

• Message communication occurs only when a periodic or event task is not running. If you use multiple tasks, make
sure that their scan times and execution intervals leave enough time for message communication.

• System overhead interrupts only the continuous task.

• The system overhead timeslice specifies the percentage of time (excluding the time for periodic or event tasks)
that the controller devotes to message communication.

• System overhead timeslice does not apply to ControlLogix 5580 and CompactLogix 5380 controllers.

• The controller performs message communication for up to 1 ms at a time and then resumes the continuous task.

• Adjust the update rates of the tasks as needed to get the best trade-off between executing your logic and servicing
message communication.

5570 Controllers and 5370 Controllers Chapter 3

Individual applications can differ, but the overall impact on communication
and scan time remains the same. The data is based on a ControlLogix5555
controller running a continuous task with 5000 tags (no arrays or user-defined
structures).

I/O Processing

Data Types

The 5370 controllers use a dedicated periodic task to process I/O data. This
I/O task:

• Operates at priority 6.

• Higher-priority tasks take precedence over the I/O task and can affect
processing.

• Executes at the fastest RPI you have scheduled for the system.

• Executes for as long as it takes to scan the configured I/O modules.

The controllers support IEC 61131-3 atomic data types. The controllers also
support compound data types, such as arrays, predefined structures (such as
counters and timers), and user-defined structures.

The Logix CPU reads and manipulates 32-bit data values. The minimum
memory allocation for data in a tag is 4 bytes. When you create a standalone tag
that stores data that is less than 4 bytes, the controller allocates 4 bytes, but the
data only fills the part that it needs.

For more information See Data Structures on page 75

Data Type Bits

64…32 31 16 15 8 7 1 0

BOOL

SINT Not allocated Allocated but not used -128…+127

INT

DINT Not allocated -2,147,483,648…2,147,483,647

REAL

LINT Valid Date/Time range is from 1/1/1970 12:00:00 AM coordinated universal time (UTC) to 1/1/3000 12:00:00 AM UTC

Not allocated Allocated but not used 0 or 1

Not allocated Allocated but not used -32,768…32,767

Not allocated -3.40282347E38…-1.17549435E

0

1.17549435E

-38

…3.40282347E38 (positive values)

-38

(negative values)

.

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Chapter 3 5570 Controllers and 5370 Controllers

Programming Techniques

Programming Technique Consideration

Subroutines For Studio 5000 Logix Designer® Version 28 and later on 5570 and 5370 controllers:

Add-On Instructions For 5570 controllers or earlier, and 5370 controllers or earlier, there is no limit on nesting Add-On Instructions. However,

• JSR calls are limited to 40 input parameters and 40 output parameters.

• There is no limit on nesting JSR instructions. However, it is possible that too many nesting levels can cause the
controller to run out of memory and fault.

it is possible that too many nesting levels can cause the controller to run out of memory and fault.

For more information See Modular Programming Techniques on page 45.

Produced and Consumed Data

Messages

The controller supports:

•Total number of produced tags  127

• Maximum number of multicast produce tags out of the CompactLogix
Ethernet port  32

• Maximum number of consumed tags  250 (or controller maximum)

For more information See Produced and Consumed Data on page 71

The controller supports:

• As many outgoing, unconnected buffers as fit in controller memory.

Each buffer uses approximately 1.2 KB of I/O memory.

You can use a CIP Generic message instruction to increase the number
of unconnected buffers. See the Logix 5000™ Controllers Messages
Programming Manual, publication 1756-PM012

• Three incoming unconnected buffers

• 32 cached buffers, as of firmware revision 12 and later.

.

30 Rockwell Automation Publication 1756-RM094K-EN-P - October 2020