User manual | Logix5000 Controllers System Reference, 1756-QR107C-EN-P

Logix5000 Controllers
1756 ControlLogix, 1769 CompactLogix, 1789 SoftLogix,
1794 FlexLogix, PowerFlex 700S with DriveLogix
System Reference
ii
Important User Information
Because of the variety of uses for the products described in this publication, those responsible for the application and use of these products must satisfy
themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any
applicable laws, regulations, codes and standards. In no event will Allen-Bradley be responsible or liable for indirect or consequential damage resulting from
the use or application of these products.
Any illustrations, charts, sample programs, and layout examples shown in this publication are intended solely for purposes of example. Since there are many
variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual
property liability) for actual use based upon the examples shown in this publication.
Reproduction of the contents of this copyrighted publication, in whole or part, without written permission of Rockwell Automation, is prohibited.
Summary of Changes
This version of the Logix5000 Controllers System Reference Manual corresponds to version 15 of the controllers. Revision bars (shown in
the left margin of this page) indicate changed information. Changes made to this manual include:
•
•
•
•
Addition of 1769-L32C and 1769-L35CR CompactLogix controllers for ControlNet
Addition of DriveLogix5730 controller for PowerFlex 700S
Addition of PSC, PCMD, POVR, PFL, PCLF, PXRQ, PRNP, PPD, PATT and PDET phase manager instructions
The 1794-L33, 1769-L20, and 1769-L30 controllers have been removed
Publication 1756-QR107C-EN-P - June 2005
iv
Notes:
Publication 1756-QR107C-EN-P - June 2005
Table of Contents
Chapter 1
Logix Controllers
Logix Family of Controllers. . . . . . . . . . . . . . . .
ControlLogix Controllers (1756-L6x, L55Mxx). . .
CompactLogix Controllers (1769-Lxx) . . . . . . . .
FlexLogix Controllers (1794-L34). . . . . . . . . . . .
SoftLogix5800 Controllers (1789-L10, -L30, -L60)
PowerFlex 700S with DriveLogix5720 . . . . . . . .
PowerFlex 700S with DriveLogix5730 . . . . . . . .
Controller Comparison . . . . . . . . . . . . . . . . . . .
Select the Operating Mode of the Controller . . .
Non-Volatile Memory . . . . . . . . . . . . . . . . . . . .
Create a Project . . . . . . . . . . . . . . . . . . . . . . . .
Controller Organizer. . . . . . . . . . . . . . . . . . . . .
Controller Tasks. . . . . . . . . . . . . . . . . . . . . . . .
Controller Tags . . . . . . . . . . . . . . . . . . . . . . . .
Aliases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Choose a Programming Language . . . . . . . . . . .
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. 1-1
. 1-2
. 1-4
1-10
1-12
1-14
1-16
1-18
1-21
1-22
1-24
1-25
1-26
1-30
1-33
1-34
Publication 1756-QR107C-EN-P - June 2005
vi
Chapter 2
Sequential Function Charts
Editing an SFC . . . . . . . . . . . . . . . . . .
Action Qualifiers . . . . . . . . . . . . . . . .
How Do You Want to Use the Action?
Configure the Execution of an SFC . . .
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. 2-4
2-10
2-12
2-13
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. 3-1
. 3-4
. 3-6
3-12
3-13
3-15
3-25
Chapter 3
Structured Text
Publication 1756-QR107C-EN-P - June 2005
Structured Text Syntax . . . . . . . . .
Assignments. . . . . . . . . . . . . . . . .
Expressions . . . . . . . . . . . . . . . . .
Determine the order of execution .
Instructions . . . . . . . . . . . . . . . . .
Constructs . . . . . . . . . . . . . . . . . .
Comments . . . . . . . . . . . . . . . . . .
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vii
Chapter 4
Function Block Diagram
Editing a Function Block Diagram. . . . . .
Order of Execution . . . . . . . . . . . . . . . .
Resolve a Loop . . . . . . . . . . . . . . . . . . .
Resolve Data Flow Between Two Blocks.
Create a One Scan Delay . . . . . . . . . . . .
Summary . . . . . . . . . . . . . . . . . . . . . . . .
Define Program/Operator Control. . . . . .
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4-2
4-5
4-7
4-9
4-10
4-10
4-11
Chapter 5
Relay Ladder
Publication 1756-QR107C-EN-P - June 2005
Relay Ladder Logic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Editing Relay Ladder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Rung Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
viii
Chapter 6
Accessing System Values
System Values Stored by the Controller . . . . . . .
Monitor Status Flags . . . . . . . . . . . . . . . . . . . . .
Get and Set System Data (Status Information) . .
Available Status Information - GSV/SSV Objects.
Determine Controller Memory Information . . . .
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6-1
6-2
6-3
6-5
6-26
Chapter 7
Communicate with Other
Controllers
Communication Options. . . . . . . . .
Produce and Consume a Tag . . . . .
Send a Message . . . . . . . . . . . . . . .
Map PLC/SLC Addresses . . . . . . . . .
Send a Message to Multiple Devices
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. 7-1
. 7-2
. 7-9
7-13
7-15
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Chapter 8
Forcing
Publication 1756-QR107C-EN-P - June 2005
What You Can Force . . . .
Force I/O. . . . . . . . . . . . .
Step Through a Transition
Force an SFC . . . . . . . . . .
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8-1
8-4
8-7
8-7
ix
Chapter 9
System Faults
Controller Faults. . .
Major Faults . . . . . .
Major Fault Codes .
Minor Faults. . . . . .
Minor Fault Codes .
User-Defined Faults
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. 9-1
. 9-2
. 9-7
9-10
9-13
9-15
Chapter 10
Data Structures
Common Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
Chapter 11
Instruction Set
Publication 1756-QR107C-EN-P - June 2005
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
x
Publication 1756-QR107C-EN-P - June 2005
Logix Controllers
Chapter
1
Logix Family of Controllers
Rockwell Automation Logix Platforms provide a single integrated control architecture for discrete, drives, motion, and process control.
The integrated Logix architecture provides a common control engine, programming software environment, and communication support
across multiple hardware platforms. All Logix controllers operate with a multitasking, multiprocessing operating system and support the
same set of instructions in multiple programming languages. One RSLogix 5000 programming software package programs all Logix
controllers. And all Logix controllers incorporate the NetLinx architecture to communicate via EtherNet/IP, ControlNet, and DeviceNet
networks.
PowerFlex 700S with DriveLogix
An integrated drives and control solution
ControlLogix
High-performance, multi-processing
control platform
SoftLogix5800
High-performance, PC-based control
FlexLogix
Small to mid-sized
control applications
using FLEX I/O
CompactLogix
Compact I/O and control for
smaller applications
Publication 1756-QR107C-EN-P - June 2005
1-2
Logix Controllers
ControlLogix Controllers (1756-L6x, L55Mxx)
Front Panel:
Indicator:
Color:
Description:
RUN
off
The controller is in Program or Test mode.
solid green
The controller is in Run mode.
off
Either:
• There are no devices in the I/O configuration of the controller.
• The controller does not contain a project (controller memory is empty).
solid green
The controller is communicating with all the devices in its I/O configuration.
flashing green
One or more devices in the I/O configuration of the controller are not responding.
flashing red
The chassis is bad. Replace the chassis.
off
No tags contain I/O force values.
I/O forces are inactive (disabled).
solid amber
I/O forces are active (enabled).
I/O force values may or may not exist.
flashing amber
One or more input or output addresses have been forced to an On or Off state, but the forces have not been enabled.
off
There is no activity.
solid green
Data is being received or transmitted
I/O
FORCE
RS232
Publication 1756-QR107C-EN-P - June 2005
Logix Controllers
Front Panel:
Indicator:
Color:
Description:
BAT
off
The battery supports memory.
solid red
Either the battery is:
• not installed.
• 95% discharged and should be replaced.
off
No power is applied.
flashing red
If the controller is:Then:
a new controllerthe controller requires a firmware update
not a new controllerA major fault occurred. To clear the fault, either:
- Turn the keyswitch from PROG to RUN to PROG
- Go online with RSLogix 5000 software
solid red
The controller detected a non-recoverable fault, so it cleared the project from memory. To recover:
OK
1-3
1. Cycle power to the chassis.
2. Download the project.
3. Change to Run mode.
If the OK LED remains solid red, contact your Rockwell Automation representative or local distributor.
solid green
The controller is OK.
flashing green
The controller is storing or loading a project to or from nonvolatile memory.
Publication 1756-QR107C-EN-P - June 2005
1-4
Logix Controllers
CompactLogix Controllers (1769-Lxx)
Front Panel:
Indicator:
Color:
Description:
RUN
off
The controller is in Program or Test mode.
solid green
The controller is in Run mode.
off
No tags contain I/O force values.
I/O forces are inactive (disabled).
solid amber
I/O forces are active (enabled).
I/O force values may or may not exist.
flashing amber
One or more input or output addresses have been forced to an On or Off state, but the forces have not been enabled.
off
The battery supports memory.
solid red
Either the battery is:
• not installed.
• 95% discharged and should be replaced.
off
Either:
• There are no devices in the I/O configuration of the controller.
• The controller does not contain a project (controller memory is empty).
solid green
The controller is communicating with all the devices in its I/O configuration.
flashing green
One or more devices in the I/O configuration of the controller are not responding.
flashing red
The controller is not communicating to any devices.
The controller is faulted.
FORCE
BAT
I/O
Publication 1756-QR107C-EN-P - June 2005
Logix Controllers
Front Panel:
Indicator:
Color:
Description:
OK
off
No power is applied.
flashing red
If the controller is:Then:
a new controllerthe controller requires a firmware update
not a new controllerA major fault occurred. To clear the fault, either:
- Turn the keyswitch from PROG to RUN to PROG
- Go online with RSLogix 5000 software
solid red
The controller detected a non-recoverable fault, so it cleared the project from memory. To recover:
1-5
1. Cycle power to the chassis.
2. Download the project.
3. Change to Run mode.
If the OK LED remains solid red, contact your Rockwell Automation representative or local distributor.
DCH0
(RS-232)
Channel 1
(RS-232)
(1769-L31, -L30
only)
solid green
The controller is OK.
flashing green
The controller is storing or loading a project to or from nonvolatile memory.
off
User-configured communications are active.
solid green
Default communications are active.
off
There is no activity.
solid green
Data is being received or transmitted.
Publication 1756-QR107C-EN-P - June 2005
1-6
Logix Controllers
CompactLogix Controllers (1769-L31, -L32E, -L35E, -L32C, -L35CR) - CompactFlash
Indicator:
Color:
Description:
CompactFlash
CF
off
No activity.
flashing green
The controller is reading from or writing to the CompactFlash card.
flashing red
CompactFlash card does not have a valid file system.
CompactLogix Controllers (1769-L32E, -L35E) - EtherNet/IP
Indicator:
Color:
Description:
EtherNet/IP MS
off
There is no activity.
flashing green
The EtherNet/IP port does not have an IP address and is operating in BOOTP mode.
solid green
EtherNet/IP communications are active.
solid red
One of the following occurred:
• The controller is holding the EtherNet/IP port in reset or the controller is faulted.
• The EtherNet/IP port is performing it’s power-up self-test.
• An unrecoverable fault has occurred. Cycle power to the controller.
flashing red
Firmware is being updated.
Publication 1756-QR107C-EN-P - June 2005
Logix Controllers
Indicator:
Color:
Description:
EtherNet/IP NS
off
There is no activity. The EtherNet/IP port does not have an IP address and is operating in BOOTP mode.
flashing green
The EtherNet/IP port has an IP address but there are no CIP connections established.
solid green
The EtherNet/IP port has an IP address and CIP connections are established.
solid red
The assigned IP address is already in use.
flashing red/green
The EtherNet/IP port is performing its power-up self-test.
off
The EtherNet/IP port is not properly connected to the EtherNet/IP network. Make sure that all Ethernet cables are
connected and that the Ethernet switch has power.
flashing green
One of the following occurred:
• The EtherNet/IP port is performing it’s power-up self-test.
• The EtherNet/IP port is communicating on the network.
solid green
The EtherNet/IP port is properly connected to the EtherNet/IP network.
EtherNet/IP LNK
1-7
Publication 1756-QR107C-EN-P - June 2005
1-8
Logix Controllers
CompactLogix Controllers (1769-L32C, -L35CR) - ControlNet
Indicator:
Color:
Description:
ControlNet MS
off
the controller has no power.
the controller is faulted.
steady red
a major fault has occurred on the controller.
flashing red
a minor fault has occurred because a firmware update is in progress.
a node address switch change occurred. The controller’s node address switches may have been changed since
power-up.
the controller uses invalid firmware.
the controller’s node address duplicates that of another device.
steady green
connections are established.
flashing green
no connections are established.
flashing red/green
the controller is performing self-diagnostics.
Publication 1756-QR107C-EN-P - June 2005
Logix Controllers
Indicator:
ControlNet
(1)
If both channel
indicators are:
Description:
off
a channel is disabled.
steady green
normal operation is occurring.
flashing green/off
temporary network errors have occurred.
1-9
the node is not configured to go online.
flashing red/off
media fault has occurred.
no other nodes present on the network.
flashing red/green
the network is configured incorrectly.
If either channel
indicator is:
(1)
off
you should check the MS indicators.
steady red
the controller is faulted.
alternating red/green
the controller is performing a self-test.
alternating red/off
the node is configured incorrectly.
Channel B is only labelled on the 1769-L35CR controller. The 1769-L32C controller only has channel A but uses the second indicator in some LED patterns as
described in this table.
Publication 1756-QR107C-EN-P - June 2005
1 - 10
Logix Controllers
FlexLogix Controllers (1794-L34)
Front Panel:
Indicator:
Color:
Description:
RUN
off
The controller is in Program or Test mode.
solid green
The controller is in Run mode.
off
No power is applied.
flashing red
If the controller is:Then:
a new controllerthe controller requires a firmware update
not a new controllerA major fault occurred. To clear the fault, either:
- Turn the keyswitch from PROG to RUN to PROG
- Go online with RSLogix 5000 software
solid red
The controller detected a non-recoverable fault, so it cleared the project from memory. To recover:
OK
1. Cycle power to the chassis.
2. Download the project.
3. Change to Run mode.
If the OK LED remains solid red, contact your Rockwell Automation representative or local distributor.
BATTERY
Publication 1756-QR107C-EN-P - June 2005
solid green
The controller is OK.
flashing green
The controller is storing or loading a project to or from nonvolatile memory.
off
The battery supports memory.
red
Either the battery is:
• not installed.
• 95% discharged and should be replaced.
Logix Controllers
Front Panel:
1 - 11
Indicator:
Color:
Description:
I/O
off
Either:
• The controller project is not downloaded (the condition after power up).
• No I/O or communications are configured.
solid green
The controller is communicating to all devices.
flashing green
One or more devices are not responding.
off
The rail is inhibited.
solid green
The controller is communicating to all devices on that rail.
flashing green
One or more devices on that rail not responding.
flashing red
No modules exist on that rail.
off
There is no activity.
solid green
Data is being received or transmitted.
off
No tags contain I/O force values.
I/O forces are inactive (disabled).
solid amber
I/O forces are active (enabled).
I/O force values may or may not exist.
flashing amber
One or more input or output addresses have been forced to an On or Off state, but the forces have not
been enabled.
LOCAL
and
LOCAL2
RS232
FORCE
Publication 1756-QR107C-EN-P - June 2005
1 - 12
Logix Controllers
SoftLogix5800 Controllers (1789-L10, -L30, -L60)
Front Panel:
Indicator:
Color:
Description:
RUN
off
The controller is in Program or Test mode.
solid green
The controller is in Run mode.
off
Either:
• There are no devices in the I/O configuration of the controller.
• The controller does not contain a project (controller memory is empty).
solid green
The controller is communicating with all the devices in its I/O configuration.
flashing green
One or more devices in the I/O configuration of the controller are not responding.
flashing red
A virtual chassis error was detected. Contact your Rockwell Automation representative or local distributor.
off
No tags contain I/O force values.
I/O forces are inactive (disabled).
flashing green
At least one tag contains an I/O force value.
I/O force values are inactive (disabled).
solid green
I/O forces are active (enabled).
I/O force values may or may not exist.
off
No COM port was selected.
solid green
The selected COM port was successfully assigned to channel 0 of the controller.
solid red
There is a COM port conflict or you selected an invalid COM port number.
I/O
FRC
RS232(1)
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Logix Controllers
Front Panel:
Indicator:
BAT
OK
(1)
Color:
Description:
off
Normal operation.
flashing amber
The controller is in power-up mode.
solid red
Persistent storage for the controller has failed.
flashing red
If the controller is:Then:
a new controllerthe controller requires a firmware update
not a new controllerA major fault occurred. To clear the fault, either:
- Turn the keyswitch from PROG to RUN to PROG
- Go online with RSLogix 5000 software
solid red
The controller detected a non-recoverable fault, so it cleared the project from memory. To recover:
1 - 13
1. Cycle power to the chassis.
2. Download the project.
3. Change to Run mode.
If the OK LED remains solid red, contact your Rockwell Automation representative or local distributor.
solid green
(1)
The controller is OK.
Note that these LEDs function slightly different than the same LEDs on a ControlLogix controller.
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Logix Controllers
PowerFlex 700S with DriveLogix5720
Front Panel:
Indicator:
Color:
Description:
RUN
off
The controller is in Program or Test mode.
solid green
The controller is in Run mode.
off
No tags contain I/O force values.
I/O forces are inactive (disabled).
flashing amber
At least one tag contains an I/O force value.
I/O force values are inactive (disabled).
solid amber
I/O forces are active (enabled).
I/O force values may or may not exist.
off
The battery supports memory.
solid red
Either the battery is:
• not installed.
• 95% discharged and should be replaced.
off
Either:
• There are no devices in the I/O configuration of the controller.
• The controller does not contain a project (controller memory is empty).
solid green
The controller is communicating with all the devices in its I/O configuration.
flashing green
One or more devices in the I/O configuration of the controller are not responding.
flashing red
No required I/O connections can be made, controller is in Run mode.
FORCE
BAT
I/O
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Logix Controllers
Front Panel:
Indicator:
Color:
Description:
RS232
off
No COM port was selected.
solid green
The selected COM port was successfully assigned to channel 0 of the controller.
solid red
There is a COM port conflict or you selected an invalid COM port number.
flashing red
If the controller is:
a new controller
not a new controller
solid red
The controller detected a non-recoverable fault, so it cleared the project from memory. To recover:
1. Cycle power to the chassis.
2. Download the project.
3. Change to Run mode.
If the OK LED remains solid red, contact your Rockwell Automation representative or local distributor.
solid green
The controller is OK.
flashing green
The controller is storing or loading a project to or from nonvolatile memory.
OK
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Then:
the controller requires a firmware update
A major fault occurred. To clear the fault, either:
- Turn the keyswitch from PROG to RUN to PROG
- Go online with RSLogix 5000 software
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Logix Controllers
PowerFlex 700S with DriveLogix5730
Front Panel:
Indicator:
Color:
Description:
RUN
off
The controller is in Program or Test mode.
solid green
The controller is in Run mode.
off
No tags contain I/O force values.
I/O forces are inactive (disabled).
solid amber
I/O forces are active (enabled).
I/O force values may or may not exist.
flashing amber
One or more input or output addresses have been forced to an On or Off state, but the forces have not been enabled.
off
The battery supports memory.
solid red
Either the battery is:
• not installed.
• 95% discharged and should be replaced.
off
Either:
• There are no devices in the I/O configuration of the controller.
• The controller does not contain a project (controller memory is empty).
solid green
The controller is communicating with all the devices in its I/O configuration.
flashing green
One or more devices in the I/O configuration of the controller are not responding.
flashing red
The controller is not communicating to any devices.
The controller is faulted.
FORCE
BAT
I/O
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Logix Controllers
Front Panel:
Indicator:
Color:
Description:
COM
off
No RS-232 activity.
flashing green
RS-232 activity.
off
No power is applied.
flashing red
If the controller is:
a new controller
not a new controller
solid red
The controller detected a non-recoverable fault, so it cleared the project from memory. To recover:
1. Cycle power to the chassis.
2. Download the project.
3. Change to Run mode.
If the OK LED remains solid red, contact your Rockwell Automation representative or local distributor.
solid green
Controller is OK.
flashing green
The controller is storing or loading a project to or from nonvolatile memory.
OK
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Then:
the controller requires a firmware update
A major fault occurred.
To clear the fault, either:
- Turn the keyswitch from PROG to RUN to PROG
- Go online with RSLogix 5000 software
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Logix Controllers
Controller Comparison
Common Characteristics
1756 ControlLogix
1769 CompactLogix
1789 SoftLogix
1794 FlexLogix
PowerFlex 700S with
DriveLogix
controller tasks
• continuous
• periodic
• event
• 32 tasks (only 1 continuous)
• event tasks: supports all event
triggers
•
•
•
•
•
1769-L35E, -L35CR: 8 tasks
1769-L32E, -L32C: 6 tasks
1769-L31: 4 tasks
only 1 continuous
event tasks: supports
consumed tag trigger and
EVENT instruction
• 32 tasks (only 1 continuous)
• event tasks: supports all
event triggers, plus
outbound and Windows
events
• 8 tasks (only 1 continuous)
• event tasks: supports
consumed tag trigger and
EVENT instruction
• 8 tasks (only 1 continuous)
• event tasks: supports axis
and motion event triggers
user memory
1756-L55M12
1756-L55M13
1756-L55M14
1756-L55M16
1756-L55M22
1756-L55M23
1756-L55M24
1756-L61
1756-L62
1756-L63
750 Kbytes
1.5 Mbytes
3.5 Mbytes
7.5 Mbytes
750 Kbytes
1.5 Mbytes
3.5 Mbytes
2 Mbytes
4 Mbytes
8 Mbytes
1769-L31
512 Kbytes
1769-L32E, -L32C 750 Kbytes
1769-L35E, -L35CR 1.5 Mbytes
1789-L10 2 Mbytes
3 slots, no motion
1789-L30 64 Mbytes
5 slots
1789-L60 64 Mbytes
16 slots
1794-L34
5720
1756-L55M12
1756-L55M13
1756-L55M14
1756-L55M16
1756-L55M22
1756-L55M23
1756-L55M24
1756-L6x
none
none
none
none
yes
yes
yes
CompactFlash
CompactFlash
none
yes
nonvolatile user memory
Publication 1756-QR107C-EN-P - June 2005
512 Kbytes
5730
5720
5730
256 Kbytes
768 Kbytes with
expansion memory
1.5Mbytes
yes (expansion
memory)
CompactFlash
Logix Controllers
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Common Characteristics
1756 ControlLogix
1769 CompactLogix
1789 SoftLogix
1794 FlexLogix
PowerFlex 700S with
DriveLogix
built-in communication ports
1 port RS-232 serial
(DF1 or ASCII)
• 1769-L31: 2 RS-232 serial
ports (one DF1 only,
other DF1 or ASCII)
• 1769-L32C, -L35CR: 1
ControlNet port and 1
RS-232 serial port
(DF1 or ASCII)
• 1769-L32E, -L35E: 1
EtherNet/IP port and 1
RS-232 serial port
(DF1 or ASCII)
depends on personal computer
• 1 RS-232 serial port
(DF1 or ASCII)
• 2 slots for 1788
communication cards
5720
• 1 RS-232 serial port
(DF1 or ASCII)
• 1 slot for 1788
communication cards
5730
• 1 RS-232 serial port
(DF1 or ASCII)
• 1 slot for 1788 (option)
• 1 embedded ethernet
(option)
communication options
(these options have specific products
and profiles for their platform - other
options are available via 3rd party
products and generic profiles)
EtherNet/IP
ControlNet
DeviceNet
Data Highway Plus
Universal Remote I/O
serial
Modbus via ladder routine
DH-485
SynchLink
EtherNet/IP
ControlNet
DeviceNet
serial
Modbus via ladder routine
DH-485
EtherNet/IP
ControlNet
DeviceNet
serial
EtherNet/IP
ControlNet
DeviceNet
serial
Modbus via ladder routine
DH-485
EtherNet/IP
ControlNet
DeviceNet
serial
Modbus via ladder routine
DH-485
connections
64 over ControlNet (48
recommended)
128 over EtherNet/IP
32 over ControlNet
32 over EtherNet/IP
64 over ControlNet (48
recommended)
EtherNet/IP limited by type
and number of cards
32 over ControlNet
32 over EtherNet/IP
32 over ControlNet
32 over EtherNet/IP
controller redundancy
full redundancy support
not applicable
not applicable
controller hot backup via
DeviceNet
not applicable
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Logix Controllers
Common Characteristics
1756 ControlLogix
1769 CompactLogix
1789 SoftLogix
1794 FlexLogix
PowerFlex 700S with
DriveLogix
native I/O
1756 ControlLogix I/O
1769 Compact I/O
supported via 3rd party PCI bus
I/O cards
1794 FLEX I/O
1797 FLEX Ex I/O
5720
• 1794 FLEX I/O
• 1797 FLEX Ex I/O
5730
• 1769 Compact I/O
simple motion
stepper
servo via DeviceNet
analog ac drive
stepper
servo via DeviceNet
analog ac drive
stepper
servo via DeviceNet
analog ac drive
stepper
servo via DeviceNet
analog ac drive
stepper
servo via DeviceNet
analog ac drive
integrated motion
SERCOS interface
analog interface with options:
• quadrature encoder input
• LDT input
• SSI input
not applicable
SERCOS interface
analog interface with options:
• quadrature encoder input
• LDT input
• SSI input
not applicable
1 full servo
1 feedback axis
mounting and/or installation options
1756 chassis
panel mount
DIN rail
none
panel mount
DIN rail
embedded
programming languages
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
relay ladder
structured text
function block
sequential function chart
Publication 1756-QR107C-EN-P - June 2005
relay ladder
structured text
function block
sequential function chart
relay ladder
structured text
function block
sequential function chart
external routines (Windows
DLLs developed using
C/C++)
relay ladder
structured text
function block
sequential function chart
relay ladder
structured text
function block
sequential function chart
Logix Controllers
1 - 21
Select the Operating Mode of the Controller
Use this table to determine the operating mode of the controller:
If you want to:
Select one of these modes:
Run
Remote
Run
turn outputs to the state commanded by the logic of the project
Program
Test
Program
X
X
X
X
X
X
X
change the mode of the controller through software
X
X
X
download a project
X
X
X
X
X
X
X
X
X
X
turn outputs to their configured state for Program mode
execute (scan) tasks
schedule a ControlNet network
while online, edit the project
X
send messages
X
X
X
send and receive data in response to a message from another controller
X
X
X
X
X
produce and consume tags
X
X
X
X
X
Turn the key on the front panel of the controller to select the mode.
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Logix Controllers
Non-Volatile Memory
These controllers have nonvolatile memory for project storage.
Controller Type:
Catalog Number:
Firmware Revision:
1769-L32E
(1)
13.x or later
CompactLogix5335E
1769-L35E
(1)
12.x or later
CompactLogix5331
1769-L31(1)
CompactLogix5332C
1769-L32C(1)
CompactLogix5332E
13.x or later
13.x or later
CompactLogix5335CR
(1)
1769-L35CR
13.x or later
ControlLogix5555
1756-L55M22
10.x or later
1756-L55M23
8.x or later
1756-L55M24
8.x or later
ControlLogix5560M03SE
1756-L60M03SE(1)
(1)
13.x or later
12.x or later for series A
13.x or later for series B
ControlLogix5561 and ControlLogix5562
1756-L61, -L62
ControlLogix5563
1756-L63(1)
11.x or later for series A
13.x or later for series B
DriveLogix5720
various
10.x or later
DriveLogix5730
various(1)
13.x or later
FlexLogix5434 Series B
1794-L34/B
11.x or later
(1)
Requires a 1784-CF64 Industrial CompactFlash memory card.
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Logix Controllers
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On the controller properties, you select to store/load a project to/from non-volatile memory:
Project that is currently in the nonvolatile memory of the controller
(if any project is there).
Project that is currently in the user memory (RAM) of the controller.
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Logix Controllers
Create a Project
From RSLogix 5000 software, select File →New.
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Logix Controllers
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Controller Organizer
The programming software uses the Controller Organizer to define a project.
Continuous Task
Task
Program
Routine
Periodic Task
Main Routine
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Logix Controllers
Controller Tasks
A task provides scheduling and priority information for a set of one or more programs that execute based on specific criteria. Once a task
is triggered (activated), all the programs assigned (scheduled) to the task execute in the order in which they are displayed in the controller
organizer.
Task:
Definition:
continuous task
The continuous task runs in the background. Any CPU time not allocated to other operations (such as motion, communications, and periodic
or event tasks) is used to execute the programs within the continuous task.
• The continuous task runs all the time. 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.
periodic task
A periodic task performs a function at a specific rate.
• Whenever the time for the periodic task expires, the periodic task interrupts any lower priority tasks, executes one time, and then returns
control to where the previous task left off.
• You can configure the time period from 1 ms to 2000 s. The default is 10 ms. The performance of a periodic tasks depends on the type of
Logix controller and the logic in the task.
You assign a priority level (1 is the highest, 15 is the lowest) to each periodic task:
• The highest priority task interrupts all lower priority tasks.
• A higher priority task can interrupt a lower priority task multiple times.
• Tasks at the same priority execute on a time-slice basis at 1 ms intervals.
event task
An event task performs a function only when a specific event (trigger) occurs. Whenever the trigger for the event task occurs, the event task
interrupts any lower priority tasks, executes one time, and then returns control to where the previous task left off.
Available triggers are Module Input Data State Change, Consumed Tag, Axis Registration 1 or 2, Axis Watch, Motion Group Execution,
EVENT Instruction.
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Logix Controllers
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The number of tasks supported depends on the controller:
Controller:
Number of Tasks Supported:
ControlLogix
32 tasks, one of which can be continuous
There are 15 configurable priority levels for periodic tasks(1-15), with 1 being the highest priority and 15 being the lowest priority.
CompactLogix
and
PowerFlex 700S with DriveLogix5730
1769-L35E, -L35CR: 8 tasks, one of which can be continuous
1769-L32E, -L32C: 6 tasks, one of which can be continuous
1769-L31, -L30, -L20: 4 tasks, one of which can be continuous
There are 15 configurable priority levels for periodic tasks(1-15), with 1 being the highest priority and 15 being the lowest priority. The CompactLogix controller uses a
dedicated periodic task at priority 7 to process I/O data. This periodic task executes at the fastest RPI you have scheduled for the system. Its total execution time is as
long as it takes to scan the configured I/O modules.
FlexLogix
and
PowerFlex 700S with DriveLogix5720
8 tasks, one of which can be continuous
There are 15 configurable priority levels for periodic tasks(1-15), with 1 being the highest priority and 15 being the lowest priority.
The controller uses a dedicated periodic task at priority 7 to process I/O data. This periodic task executes at the fastest RPI you have scheduled for the system. Its total
execution time is as long as it takes to scan the configured I/O modules.
SoftLogix5800
32 tasks, one of which can be continuous
There are 3 configurable priority levels for periodic tasks (1-3), with 1 being the highest priority and 3 being the lowest priority.
A task can have as many as 32 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.
When a task is triggered, the scheduled programs within the task execute to completion from first to last. Each program contains program
tags, a main routine, other routines, and an optional fault routine. When a program executes, its main routine executes first. Use the main
routine to call (execute) other routines (subroutines). To call another routine within the program, use a Jump to Subroutine (JSR)
instruction.
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Logix Controllers
Event task details
Not all Logix controllers support all event task triggers:
If you have this controller:
Then you can use these event task triggers:
Module Input Data State Change
CompactLogix
Axis Watch
Motion Group Execution
X
X
X
X
DriveLogix5730
X
X
(1)
X
(2)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
(1)
Requires a 1756 I/O module or a virtual backplane.
(2)
A SoftLogix5800 controller produces and consumes tags only over a ControlNet network.
Publication 1756-QR107C-EN-P - June 2005
EVENT instruction
X
DriveLogix5720
SoftLogix5800
Axis Registration 1 or 2
X
FlexLogix
ControlLogix
Consumed Tag
Logix Controllers
1 - 29
To use an input module to trigger an event task, the module must support event task triggering. If the module is in a remote location, the
associated communication modules must also support event triggering. These modules can trigger an event task.
Category
Module
Category
Module
Category
Module
1756 Discrete
1756-IA8D
1756 Analog
1756-IF16
1756 Communication
1756-CNB/A, -CNB/B,
-CNB/D
1756-IA16, -IA16I
1756-IF4FXOF2F/A
1756-CNBR/A, -CNBR/B,
-CNBR/D
1756-IA32
1756-IF6CIS
1756-DNB
1756-IB16, -IB16D, -IB16I
1756-IF6I
1756-ENBT/A
1756-IB16ISOE
1756-IF8
1756-IB32/A, -IB32/B
1756-IR6I
1756 Generic
1756-MODULE
1756-IC16
1756-IT6I
SoftDNB
1784-PCIDS/A
1756-IG16
1756-IT6I2
1789 Generic
1789-MODULE
1756-IH16I, -IH16ISOE
1756 Specialty
1756-SYNCH/A
1756-CFM/A
1756-IM16I
1756-HSC
1756-IN16
1756-PLS/B
1756-IV16/A
1756-IV32/A
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Logix Controllers
Controller Tags
The most common data types are.
For:
Select:
For:
Select:
analog device in floating-point mode
REAL
digital I/O point
BOOL
analog device in integer mode (for very fast sample rates)
INT
floating-point number
REAL
ASCII characters
string
integer (whole number)
DINT
bit
BOOL
sequencer
CONTROL
counter
COUNTER
timer
TIMER
To organize your data:
For a:
Use a:
group of common attributes that are used by more than one machine
user-defined data type
group of data with the same data type
array
single value
tag of a single element
I/O device
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Logix Controllers
1 - 31
Create a tag
From the Logic menu, select Edit Tags.
You can configure tags to communicate directly with other controllers:
To:
Use a:
send data over the backplane and ControlNet network at a specified interval
produced tag
receive data from another controller over the backplane or ControlNet network at a specified
interval
consumed tag
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Logix Controllers
Create a user-defined data type
right click
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Logix Controllers
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Aliases
An alias tag lets you create one tag that represents another tag.
• Both tags share the same value (s).
• When the value (s) of one of the tags changes, the other tag reflects the change as well.
drill_1_depth_limit is an alias for
Local:2:I.Data.3 (a digital input point). When the
input turns on, the alias tag also turns on.
drill_1_on is an alias for
Local:0:O.Data.2 (a digital output point).
When the alias tag turns on, the output
tag also turns on.
The (C) indicates that the tag is at the controller scope.
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Logix Controllers
Choose a Programming Language
In general, if the function or group of functions represent:
Then use this language:
continuous or parallel execution of multiple operations (not sequenced)
ladder logic
boolean or bit-based operations
complex logical operations
message and communication processing
machine interlocking
operations that service or maintenance personnel may have to interpret in order to troubleshoot the machine or process
continuous process and drive control
function block diagram
loop control
calculations in circuit flow
high-level management of multiple operations
repetitive sequences of operations
batch process
motion control using structured text
state machine operations
continued
Publication 1756-QR107C-EN-P - June 2005
sequential function chart (SFC)
Logix Controllers
In general, if the function or group of functions represent:
Then use this language:
complex mathematical operations
structured text
1 - 35
specialized array or table loop processing
ASCII string handling or protocol processing
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Logix Controllers
Notes:
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Sequential Function Charts
Chapter
2
A sequential function chart (SFC) is similar to a flowchart. It uses steps and transitions to perform specific operations or actions.
A step represents a major function of your
process. It contains the actions that occur at a
particular time, phase, or station.
An action is one of the functions that
a step performs.
A transition is the true or false condition that tells the
SFC when to go to the next step.
A qualifier determines when an action
starts and stops.
START
A simultaneous branch executes
more than 1 step at the same time.
END
continued
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2-2
Sequential Function Charts
Example SFC continued
START
A selection branch chooses between
different execution paths.
END
A text box lets you add descriptive text or notes to your SFC.
continued
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Sequential Function Charts
2-3
Example SFC continued
A wire connects one element to another
element anywhere on the chart.
A stop lets you stop and wait for a command to restart.
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Sequential Function Charts
Editing an SFC
Button
SFC Element Created
Description
step and transition pair
Add a step and transition pair. See the descriptions for step and transition below.
step
Add a step.
A step represents a major function of a process. It contains the events that occur at a particular time, phase, or station.
transition
Add a transition.
A transition is the true or false condition or conditions that determine when to go to the next step.
action
boolean action
selection branch diverge
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Add an action or a boolean action to the selected step. Click the step and then press this button.
An action represents a functional division of a step. Several actions make up a step. Each action performs a specific function, such as
controlling a motor, opening a valve, or placing a group of devices in a specific mode.
Each action includes a qualifier. When a step is active (executing) the qualifier determines when the action starts and stops.
Starts a selection branch. Use the new path button to add paths to the branch structure.
Sequential Function Charts
Button
SFC Element Created
Description
simultaneous branch diverge
Starts a simultaneous branch. Use the new path button to add paths to the branch structure.
converge SFC elements
Ends the current branch. Select the last step of each path in the branch and then press this button.
2-5
A simultaneous branch ends with a double horizontal line and no transition. A selection branch ends with a transition for each path and a
single horizontal line.
extend branch
Add a path to a branch. Click the first step of the path that is to the left of where you want to add the new path and then press the button.
stop
End a path in a branch without connecting to other SFC elements.
subroutine/return
Add a subroutine call.
text box
Create a text box. Once the text box appears, you can click and drag the text box to the location you want. Double-click the text box to add
text.
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Sequential Function Charts
SFC_STEP Structure
Member
Data type
Details
T
DINT
When a step becomes active, the Timer (T) value resets and then starts to count up in milliseconds. The timer continues to count
up until the step goes inactive, regardless of the Preset (PRE) value.
PRE
DINT
Enter the time in the Preset (PRE) member. When the Timer (T) reaches the Preset value, the Done (DN) bit turns on and stays on
until the step becomes active again.
As an option, enter a numeric expression that calculates the time at runtime.
DN
BOOL
When the Timer (T) reaches the Preset (PRE) value, the Done (DN) bit turns on and stays on until the step becomes active again.
LimitLow
DINT
Enter the time in the LimitLow member (milliseconds).
• If the step goes inactive before the Timer (T) reaches the LimitLow value, the AlarmLow bit turns on.
• The AlarmLow bit stays on until you reset it.
• To use this alarm function, turn on (check) the AlarmEnable (AlarmEn) bit.
AlarmEn
BOOL
To use the alarm bits, turn on (check) the AlarmEnable (AlarmEn) bit.
AlarmLow
BOOL
If the step goes inactive before the Timer (T) reaches the LimitLow value, the AlarmLow bit turns on.
• The bit stays on until you reset it.
• To use this alarm function, turn on (check) the AlarmEnable (AlarmEn) bit.
LimitHigh
DINT
Enter the time in the LimitHigh member (milliseconds).
• If the Timer (T) reaches the LimitHigh value, the AlarmHigh bit turns on.
• The AlarmHigh bit stays on until you reset it.
• To use this alarm function, turn on (check) the AlarmEnable (AlarmEn) bit.
AlarmEn
BOOL
To use the alarm bits, turn on (check) the AlarmEnable (AlarmEn) bit.
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Sequential Function Charts
Member
Data type
Details
AlarmHigh
BOOL
If the Timer (T) reaches the LimitHigh value, the AlarmHigh bit turns on.
• The bit stays on until you reset it.
• To use this alarm function, turn on (check) the AlarmEnable (AlarmEn) bit.
X
BOOL
The X bit is on the entire time the step is active (executing).
FS
BOOL
The FS bit is on during the first scan of the step.
SA
BOOL
The SA bit is on when the step is active except during the first and last scan of the step.
LS
BOOL
The LS bit is on during the last scan of the step. Use this bit only if you do the following: On the Controller Properties dialog box,
SFC Execution tab, set the Last Scan of Active Step to Don’t Scan or Programmatic reset.
Reset
BOOL
An SFC Reset (SFR) instruction resets the SFC to a step or stop that the instruction specifies.
• The Reset bit indicates to which step or stop the SFC will go to begin executing again.
• Once the SFC executes, the Reset bit clears.
TMax
DINT
Use this for diagnostic purposes. The controller clears this value only when you choose the Restart Position of Restart at initial
step and the controller changes modes or experiences a power cycle.
OV
BOOL
Use this for diagnostic purposes.
Count
DINT
This is not a count of scans of the step.
• The count increments each time the step becomes active.
• It increments again only after the step goes inactive and then active again.
• The count resets only if you configure the SFC to restart at the initial step. With that configuration, it resets when the
controller changes from program mode to run mode.
2-7
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Sequential Function Charts
Member
Data type
Details
Status
DINT
For this member:
Use this bit:
Reset
22
AlarmHigh
23
AlarmLow
24
AlarmEn
25
OV
26
DN
27
LS
28
SA
29
FS
30
X
31
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Sequential Function Charts
2-9
SFC_ACTION Structure
Member
Data type
Details
Q
BOOL
The status of the Q bit depends on whether the action is a boolean action or non-boolean action:
If the action is:
Then the Q bit is:
boolean
on (1) the entire time the action is active, including the last scan of the action
non-boolean
on (1) while the action is active but
off (0) at the last scan of the action
To use a bit to determine when an action is active, use the Q bit.
A
BOOL
The A bit is on the entire time the action is active.
T
DINT
When an action becomes active, the Timer (T) value resets and then starts to count up in milliseconds. The timer continues to
count up until the action goes inactive, regardless of the Preset (PRE) value.
PRE
DINT
Enter the time limit or delay in the Preset (PRE) member. The action starts or stops when the Timer (T) reaches the Preset value.
Count
DINT
This is not a count of scans of the action.
• The count increments each time the action becomes active.
• It increments again only after the action goes inactive and then active again.
• The count resets only if you configure the SFC to restart at the initial step. With that configuration, it resets when the
controller changes from program mode to run mode.
Status
DINT
For this member:
Use this bit:
Q
30
A
31
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Sequential Function Charts
Action Qualifiers
If you want the action to:
And:
Assign this
qualifier:
Which means:
start when the step is activated
stop when the step is deactivated
N
Non-Stored (default)
execute only once
P1
Pulse (Rising Edge)
stop before the step is deactivated or when the step is
deactivated
L
Time Limited
stay active until a Reset action turns off this action
S
Stored
stay active until a Reset action turns off this action
or a specific time expires, even if the step is deactivated
SL
Stored and Time
Limited
start a specific time after the step is activated and the step is
still active
stop when the step is deactivated
D
Time Delayed
stay active until a Reset action turns off this action
DS
Delayed and Stored
start a specific time after the step is activated, even if the step is
deactivated before this time
stay active until a Reset action turns off this action
SD
Stored and Time
Delayed
execute once when the step is activated
execute once when the step is deactivated
P
Pulse
start when the step is deactivated
execute only once
P0
Pulse (Falling Edge)
R
Reset
turn off (reset) a stored action:
• S Stored
• SL Stored and Time Limited
• DS Delayed and Stored
• SD Stored and Time Delayed
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Sequential Function Charts
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SFC_STOP Structure
Member:
Data type:
Details:
X
BOOL
Reset
BOOL
An SFC Reset (SFR) instruction resets the SFC to a step or stop that the instruction specifies.
• The Reset bit indicates to which step or stop the SFC will go to begin executing again.
• Once the SFC executes, the Reset bit clears.
Count
DINT
This is not a count of scans of the stop.
• The count increments each time the stop becomes active.
• It increments again only after the stop goes inactive and then active again.
• The count resets only if you configure the SFC to restart at the initial step. With that configuration, it resets when the
controller changes from program mode to run mode.
Status
DINT
For this member:
Use this bit:
Reset
22
X
31
• When the SFC reaches the stop, the X bit turns on.
• The X bit clears if you configure the SFCs to restart at the initial step and the controller changes from program to run
mode.
• In a nested SFC, the X bit also clears if you configure the SFCs for automatic reset and the SFC leaves the step that calls
the nested SFC.
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Sequential Function Charts
How Do You Want to Use the Action?
There are two types of actions:
If you want to:
Then use a:
execute structured text directly in the SFC
non-boolean action
call a subroutine
use the automatic reset option to reset data upon leaving a step
only set a bit and program other logic to monitor the bit to determine when to execute.
boolean action
Use a non-boolean action
A non-boolean action contains the logic for the action. It uses structured text to execute assignments and instructions or call a subroutine.
With non-boolean actions, you also have the option to postscan (automatically reset) the assignments and instructions before leaving a step:
• During postscan the controller executes the assignments and instructions as if all conditions are false.
• The controller postscans both embedded structured text and any subroutine that the action calls.
Use a boolean action
A boolean action contains no logic for the action. It simply sets a bit in its tag (SFC_ACTION structure). To do the action, other logic must
monitor the bit and execute when the bit is on. With boolean actions, you have to manually reset the assignments and instructions that are
associated with the action. Since there is no link between the action and the logic that performs the action, the automatic reset option does
not effect boolean actions. You can reuse a boolean action multiple times within the same SFC.
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Sequential Function Charts
2 - 13
Configure the Execution of an SFC
From Controller Properties:
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Sequential Function Charts
Notes:
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Structured Text
Chapter
3
Structured Text Syntax
Structured text is a textual programming language that uses statements to define what to execute.
• Structured text is not case sensitive.
• Use tabs and carriage returns (separate lines) to make your structured text easier to read. They have no effect on the execution of
the structured text.
This is an example of a structured text routine.
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Structured Text
Structured text can contain these components:
Term:
Definition:
Examples:
assignment
(see page 3-4)
Use an assignment statement to assign values to tags.
The := operator is the assignment operator.
Terminate the assignment with a semi colon “;”.
tag := expression;
expression
(see page 3-6)
An expression is part of a complete assignment or construct statement. An expression evaluates to a
number (numerical expression) or to a true or false state (BOOL expression). An expression contains:
tags
A named area of the memory where data is stored (BOOL, SINT,INT,DINT,
REAL, string).
value1
immediates
A constant value.
4
operators
A symbol or mnemonic that specifies an operation within an expression.
tag1 + tag2
tag1 >= value1
functions
When executed, a function yields one value. Use parentheses to contain
the operand of a function.
function(tag1)
Even though their syntax is similar, functions differ from instructions in that
functions can only be used in expressions. Instructions cannot be used in
expressions.
instruction
(see page 3-13)
An instruction is a standalone statement.
An instruction uses parenthesis to contain its operands.
Depending on the instruction, there can be zero, one, or multiple operands.
When executed, an instruction yields one or more values that are part of a data structure.
Terminate the instruction with a semi colon “;”.
Instructions cannot be used in expressions. Functions can only be used in expressions.
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instruction();
instruction(operand);
instruction(operand1, operand2,operand3);
Structured Text
Term:
Definition:
Examples:
construct
(see page 3-15)
A conditional statement used to trigger structured text code (i.e, other statements).
Terminate the construct with a semi colon “;”.
IF...THEN
CASE
FOR...DO
WHILE...DO
REPEAT...UNTIL
EXIT
comment
(see page 3-25)
Text that explains or clarifies what a section of structured text does.
Use comments to make it easier to interpret the structured text.
Comments do not affect the execution of the structured text.
Comments can appear anywhere in structured text.
//comment
3-3
(*start of comment . . . end of comment*)
/*start of comment . . . end of comment*/
Entering spaces in structured text syntax is optional. Spaces have no effect on the execution of the structured text. For example, both of
these statements execute the same:
Tag_B:=Tag_A
Tag_B := Tag_A
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Structured Text
Assignments
Use an assignment to change the value stored within a tag. An assignment has this syntax:
tag := expression ;
where:
Component:
Description:
tag
represents the tag that is getting the new value
the tag must be a BOOL, SINT, INT, DINT, or REAL
:=
is the assignment symbol
expression
represents the new value to assign to the tag
If tag is this data type:
Use this type of expression:
BOOL
BOOL expression
SINT
INT
;
DINT
REAL
numeric expression
ends the assignment
The tag retains the assigned value until another assignment changes the value.
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Structured Text
3-5
Specify a non-retentive assignment
A non-retentive assignment is reset to zero each time the controller:
• enters the RUN mode
• leaves the step of an SFC if you configure the SFC for Automatic reset.
A non-retentive assignment has this syntax:
tag [:=] expression ;
where:
Component:
Description:
tag
represents the tag that is getting the new value
the tag must be a BOOL, SINT, INT, DINT, or REAL
[:=]
is the non-retentive assignment symbol
expression
represents the new value to assign to the tag
If tag is this data type:
Use this type of expression:
BOOL
BOOL expression
SINT
INT
;
DINT
REAL
numeric expression
ends the assignment
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Structured Text
Expressions
An expression is a tag name, equation, or comparison. To write an expression, use any of the following:
•
•
•
•
tag name that stores the value (variable)
number that you enter directly into the expression (immediate value)
functions, such as: ABS, TRUNC
operators, such as: +, -, <, >, And, Or
BOOL expression: An expression that produces either the BOOL value of 1 (true) or 0 (false).
• A bool expression uses bool tags, relational operators, and logical operators to compare values or check if conditions are true or
false. For example, tag1>65.
• A simple bool expression can be a single BOOL tag.
• Typically, you use bool expressions to condition the execution of other logic.
Numeric expression: An expression that calculates an integer or floating-point value.
• A numeric expression uses arithmetic operators, arithmetic functions, and bitwise operators. For example, tag1+5.
• Often, you nest a numeric expression within a bool expression. For example, (tag1+5)>65.
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3-7
Arithmetic operators
Arithmetic operators calculate new values.
To:
Use this operator:
Optimal data type:
add
+
DINT, REAL
subtract/negate
-
DINT, REAL
multiply
*
DINT, REAL
exponent (x to the power of y)
**
DINT, REAL
divide
/
DINT, REAL
modulo-divide
MOD
DINT, REAL
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Structured Text
Arithmetic functions
Arithmetic functions perform math operations. Specify a constant, a non-boolean tag, or an expression for the function.
For:
Use this function:
Optimal data type:
absolute value
ABS (numeric_expression)
DINT, REAL
arc cosine
ACOS (numeric_expression)
REAL
arc sine
ASIN (numeric_expression)
REAL
arc tangent
ATAN (numeric_expression)
REAL
cosine
COS (numeric_expression)
REAL
radians to degrees
DEG (numeric_expression)
DINT, REAL
natural log
LN (numeric_expression)
REAL
log base 10
LOG (numeric_expression)
REAL
degrees to radians
RAD (numeric_expression)
DINT, REAL
sine
SIN (numeric_expression)
REAL
square root
SQRT (numeric_expression)
DINT, REAL
tangent
TAN (numeric_expression)
REAL
truncate
TRUNC (numeric_expression)
DINT, REAL
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3-9
Relational operators
Relational operators compare two values or strings to provide a true or false result. The result of a relational operation is a BOOL value:
If the comparison is:
The result is:
true
1
false
0
For this comparison:
Use this operator:
Optimal Data Type:
equal
=
DINT, REAL, string
less than
<
DINT, REAL, string
less than or equal
<=
DINT, REAL, string
greater than
>
DINT, REAL, string
greater than or equal
>=
DINT, REAL, string
not equal
<>
DINT, REAL, string
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Structured Text
Logical operators
Logical operators let you check if multiple conditions are true or false. The result of a logical operation is a BOOL value:
If the comparison is:
The result is:
true
1
false
0
For:
Use this operator:
Data Type:
logical AND
&, AND
BOOL
logical OR
OR
BOOL
logical exclusive OR
XOR
BOOL
logical complement
NOT
BOOL
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Bitwise operators
Bitwise operators manipulate the bits within a value based on two values.
For:
Use this operator:
Optimal Data Type:
bitwise AND
&, AND
DINT
bitwise OR
OR
DINT
bitwise exclusive OR
XOR
DINT
bitwise complement
NOT
DINT
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Structured Text
Determine the order of execution
The operations you write into an expression are performed in a prescribed order, not necessarily from left to right.
• Operations of equal order are performed from left to right.
• If an expression contains multiple operators or functions, group the conditions in parenthesis “( )” to ensure the correct order.
Order:
Operation:
1.
()
2.
function (…)
3.
**
4.
− (negate)
5.
NOT
6.
*, /, MOD
7.
+, - (subtract)
8.
<, <=, >, >=
9.
=, <>
10.
&, AND
11.
XOR
12.
OR
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3 - 13
Instructions
Structured text statements can also be instructions. See the Locator Table at the beginning of this manual for a list of the instructions
available in structured text. A structured text instruction executes each time it is scanned. A structured text instruction within a construct
executes every time the conditions of the construct are true. If the conditions of the construct are false, the statements within the construct
are not scanned. There is no rung-condition or state transition that triggers execution.
This differs from function block instructions that use EnableIn to trigger execution. Structured text instructions execute as if EnableIn is
always set.
This also differs from relay ladder instructions that use rung-condition-in to trigger execution. Some relay ladder instructions only execute
when rung-condition-in toggles from false to true. These are transitional relay ladder instructions. In structured text, instructions will
execute each time they are scanned unless you pre-condition the execution of the structured text instruction.
For example, the ABL instruction is a transitional instruction in relay ladder. In this example, the ABL instruction only executes on a scan
when tag_xic transitions from cleared to set. The ABL instruction does not execute when tag_xic stays set or when tag_xic is cleared.
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Structured Text
In structured text, if you write this example as:
IF tag_xic THEN ABL(0,serial_control);
END_IF;
the ABL instruction will execute every scan that tag_xic is set, not just when tag_xic transitions from cleared to set.
If you want the ABL instruction to execute only when tag_xic transitions from cleared to set, you have to condition the structured text
instruction. Use a one shot to trigger execution.
osri_1.InputBit := tag_xic;
OSRI(osri_1);
IF (osri_1.OutputBit) THEN
ABL(0,serial_control);
END_IF;
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3 - 15
Constructs
Constructs can be programmed singly or nested within other constructs.
If you want to:
Use this construct:
See page:
do something if or when specific conditions occur
IF...THEN
3-16
select what to do based on a numerical value
CASE...OF
3-17
do something a specific number of times before doing anything else
FOR...DO
3-19
WHILE...DO
3-21
REPEAT...UNTIL
3-23
keep doing something as long as certain conditions are true
keep doing something until a condition is true
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Structured Text
IF...THEN
Use IF…THEN to do something if or when specific conditions occur. The syntax is:
IF bool_expression1 THEN
<statement >;
statements to execute when
bool_expression1 is true
.
.
.
optional
ELSIF bool_expression2 THEN
<statement>;
statements to execute when
bool_expression2 is true
.
.
.
optional
ELSE
<statement>;
.
.
.
END_IF;
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statements to execute when both
expressions are false
Structured Text
3 - 17
CASE...OF
Use CASE to select what to do based on a numerical value. The syntax is:
CASE numeric_expression OF
specify as many alternative
selector values (paths) as you
need
selector1 :
<statement>;
.
.
.
statements to execute when
numeric_expression = selector1
selector2 :
<statement>;
statements to execute when
numeric_expression = selector2
.
.
.
selector3 :
<statement>;
.
.
.
optional
statements to execute when
numeric_expression = selector3
ELSE
<statement>;
.
.
.
statements to execute when
numeric_expression ≠ any selector
END_CASE;
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Structured Text
The syntax for entering the selector values is:
When selector is:
Enter:
one value
value: statement
multiple, distinct values
value1, value2, valueN : <statement>
Use a comma (,) to separate each value.
a range of values
value1..valueN : <statement>
Use two periods (..) to identify the range.
distinct values plus a range of
values
valuea, valueb, value1..valueN : <statement>
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FOR…DO
Use the FOR…DO loop to do something a specific number of times before doing anything else. The syntax is:
FOR count := initial_value
TO final_value
optional
{
If you don’t specify an increment, the loop increments
by 1.
BY increment
DO
<statement>;
optional
IF bool_expression THEN
EXIT;
If there are conditions when you want to exit the loop
early, use other statements, such as an IF...THEN
construct, to condition an EXIT statement.
END_IF;
END_FOR;
A major fault will occur if:
Fault type:
Fault code:
the construct loops too long
6
1
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Structured Text
The following diagrams show how a FOR...DO loop executes and how an EXIT statement leaves the loop early.
Done x number
of times?
yes
Done x number
of times?
no
no
statement 1
statement 2
statement 3
statement 4
…
statement 1
statement 2
statement 3
statement 4
…
Exit ?
rest of the routine
yes
yes
no
rest of the routine
The FOR…DO loop executes a specific number of times.
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To stop the loop before the count reaches the last value, use an
EXIT statement.
Structured Text
3 - 21
WHILE…DO
Use the WHILE…DO loop to keep doing something as long as certain conditions are true. The syntax is:
WHILE bool_expression1 DO
<statement>;
optional
statements to execute while bool_expression1 is true
IF bool_expression2 THEN
EXIT;
If there are conditions when you want to exit the loop
early, use other statements, such as an IF...THEN
construct, to condition an EXIT statement.
END_IF;
END_WHILE;
A major fault will occur if:
Fault type:
Fault code:
the construct loops too long
6
1
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Structured Text
The following diagrams show how a WHILE...DO loop executes and how an EXIT statement leaves the loop early.
BOOL expression
false
false
BOOL expression
true
true
statement 1
statement 2
statement 3
statement 4
…
statement 1
statement 2
statement 3
statement 4
…
Exit ?
rest of the routine
yes
no
rest of the routine
While the bool_expression is true, the controller
executes only the statements within the WHILE…DO loop.
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To stop the loop before the conditions are true, use an EXIT
statement.
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3 - 23
REPEAT…UNTIL
Use the REPEAT…UNTIL loop to keep doing something until conditions are true. The syntax is:
REPEAT
statements to execute while bool_expression1 is
false
<statement>;
optional
IF bool_expression2 THEN
EXIT;
If there are conditions when you want to exit the loop
early, use other statements, such as an IF...THEN
construct, to condition an EXIT statement.
END_IF;
UNTIL bool_expression1
END_REPEAT;
A major fault will occur if:
Fault type:
Fault code:
the construct loops too long
6
1
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Structured Text
The following diagrams show how a REPEAT...UNTIL loop executes and how an EXIT statement leaves the loop early.
statement 1
statement 2
statement 3
statement 4
…
BOOL expression
true
statement 1
statement 2
statement 3
statement 4
…
Exit ?
yes
no
false
BOOL expression
true
rest of the routine
false
rest of the routine
While the bool_expression is false, the controller executes
only the statements within the REPEAT…UNTIL loop.
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To stop the loop before the conditions are false, use an EXIT
statement.
Structured Text
3 - 25
Comments
To add comments to your structured text:
To add a comment:
Use one of these formats:
on a single line
//comment
at the end of a line of structured text
(*comment*)
/*comment*/
within a line of structured text
(*comment*)
/*comment*/
that spans more than one line
(*start of comment . . . end of comment*)
/*start of comment . . . end of comment*/
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Structured Text
Notes:
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Function Block Diagram
Chapter
4
Function block diagrams are visual programs that can contain the following elements. Each function block is an instruction that defines a
control action.:
input reference (IREF)
function block
output reference (OREF)
output wire
connector (OCON)
input wire connector (ICON)
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4-2
Function Block Diagram
Editing a Function Block Diagram.
This toolbar button:
Creates this ladder element:
Description:
IREF
Add an input reference to supply a value from an input device or tag.
OREF
Add an output reference to send a value to an output device or tag.
ICON
Add input and output wire connectors. Use wire connectors to transfer data between function
blocks when they are:
• far apart on the same sheet
• on different sheets within the same routine
OCON
instruction
Use wire connectors to disperse data to several points in the routine by assigning one OCON to
multiple ICONs.
Select a specific function block to perform an operation on an input value or values and produce
an output value or values
Use the tabs on the bottom of the toolbar to display other available function blocks.
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Function Block Diagram
4-3
Data Latching
Condition:
Example:
If you use an IREF to specify input data for a function block instruction, the data in that IREF is latched for the scan of
the function block routine. The IREF latches data from program-scoped and controller-scoped tags. The controller
updates all IREF data at the beginning of each scan.
IREF
In this example, the value of tagA is stored at the beginning of the routine’s execution. The stored value is used
when Block_01 executes. The same stored value is also used when Blcock_02 executes. If the value of tagA
changes during execution of the routine, the stored value of tagA in the IREF does not change until the next
execution of the routine.
tagA
Block_01
Block_02
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4-4
Function Block Diagram
Condition:
Example:
This example is the same as the one above. The value of tagA is stored only once at the beginning of the routine’s
execution. The routine uses this stored value throughout the routine.
tagA
Block_01
tagA
Block_02
You can use the same tag in multiple IREFs and an OREF in the same routine. Because the values of tags in IREFs are
latched every scan through the routine, all IREFs will use the same value, even if an OREF obtains a different tag
value during execution of the routine. In this example, if tagA has a value of 25.4 when the routine starts executing
this scan, and Block_01 changes the value of tagA to 50.9, the second IREF wired into Block_02 will still use a value
of 25.4 when Block_02 executes this scan. The new tagA value of 50.9 will not be used by any IREFs in this routine
until the start of the next scan.
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Function Block Diagram
4-5
Order of Execution
The RSLogix 5000 programming software automatically determines the order of execution for the function blocks in a routine when you:
• verify a function block routine
• verify a project that contains a function block routine
• download a project that contains a function block routine
You define execution order by wiring function blocks together and indicating the data flow of any feedback wires, if necessary.
If function blocks are not wired together, it does not matter which block executes first. There is no data flow between the blocks.
If you wire the blocks sequentially, the execution order moves from input to output. The inputs of a block require data to be available
before the controller can execute that block. For example, block 2 has to execute before block 3 because the outputs of block 2 feed the
inputs of block 3.
1
2
3
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Function Block Diagram
Execution order is only relative to the blocks that are wired together. The following example is fine because the two groups of blocks are
not wired together. The blocks within a specific group execute in the appropriate order in relation to the blocks in that group.
1
3
5
2
4
6
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Function Block Diagram
4-7
Resolve a Loop
To create a feedback loop around a block, wire an output pin of the block to an input pin of the same block. The following example is OK.
The loop contains only a single block, so execution order does not matter.
This input pin uses an output that the block
produced on the previous scan.
If a group of blocks are in a loop, the controller cannot determine which block to execute first. In other words, it cannot resolve the loop.
?
?
?
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Function Block Diagram
To identify which block to execute first, mark the input wire that creates the loop (the feedback wire) with the Assume Data Available
indicator. In the following example, block 1 uses the output from block 3 that was produced in the previous execution of the routine.
1
2
3
This input pin uses the output that block 3
produced on the previous scan.
Assume Data Available indicator
The Assume Data Available indicator defines the data flow within the loop. The arrow indicates that the data serves as input to the first
block in the loop. Do not mark all the wires of a loop with the Assume Data Available indicator.
This is OK
This is NOT OK
1
2
The controller cannot resolve the loop because all the wires use the Assume Data
Available indicator.
?
Assume Data Available indicator
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?
Function Block Diagram
4-9
Resolve Data Flow Between Two Blocks
If you use two or more wires to connect two blocks, use the same data flow indicators for all of the wires between the two blocks.
This is OK
This is NOT OK
One wire uses the Assume Data Available indicator while the other wire does not.
Neither wire uses the Assume Data Available indicator.
Assume Data Available indicator
Both wires use the Assume Data Available indicator.
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Function Block Diagram
Create a One Scan Delay
To produce a one scan delay between blocks, use the Assume Data Available indicator. In the following example, block 1 executes first. It
uses the output from block 2 that was produced in the previous scan of the routine.
1
2
Assume Data Available indicator
Summary
In summary, a function block routine executes in this order:
1. The controller latches all data values in IREFs.
2. The controller executes the other function blocks in the order determined by how they are wired.
3. The controller writes outputs in OREFs.
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Function Block Diagram
4 - 11
Define Program/Operator Control
Several instructions support the concept of Program/Operator control. These instructions include:
•
•
•
•
•
•
Enhanced Select (ESEL)
Totalizer (TOT)
Enhanced PID (PIDE)
Ramp/Soak (RMPS)
Discrete 2-State Device (D2SD)
Discrete 3-State Device (D3SD)
Program/Operator control lets you control these instructions simultaneously from both your user program and from an operator interface
device. When in Program control, the instruction is controlled by the Program inputs to the instruction; when in Operator control, the
instruction is controlled by the Operator inputs to the instruction.
Program or Operator control is determined by using these inputs:
Input:
Description:
.ProgProgReq
A program request to go to Program control.
.ProgOperReq
A program request to go to Operator control.
.OperProgReq
An operator request to go to Program control.
.OperOperReq
An operator request to go to Operator control.
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Function Block Diagram
To determine whether an instruction is in Program or Control control, examine the ProgOper output. If ProgOper is set, the instruction is in
Program control; if ProgOper is cleared, the instruction is in Operator control.
Control:
Description:
program
The Program request inputs take precedence over the Operator request inputs. This provides the capability to use the ProgProgReq and
ProgOperReq inputs to “lock” an instruction in a desired control.
Constantly setting the ProgProgReq can “lock” the instruction into Program control. This is useful for automatic startup sequences when
you want the program to control the action of the instruction without worrying about an operator inadvertently taking control of the
instruction. In this example, you have the program set the ProgProgReq input during the startup, and then clear the ProgProgReq input
once the startup was complete. Once the ProgProgReq input is cleared, the instruction remains in Program control until it receives a
request to change. For example, the operator could set the OperOperReq input from a faceplate to take over control of that instruction.
Program request inputs are not normally cleared by the instruction because these are normally wired as inputs into the instruction. If the
instruction clears these inputs, the input would just get set again by the wired input. There might be situations where you want to use
other logic to set the Program requests in such a manner that you want the Program requests to be cleared by the instruction. In this case,
you can set the ProgValueReset input and the instruction will always clear the Program mode request inputs when it executes.
operator
Operator request inputs to an instruction are always cleared by the instruction when it executes. This allows operator interfaces to work
with these instructions by merely setting the desired mode request bit. You don’t have to program the operator interface to reset the
request bits.
Operator control takes precedence over Program control if both input request bits are set. For example, if ProgProgReq and ProgOperReq
are both set, the instruction goes to Operator control.
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Relay Ladder
Chapter
5
Relay Ladder Logic
Relay ladder logic places input and output instructions on rungs.
input instructions
output instructions
branches
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Relay Ladder
There is no limit to the number of parallel branch levels that you can enter. The following figure shows a parallel branch with five levels.
The main rung is the first branch level, followed by four additional branches.
You can nest branches to as many as 6 levels. The following figure shows a nested branch. The bottom output instruction is on a nested
branch that is three levels deep.
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Relay Ladder
5-3
Editing Relay Ladder
This toolbar button:
Creates this ladder element:
Description:
ladder rung
A rung determines the execution order of input and output instructions.
branch
A branch is two or more instructions in parallel.
a branch level
There is no limit to the number of parallel branch levels that you can enter.
You can nest branches to as many as 6 levels.
instruction
Input instruction: An instruction that checks, compares, or examines specific conditions in your
machine or process.
Output instruction: An instruction that takes some action, such as turn on a device, turn off a
device, copy data, or calculate a value.
Use the tabs on the bottom of the toolbar to display other available instructions.
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Relay Ladder
Rung Condition
The controller evaluates ladder instructions based on the rung condition preceding the instruction (rung-condition-in).
input instruction
rung-condition-in
output instruction
rung-condition-out
Only input instructions affect the rung-condition-in of subsequent instructions on the rung:
• If the rung-condition-in to an input instruction is true, the controller evaluates the instruction and sets the rung-condition-out to
match the results of the evaluation.
– If the instruction evaluates to true, the rung-condition-out is true.
– If the instruction evaluates to false, the rung-condition-out is false.
• An output instruction does not change the rung-condition-out.
– If the rung-condition-in to an output instruction is true, the rung-condition-out is set to true.
– If the rung-condition-in to an output instruction is false, the rung-condition-out is set to false.
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Accessing System Values
Chapter
6
System Values Stored by the Controller
The controller automatically stored different status information:
If you want to:
See page:
use specific key words in logic to monitor specific status conditions
6-2
get or set system data (status information)
6-3
available status information - GSV/SSV objects
6-5
get information about controller memory
6-26
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Accessing System Values
Monitor Status Flags
The controller supports status keywords you can use in your logic to monitor specific events:
To determine if:
the value you are storing cannot fit into the destination because it is either:
• greater than the maximum value for the destination
• less than the minimum value for the destination
Use:
S:V
Important: Each time S:V goes from cleared to set, it generates a minor fault (type 4, code 4)
the instruction’s destination value is 0
S:Z
the instruction’s destination value is negative
S:N
an arithmetic operation causes a carry or borrow that tries to use bits that are outside of the data type
S:C
this is the first, normal scan of the routines in the current program
S:FS
at least one minor fault has been generated:
• The controller sets this bit when a minor fault occurs due to program execution.
• The controller does not set this bit for minor faults that are not related to program execution, such as battery low.
S:MINOR
The status keywords are not case sensitive. Because the status flags can change so quickly, RSLogix 5000 software does not display the
status of the flags. You cannot define a tag alias to a keyword.
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6-3
Get and Set System Data (Status Information)
The controller stores system data in objects. There is no status file, as in the PLC-5 controller. Use the GSV/SSV instructions get and set
controller system data that is stored in objects. To get or set a system value:
1. Select the system object you want.
To get or set:
Select:
To get or set:
Select:
axis of a servo module
AXIS
status, faults, and mode of a module
MODULE
system overhead timeslice
CONTROLLER
group of axes
MOTIONGROUP
physical hardware of a controller
CONTROLLERDEVICE
fault information or scan time for a program
PROGRAM
coordinated system time for the devices in one chassis
CST
instance number of a routine
ROUTINE
DF1 communication driver for the serial port
DF1
configuration of the serial port
SERIALPORT
fault history for a controller
FAULTLOG
properties or elapsed time of a task
TASK
attributes of a message instruction
MESSAGE
wall clock time of a controller
WALLCLOCKTIME
2. In the list of attributes for the object, identify the attribute that you want to access.
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Accessing System Values
3. Create a tag for the value of the attribute:
If the data type of the attribute is:
Then:
one element (e.g., DINT)
Create a tag for the attribute.
more than one element (e.g., DINT[7])
A. Create a user-defined data type that matches the organization of data for the attribute.
B. Create a tag for the attribute.
4. In your logic, use a GSV instruction to get the value of an attribute or an SSV instruction to set the value of an attribute.
5. Assign the required operands to the instruction:
For this operand:
Select:
Class name
name of the object
Instance name
name of the specific object (e.g., name of the required I/O module, task, message)
Not all objects require this entry.
To specify the current task, program, or routine, select THIS.
Attribute Name
name of the attribute
Dest (GSV)
tag that will store the retrieved value
If the tag is a user-defined data type or an array, select the first member or element.
Source (SSV)
tag that stores the value to be set
If the tag is a user-defined data type or an array, select the first member or element.
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6-5
Available Status Information - GSV/SSV Objects
CONTROLLER attributes
Attribute:
Data Type:
Instruction:
Description:
TimeSlice
INT
GSV
SSV
Percentage of available CPU that is assigned to communications. Valid values are 10-90. This value cannot be
changed when the keyswitch is in the run position.
CONTROLLERDEVICE attributes
Attribute:
Data Type:
Instruction:
Description:
DeviceName
SINT[33]
GSV
ASCII string that identifies the catalog number of the controller and memory board. The first byte contains a
count of the number of ASCII characters returned in the array string.
ProductCode
INT
GSV
Identifies the type of controller:
Value:
Meaning:
3
ControlLogix5550
15
SoftLogix5860
41
FlexLogix5433
43
FlexLogix5434
48
PowerFlex 700S with DriveLogix5720
50
CompactLogix5320
51
ControlLogix5555
52
PowerFlex 700S with DriveLogix5730
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
ProductRev
INT
GSV
Identifies the current product revision. Display should be hexadecimal. The low byte contains the major
revision; the high byte contains the minor revision.
SerialNumber
DINT
GSV
Serial number of the device. The serial number is assigned when the device is built.
Status
INT
GSV
Device Status Bits
Bits 7-4: Meaning:
0000
reserved
0001
flash update in progress
0010
reserved
0011
reserved
0100
flash is bad
0101
faulted
0110
run
0111
program
Controller Status Bits
Bits 13-12: Meaning:
01
keyswitch in run
10
keyswitch in program
11
keyswitch in remote
Bits 15-14
01
10
Meaning
controller is changing modes
debug mode if controller is in run mode
Fault Status Bits
Bits 11-8: Meaning:
0001
recoverable minor fault
0010
unrecoverable minor fault
0100
recoverable major fault
1000
unrecoverable major fault
Type
INT
GSV
Identifies the device as a controller. Controller = 14
Vendor
INT
GSV
Identifies the vendor of the device. Allen-Bradley = 0001
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6-7
CST attributes
Attribute:
Data Type:
Instruction:
Description:
CurrentStatus
INT
GSV
Current status of the coordinated system time.
Bit:
Meaning:
0
timer hardware faulted: the device’s internal timer hardware is in a faulted state
1
ramping enabled: the current value of the timer’s lower 16+ bits ramp up to the
requested value, rather than snap to the lower value.
2
system time master: the CST object is a master time source in the ControlLogix system
3
synchronized: the CST object’s 64-bit CurrentValue is synchronized by a master CST
object via a system time update
4
local network master: the CST object is the local network master time source
5
in relay mode: the CST object is acting in a time relay mode
6
duplicate master detected: a duplicate local network time master has been detected.
This bit is always 0 for time-dependent nodes.
7
unused
8-9
00 = time dependent node
01 = time master node
10 = time relay node
11 = unused
10-15
unused
CurrentValue
DINT[2]
GSV
Current value of the timer. DINT[0] contains the lower 32; DINT[1] contains the upper 32 bits. The timer source
is adjusted to match the value supplied in update services and from local communication network
synchronization. The adjustment is either a ramping to the requested value or an immediate setting to the
request value, as reported in the CurrentStatus attribute.
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Accessing System Values
DF1 attributes
Attribute:
Data Type:
Instruction:
Description:
ACKTimeout
DINT
GSV
The amount of time to wait for an acknowledgment to a message transmission (point-to-point and master
only). Valid value 0-32,767. Delay in counts of 20 msec periods. Default is 50 (1 second).
DiagnosticCounters
INT[19]
GSV
Array of diagnostic counters for the DF1 communication driver.
word offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
DF1 point-to-point
signature (0x0043)
modem bits
packets sent
packets received
undelivered packets
unused
NAKs received
ENQs received
bad packets NAKed
no memory sent NAK
duplicate packets received
bad characters received
DCD recoveries count
lost modem count
unused
unused
unused
unused
ENQs sent
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DF1 slave
signature (0x0042)
modem bits
packets sent
packets received
undelivered packets
messages retried
NAKs received
poll packets received
bad packets not ACKed
no memory not ACKed
duplicate packets received
unused
DCD recoveries count
lost modem count
unused
unused
unused
unused
unused
master
signature (0x0044)
modem bits
packets sent
packets received
undelivered packets
messages retried
unused
unused
bad packets not ACKed
unused
duplicate packets received
unused
DCD recoveries count
lost modem count
priority scan time maximum
priority scan time last
normal scan time maximum
normal scant time last
unused
Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
DuplicateDetection
SINT
GSV
Enables duplicate message detection.
Value:
Meaning:
0
duplicate message detection disabled
non zero duplicate message detection enabled
EmbeddedResponseEnable
SINT
GSV
Enables embedded response functionality (point-to-point only).
Value:
Meaning:
0
initiated only after one is received (default)
1
enabled unconditionally
ENQTransmitLimit
SINT
GSV
The number of inquiries (ENQs) to send after an ACK timeout (point-to-point only). Valid value 0-127.
Default setting is 3.
EOTSuppression
SINT
GSV
Enable suppressing EOT transmissions in response to poll packets (slave only).
Value:
Meaning:
0
EOT suppression disabled (disabled)
non zero EOT suppression enabled
ErrorDetection
SINT
GSV
Specifies the error-detection scheme.
Value:
Meaning:
0
BCC (default)
1
CRC
MasterMessageTransmit
SINT
GSV
Current value of the master message transmission (master only).
Value:
Meaning:
0
between station polls (default)
1
in poll sequence (in place of master’s station number)
NAKReceiveLimit
SINT
GSV
The number of NAKs received in response to a message before stopping transmission (point-to-point
communication only). Valid value 0-127. Default is 3.
6-9
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
NormalPollGroupSize
INT
GSV
Number of stations to poll in the normal poll node array after polling all the stations in the priority poll node
array (master only).
Valid value 0-255. Default is 0.
PollingMode
SINT
GSV
Current polling mode (master only). Default setting is 1.
Value:
Meaning:
0
message-based, but don’t allow slaves to initiate messages
1
message-based, but allow slaves to initiate messages (default)
2
standard, single-message transfer per node scan
3
standard, multiple-message transfer per node scan
ReplyMessageWait
DINT
GSV
The time (acting as a master) to wait after receiving an ACK before polling the slave for a response (master
only). Valid value 0-65,535. Delay in counts of 20 msec periods. The default is 5 periods (100 msec).
StationAddress
INT
GSV
Current station address of the serial port. Valid value 0-254. Default is 0.
SlavePollTimeout
DINT
GSV
The amount of time in msecs that the slave waits for the master to poll before the slave declares that it is
unable to transmit because the master is inactive (slave only). Valid value 0-32,767. Delay in counts of 20
msec periods. The default is 3000 periods (1 minute).
TransmitRetries
SINT
GSV
Number of times to resend a message without getting an acknowledgment (master and slave only).
Valid value 0-127. Default is 3.
PendingACKTimeout
DINT
SSV
Pending value for the ACKTimeout attribute.
PendingDuplicateDetection
SINT
SSV
Pending value for the DuplicateDetection attribute.
PendingEmbeddedResponseEnable
SINT
SSV
Pending value for the EmbeddedResponse attribute.
PendingENQTransmitLimit
SINT
SSV
Pending value for the ENQTransmitLimit attribute.
PendingEOTSuppression
SINT
SSV
Pending value for the EOTSuppression attribute.
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
PendingErrorDetection
SINT
SSV
Pending value for the ErrorDetection attribute.
PendingNormalPollGroupSize
INT
SSV
Pending value for the NormalPollGroupSize attribute.
PendingMasterMessageTransmit
SINT
SSV
Pending value for the MasterMessageTransmit attribute.
PendingNAKReceiveLimit
SINT
SSV
Pending value for the NAKReceiveLimit attribute.
PendingPollingMode
SINT
SSV
Pending value for the PollingMode attribute.
PendingReplyMessageWait
DINT
SSV
Pending value for the ReplyMessageWait attribute.
PendingStationAddress
INT
SSV
Pending value for the StationAddress attribute.
PendingSlavePollTimeout
DINT
SSV
Pending value for the SlavePollTimeout attribute.
PendingTransmitRetries
SINT
SSV
Pending value for the TransmitRetries attribute.
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FAULTLOG attributes
Attribute:
Data Type:
Instruction:
Description:
MajorEvents
INT
GSV
SSV
How many major faults have occurred since the last time this counter was reset.
MinorEvents
INT
GSV
SSV
How many minor faults have occurred since the last time this counter was reset.
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
MajorFaultBits
DINT
GSV
SSV
Individual bits indicate the reason for the current major fault.
Bit:
Meaning:
1
power loss
3
I/O
4
instruction execution (program)
5
fault handler
6
watchdog
7
stack
8
mode change
11
motion
MinorFaultBits
DINT
GSV
SSV
Individual bits indicate the reason for the current minor fault.
Bit:
Meaning:
4
instruction execution (program)
6
watchdog
9
serial port
10
battery
Attribute:
Data Type:
Instruction:
Description:
ConnectionPath
SINT[130]
GSV
SSV
Data to setup the connection path. The first two bytes (low byte and high byte) are the length in bytes of the
connection path.
ConnectionRate
DINT
GSV
SSV
Requested packet rate of the connection.
MESSAGE attributes
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
MessageType
SINT
GSV
SSV
Specifies the type of message.
Value:
Meaning:
0
not initialized
Port
SINT
GSV
SSV
Indicates which port the message should be sent on.
Value:
Meaning:
1
backplane
2
serial port
TimeoutMultiplier
SINT
GSV
SSV
Determines when a connection should be considered timed out and closed.
Value:
Meaning:
0
connection will timeout in 4 times the update rate default)
1
connection will timeout in 8 times the update rate
2
connection will timeout in 16 times the update rate
UnconnectedTimeout
DINT
GSV
SSV
Timeout in microseconds for all unconnected messages. The default is 30,000,000 microseconds (30 s).
6 - 13
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Accessing System Values
MODULE attributes
Attribute:
Data Type:
Instruction:
Description:
EntryStatus
INT
GSV
Specifies the current state of the specified map entry. The lower 12 bits should be masked when
performing a comparison operation. Only bits 12-15 are valid.
Value:
Meaning:
16#0000 Standby: the controller is powering up.
16#1000 Faulted: any of the MODULE object’s connections to the associated module fail. This
value should not be used to determine if the module failed because the MODULE
object leaves this state periodically when trying to reconnect to the module. Instead,
test for Running state (16#4000). Check for FaultCode not equal to 0 to determine if a
module is faulted. When Faulted, the FaultCode and FaultInfo attributes are valid until
the fault condition is corrected.
16#2000 Validating: the MODULE object is verifying MODULE object integrity prior to establishing
connections to the module.
16#3000 Connecting: the MODULE object is initiating connections to the module.
16#4000 Running: all connections to the module are established and data is transferring.
16#5000 Shutting down: the MODULE object is in the process of shutting down all connections to
the module.
16#6000 Inhibited: the MODULE object is inhibited (the inhibit bit in the Mode attribute is set).
16#7000 Waiting: the parent object upon which this MODULE object depends is not running.
FaultCode
INT
GSV
A number which identifies a module fault, if one occurs.
FaultInfo
DINT
GSV
Provides specific information about the MODULE object fault code.
ForceStatus
INT
GSV
Specifies the status of forces.
Bit:
Meaning:
0
forces installed (1=yes, 0-no)
1
forces enabled (1=yes, 0=no)
Instance
DINT
GSV
Provides the instance number of this MODULE object.
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6 - 15
Attribute:
Data Type:
Instruction:
Description:
LEDStatus
INT
GSV
Specifies the current state of the I/O LED on the front of the controller.
Value:
Meaning:
0
LED off: No MODULE objects are configured for the controller (there are no modules in the
I/O Configuration section of the controller organizer).
1
Flashing red: None of the MODULE objects are Running.
2
Flashing green: At least one MODULE object is not Running.
3
Solid green: All the Module objects are Running.
Note: You do not enter an object name with this attribute because this attribute applies to the entire
collection of modules.
Mode
INT
GSV
SSV
Specifies the current mode of the MODULE object.
Bit:
Meaning:
0
If set, causes a major fault to be generated if any of the MODULE object connections fault
while the controller is in Run mode.
2
If set, causes the MODULE object to enter Inhibited state after shutting down all the
connections to the module.
PROGRAM attributes
Attribute:
Data Type:
Instruction:
Description:
DisableFlag
SINT
GSV
SSV
Controls this program’s execution.
Value:
Meaning:
0
execution enabled
1
execution disabled
Instance
DINT
GSV
Provides the instance number of this PROGRAM object.
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
LastScanTime
DINT
GSV
SSV
Time it took to execute this program the last time it was executed. Time is in microseconds.
MajorFaultRecord
DINT[11]
GSV
SSV
Records major faults for this program
We recommend that you create a user-defined structure to simplify access to the MajorFaultRecord attribute:
Name:
TimeLow
TimeHigh
Type
Code
Info
Data Type:
DINT
DINT
INT
INT
DINT[8]
Style:
Decimal
Decimal
Decimal
Decimal
Hexadecimal
Description:
lower 32 bits of fault timestamp value
upper 32 bits of fault timestamp value
fault type (program, I/O, etc.)
unique code for the fault (depends on fault type)
fault specific information (depends on fault type and code)
MaxScanTime
DINT
GSV
SSV
Maximum recorded execution time for this program. Time is in microseconds.
MinorFaultRecord
DINT[11]
GSV
SSV
Records minor faults for this program
We recommend that you create a user-defined structure to simplify access to the MinorFaultRecord attribute:
Name:
TimeLow
TimeHigh
Type
Code
Info
SFCRestart
Data Type:
DINT
DINT
INT
INT
DINT[8]
Style:
Decimal
Decimal
Decimal
Decimal
Hexadecimal
INT
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Description:
lower 32 bits of fault timestamp value
upper 32 bits of fault timestamp value
fault type (program, I/O, etc.)
unique code for the fault (depends on fault type)
fault specific information (depends on fault type and code)
GSV
SSV
unused - reserved for future use
Accessing System Values
6 - 17
REDUNDANCY attributes
Attribute:
Data Type:
Instruction:
Description:
ChassisRedundancyState
INT
GSV
Redundancy status of the entire chassis.
Value:
Meaning:
16#1
power-up or undetermined
16#2
primary with qualified secondary
16#3
primary with disqualified secondary
16#4
primary with no secondary
CompatibilityResults
INT
GSV
The results of the compatibility checks with the partner controller.
Value:
Meaning:
0
undetermined
1
no compatible partner
2
fully compatible partner
KeyswitchAlarm
DINT
GSV
The keyswitch settings of the controller and its partner match or do not match.
Value:
Meaning:
0
the keyswitches match or no partner is present
1
keyswitches do not match
ModuleRedundancyState
INT
GSV
Redundancy status of the controller.
Value:
Meaning:
16#1
power-up or undetermined
16#2
primary with qualified secondary
16#3
primary with disqualified secondary
16#4
primary with no secondary
16#6
primary with qualifying secondary
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
PartnerChassisRedundancyState
INT
GSV
Redundancy state of the partner chassis.
Value:
Meaning:
16#8
qualified secondary
16#9
disqualified secondary with primary
PartnerKeyswitch
DINT
GSV
Position of the keyswitch of the partner.
Value:
Meaning:
0
unknown
1
RUN
2
PROG
3
REM
PartnerMinorFaults
DINT
GSV
Minor faults of the partner (if the ModuleRedundancyState indicates that a partner is present).
Value:
Meaning:
4
problem with an instruction (program)
6
periodic task overlap (watchdog)
9
problem with the serial port
10
low battery
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
PartnerMode
DINT
GSV
Mode of the partner.
Value:
Meaning:
16#0
power up
16#1
program
16#2
run
16#3
test
16#4
faulted
16#5
run-to-program
16#6
test-to-program
16#7
program-to-run
16#8
test-to-run
16#9
run-to-test
16#A
program-to-test
16#B
into faulted
16#C
faulted-to-program
PartnerModuleRedundancyState
INT
GSV
Redundancy state of the partner.
Value:
Meaning:
16#7
qualifying secondary
16#8
qualified secondary
16#9
disqualified secondary with primary
PhysicalChassisID
INT
GSV
In a pair of redundant chassis, identifies a specific chassis without regard to the state of the chassis.
Value:
Meaning:
0
unknown
1
Chassis A
2
Chassis B
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
QualificationInProgress
INT
GSV
Status of the qualification process.
Value:
Meaning:
-1
qualification is not in progress
0
unsupported
1 - 99
for modules that can measure their completion percentage, the percent of qualification that is
complete; for modules that cannot measure their completion percentage, 50 = qualification is in
progress and 100 = qualification is complete.
SRMSlotNumber
INT
GSV
Slot number of the 1757-SRM module in this chassis
LastDataTransferSize
DINT
GSV
This attribute is only valid on a primary controller that is configured for redundancy.
If:
Then this value is the:
a synchronized partner isamount of data that was last
present
transferred to the partner, specified in DINTs
no partner is present or amount of data that would have been last transferred to a synchronized partner,
a disqualified partner is specified in DINTs
present
MaxDataTransferSize
DINT
GSV
SSV
Maximum value of the LastDataTransferSize attribute. This attribute is only valid on a primary controller that
is configured for redundancy. To reset this value, use an SSV instruction with a Source value of 0.
Attribute:
Data Type:
Instruction:
Description:
Instance
DINT
GSV
Provides the instance number of this ROUTINE object. Valid values are 0-65,535.
ROUTINE attributes
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SERIALPORT attribute
Attribute:
Data Type:
Instruction:
Description:
BaudRate
DINT
GSV
Specifies the baud rate. Valid values are 110, 300, 600, 1200, 2400, 4800, 9600, and 19200 (default).
DataBits
SINT
GSV
Specifies the number of bits of data per character.
Value:
Meaning:
7
7 data bits (ASCII only)
8
8 data bits (default)
Parity
SINT
GSV
Specifies the parity.
Value:
Meaning:
0
no parity (no default)
1
odd parity (ASCII only)
2
even parity
RTSOffDelay
INT
GSV
Amount of time to delay turning off the RTS line after the last character has been transmitted. Valid value
0-32,767. Delay in counts of 20 msec periods. The default is 0 msec.
RTSSendDelay
INT
GSV
Amount of time to delay transmitting the first character of a message after turning on the RTS line. Valid value
0-32,767. Delay in counts of 20 msec periods. The default is 0 msec.
StopBits
SINT
GSV
Specifies the number of stop bits.
Value:
Meaning:
1
1 stop bit (default)
2
2 stop bits (ASCII only)
PendingBaudRate
DINT
SSV
Pending value for the BaudRate attribute.
PendingDataBits
SINT
SSV
Pending value for the DataBits attribute.
PendingParity
SINT
SSV
Pending value for the Parity attribute.
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
PendingRTSOffDelay
INT
SSV
Pending value for the RTSOffDelay attribute.
PendingRTSSendDelay
INT
SSV
Pending value for the RTSSendDelay attribute.
PendingStopBits
SINT
SSV
Pending value for the StopBits attribute.
Attribute:
Data Type:
Instruction:
Description:
DisableUpdateOutputs
DINT
GSV
SSV
Enables or disables the processing of outputs at the end of a task.
Value:
Meaning:
0
enable the processing of outputs at the end of the task
non zero disable the processing of outputs at the end of the task
InhibitTask
DINT
GSV
SSV
Prevents the task from executing. If a task is inhibited, the controller still prescans the task when the
controller transitions from program to run or test mode.
Value:
Meaning:
0
enable the task 0 (default)
non zero inhibit (disable) the task
Instance
DINT
GSV
Provides the instance number of this TASK object. Valid values are 0-31.
LastScanTime
DINT
GSV
SSV
Time it took to execute this task the last time it was executed. Time is in microseconds.
MaxInterval
DINT[2]
GSV
SSV
The maximum time interval between successive executions of the task. DINT[0] contains the lower 32 bits of
the value; DINT[1] contains the upper 32 bits of the value. A value of 0 indicates 1 or less executions of
the task.
TASK attributes
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Attribute:
Data Type:
Instruction:
Description:
MaxScanTime
DINT
GSV
SSV
Maximum recorded execution time for this program. Time is in microseconds.
MinInterval
DINT[2]
GSV
SSV
The minimum time interval between successive executions of the task. DINT[0] contains the lower 32 bits of
the value; DINT[1] contains the upper 32 bits of the value. A value of 0 indicates 1 or less executions of
the task.
OverlapCount
DINT
GSV
SSV
Number of times that the task was triggered while it was still executing. Valid for an event or a periodic task.
To clear the count, set the attribute to 0.
Priority
INT
GSV
Relative priority of this task as compared to the other tasks. Valid values 0-15.
Rate
DINT
GSV
The time interval between executions of the task. Time is in microseconds.
StartTime
DINT[2]
GSV
SSV
Value of WALLCLOCKTIME when the last execution of the task was started. DINT[0] contains the lower 32
bits of the value; DINT[1] contains the upper 32 bits of the value.
Status
DINT
GSV
SSV
Status information about the task. Once the controller sets one of these bits, you must manually clear the bit.
Bit:
Meaning:
0
an EVNT instruction triggered the task (event task only)
1
a timeout triggered the task (event task only)
2
an overlap occurred for this task
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Accessing System Values
Attribute:
Data Type:
Instruction:
Description:
Timeout
DINT
GSV
SSV
The timeout value for an event task. Time is in microseconds.
EnableTimeOut
DINT
GSV
SSV
Enables or disables the timeout function of an event task.
Value:
Meaning:
0
disable the timeout function
non zero enable the timeout function
Watchdog
DINT
GSV
SSV
Time limit for execution of all programs associated with this task. Time is in microseconds.
If you enter 0, these values are assigned:
Time:
Task Type:
0.5 sec
periodic
5.0 sec
continuous
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WALLCLOCKTIME attributes
Attribute:
Data Type:
Instruction:
Description:
CSTOffset
DINT[2]
GSV
SSV
Positive offset from the CurrentValue of the CST object (coordinated system time, see page 6-7).
DINT[0] contains the lower 32 bits of the value; DINT[1] contains the upper 32 bits of the value.
Value in µs. The default is 0.
CurrentValue
DINT[2]
GSV
SSV
Current value of the wall clock time. DINT[0] contains the lower 32 bits of the value; DINT[1]
contains the upper 32 bits of the value. The value is the number of microseconds that have
elapsed since 0000 hours 1 January 1972. The CST and WALLCLOCKTIME objects are
mathematically related in the controller. For example, if you add the CST CurrentValue and the
WALLCLOCKTIME CTSOffset, the result is the WALLCLOCKTIME CurrentValue.
DateTime
DINT[7]
GSV
SSV
The date and time in a readable format.
DINT[0]
year
DINT[1]
integer representation of month (1-12)
DINT[2]
integer representation of day (1-31)
DINT[3]
hour (0-23)
DINT[4]
minute (0-59)
DINT[5]
seconds (0-59)
DINT[6]
microseconds (0-999,999)
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Accessing System Values
Determine Controller Memory Information
Depending on your type of controller, the memory of the controller may be divided into several areas:
If you have this controller:
Then it stores this:
In this memory:
ControlLogix
I/O tags
I/O memory
produced tags
consumed tags
communication via Message (MSG) instructions
communication with workstations
communication with polled (OPC/DDE) tags that use RSLinx software(1)
tags other than I/O, produced, or consumed tags
data and logic memory(2)
logic routines
communication with polled (OPC/DDE) tags that use RSLinx software(1)
CompactLogix
FlexLogix
PowerFlex 700S with DriveLogix
SoftLogix
These controllers do not divide their memory. They store all elements in one common memory area.
When you use the following procedure to get the memory values for these controllers, the values show up as I/O memory.
(1)
To communicate with polled tags, the controller uses both I/O and data and logic memory.
(2)
1756-L55M16 controllers have an additional memory section for logic.
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To get memory information from the controller, use a MSG instruction:
MSG Configuration Tab
For this item:
Type or select:
Which means:
Message Type
CIP Generic
Execute a Control and Information Protocol command.
Service Type
Custom
Create a CIP Generic message that is not available in the drop-down list.
Service Code
3
Use the GetAttributeList service. This lets you read specific information about the controller.
Class
72
Get information from the user memory object.
Instance
1
This object contains only 1 instance.
Attribute
0
Null value
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Accessing System Values
For this item:
Type or select:
Source Element
source_array of type SINT[12]
Which means:
In this element:
Enter:
Which means:
source_array[0]
5
Get 5 attributes
source_array[1]
0
Null value
source_array[2]
1
Get free memory
source_array[3]
0
Null value
source_array[4]
2
Get total memory
source_array[5]
0
Null value
source_array[6]
5
Get largest contiguous block of additional free logic memory
source_array[7]
0
Null value
source_array[8]
6
Get largest contiguous block of free I/O memory
source_array[9]
0
Null value
source_array[10]
7
Get largest contiguous block of free data and logic memory
source_array[11]
0
Null value
Source Length
12
Write 12 bytes (12 SINTs).
Destination
INT_array of type INT[29]
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MSG Communication Tab
For this item:
Type:
Path
1, slot_number_of_controller
The MSG instruction returns the following information to INT_array (destination tag of the MSG):
If you want the:
Then copy these array elements:
Description:
amount of free I/O memory (32-bit words)
INT_array[3]
lower 16 bits of the 32 bit value
INT_array[4]
upper 16 bits of the 32 bit value
INT_array[5]
lower 16 bits of the 32 bit value
INT_array[6]
upper 16 bits of the 32 bit value
INT_array[7]
lower 16 bits of the 32 bit value
INT_array[8]
upper 16 bits of the 32 bit value
INT_array[11]
lower 16 bits of the 32 bit value
INT_array[12]
upper 16 bits of the 32 bit value
INT_array[13]
lower 16 bits of the 32 bit value
INT_array[14]
upper 16 bits of the 32 bit value
INT_array[15]
lower 16 bits of the 32 bit value
INT_array[16]
upper 16 bits of the 32 bit value
amount of free data and logic memory (32-bit words)
1756-L55M16 controllers only—amount of additional free logic memory
(32-bit words)
total size of I/O memory (32-bit words)
total size of data and logic memory (32-bit words)
1756-L55M16 controllers only—additional logic memory (32-bit words)
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Accessing System Values
If you want the:
Then copy these array elements:
Description:
1756-L55M16 controllers only—largest contiguous block of additional free logic
memory (32-bit words)
INT_array[19]
lower 16 bits of the 32 bit value
INT_array[20]
upper 16 bits of the 32 bit value
INT_array[23]
lower 16 bits of the 32 bit value
INT_array[24]
upper 16 bits of the 32 bit value
INT_array[27]
lower 16 bits of the 32 bit value
INT_array[28]
upper 16 bits of the 32 bit value
largest contiguous block of free I/O memory (32-bit words)
largest contiguous block of free data and logic memory (32-bit words)
The MSG instruction returns each memory value as two separate INTs.
• The first INT represents the lower 16 bits of the value.
• The second INT represents the upper 16 bits of the value.
To convert the separate INTs into one usable value, use a Copy (COP) instruction, where:
In this operand:
Specify:
Which means:
Source
first INT of the 2 element pair (lower 16 bits)
Start with the lower 16 bits
Destination
DINT tag in which to store the 32-bit value
Copy the value to the DINT tag.
Length
1
Copy 1 times the number of bytes in the Destination data type. In this case, the instruction copies 4
bytes (32 bits), which combines the lower and upper 16 bits into one 32-bit value.
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Communicate with Other Controllers
Chapter
7
Communication Options
Select a method for transferring data between controllers:
If the data:
Then:
See page:
needs regular delivery at a rate that you specify (i.e., deterministic)
produce and consume a tag
is sent when a specific condition occurs in your application
send a message
7-9
is transmitted between Logix controllers and PLC or SLC processors
map PLC/SLC addresses
7-13
is gathered from multiple controllers (and consumed tags are not an option or not desired)
send a message to multiple controllers
7-13
7-2
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Communicate with Other Controllers
Produce and Consume a Tag
You can use produced and consumed tags with the following controller and network combinations.
This controller:
Can produce and consume tags over this network:
Logix Backplane
SLC 500
EtherNet/IP
X
PLC-5
ControlLogix
ControlNet
X
X
X
1769-L32E, -L35E CompactLogix
X
X
1769-L32C, -L35CR CompactLogix
X
FlexLogix
X
X
PowerFlex 700S with DriveLogix
X
X
SoftLogix
X
X
Produced and consumed tags work as follows:
• A connection transfers the data between controllers:
– Multiple controllers can consume (receive) the data.
– The data updates at the requested packet interval (RPI), as configured by the consuming tags.
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7-3
• Each produced or consumed tag uses the following number of connections:
Each:
Uses this many connections at the local controller:
Uses this many connections at the communication device:
produced tag
number_of_consumers + 1
number_of_consumers
consumed tag
1
1
Follow these guidelines:
• Create the tags at the controller scope. You can only share controller-scoped tags.
• Use one of these data types:
– DINT
– REAL
– array of DINTs or REALs
– user-defined
• Use the same data type for the produced tag and corresponding consumed tag (s).
• To share tags with a PLC-5C controller, use a user-defined data type.
• Limit the size of the tag to less than or equal to 500 bytes. If you must transfer more than 500 bytes, transfer the data in packets.
• If you are producing several tags for the same controller:
– Group the data into one or more user-defined data types. (This uses less connections than producing each tag separately.)
– Group the data according to similar update rates. (To conserve network bandwidth, use a greater RPI for less critical data.)
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Communicate with Other Controllers
Produce a tag
Consume a tag
IMPORTANT
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If a consumed-tag connection fails, all of the other tags being
consumed from that remote controller stop receiving new data.
Communicate with Other Controllers
7-5
Produce tags for a PLC-5C controller
1. Create a user-defined data type that contains an array of INTs with an even number of elements, such as INT[2]. (When you produce
INTs, you must produce two or more.)
2. Create a produced tag and select the user-defined data type.
3. In the ControlNet configuration for the target PLC-5C controller:
• Insert a Receive Scheduled Message.
• In the Message size, enter the number of integers in the produced tag.
4. In RSNetWorx for ControlNet software, schedule the network.
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Produce REALs for a PLC-5C controller
1. How many values do you want to produce?
If you are producing:
Then:
Only one REAL value
Create a produced tag and select the REAL data type.
More than one REAL value
A. Create a user-defined data type that contains an array of REALs.
B. Create a produced tag and select the user-defined data type from Step A.
2. In the ControlNet configuration for the target PLC-5C controller:
• Insert a Receive Scheduled Message.
• In the Message size, enter two times the number of REALs in the produced tag. For example, if the produced tag contains 10
REALs, enter 20 for the Message size.
When a PLC-5C controller consumes a tag that is produced by a Logix5000 controller, it stores the data in consecutive 16-bit integers.
The PLC-5C stores floating-point data, which requires 32-bits regardless of the type of controller, as follows:
• The first integer contains the upper (left-most) bits of the value.
• The second integer contains the lower (right-most) bits of the value.
• This pattern continues for each floating-point value.
3. In the PLC-5C controller, re-construct the floating point data, as depicted in the following example:
4. In RSNetWorx for ControlNet software, schedule the network.
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Consume Integers from a PLC-5C Controller
1. In the ControlNet configuration of the PLC-5C controller, insert a Send Scheduled Message.
2. In the controller organizer, add the PLC-5C controller to the I/O configuration.
3. Create a user-defined data type that contains the following members:
Data type:
Description:
DINT
Status
INT[x], where “x” is the output size of the data from the PLC-5C controller.
(If you are consuming only one INT, no dimension is required.)
Data produced by a PLC-5C controller
4. Create a consumed tag with the following properties:
For this tag property:
Type or select:
Tag Type
Consumed
Controller
The PLC-5C that is producing the data
Remote Instance
The message number from the ControlNet configuration of the PLC-5C
controller
RPI
A power of two times the NUT of the ControlNet network. For example,
if the NUT is 5ms, select an RPI of 5, 10, 20, 40, etc.
Data Type
The user-defined data type that you created.
5. In RSNetWorx for ControlNet software, schedule the network.
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Communicate with Other Controllers
Adjust for bandwidth limitations
When you share a tag over a ControlNet network, the tag must fit within the bandwidth of the network:
• As the number of connections increases, several connections may need to share a network update time (NUT).
• Since a ControlNet network can only pass 500 bytes in one NUT, the data of each connection must be less then 500 bytes.
Depending on the size of your system, you may not have enough bandwidth. You can make these adjustments:
• Reduce your NUT. At a faster NUT, less connections have to share an update slot.
• Increase the RPI of your connections. At higher RPIs, connections can take turns sending data during an update slot.
• For a ControlNet bridge module in a remote chassis, select the most efficient communication format for that chassis:
Are most of the modules in the chassis
non-diagnostic, digital I/O modules?
Then select this communication format for
the remote CNB module:
Yes
Rack Optimization
No
None
The Rack Optimization format uses an additional 8 bytes for each slot in its chassis. Analog modules or modules that are sending or
getting diagnostic, fuse, timestamp, or schedule data require direct connections and cannot take advantage of the rack optimized
form. Selecting “None” frees up the 8 bytes per slot for other uses, such as produced or consumed tags.
• Separate the tag into two or more smaller tags:
– Group the data according to similar update rates.
– Assign a different RPI to each tag.
• Create logic to transfer the data in smaller sections (packets).
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7-9
Send a Message
For each message, create a tag to control the message:
• Create the tag at the controller scope.
• Use the MESSAGE data type.
• In the Logix5000 controller, use the DINT data type for integers whenever possible. Logix5000 controllers execute more efficiently
and use less memory when working with 32-bit integers (DINTs).
• If your message is to or from a PLC-5® or SLC 500™ controller and it transfers integers (not REALs), use a buffer of INTs:
– Create a buffer for the data (controller scope) using the INT[x] data type.
– Use an FAL instruction to move the data between the buffer and your application.
To send the same message to multiple controllers, reconfigure the MSG instruction during runtime, write new values to the members of the
MESSAGE data type.
After you enter the MSG instruction and specify the MESSAGE structure, use the Message Configuration dialog box to specify the details of
the message.
Click here to configure the MSG instruction
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Communicate with Other Controllers
The details you configure depend on the message type you select.
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Specify the message type:
If the target device is a:
Select one of these message types:
Logix controller
CIP Data Table Read/Write
I/O module that you configure using RSLogix 5000 software
Module Reconfigure
CIP Generic
PLC-5 controller
PLC5 Typed Read/Write
PLC5 Word Range Read/Write
SLC controller
MicroLogix controller
SLC Typed Read/Write
Block-transfer module
Block-Transfer Read/Write
PLC-3 processor
PLC3 Typed Read/write
PLC3 Word Range Read/write
PLC-2 processor
PLC2 Unprotected Read/write
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Communicate with Other Controllers
Then, specify this configuration information:
For this property:
Source Element
Specify:
• If you select a read message type, the Source Element is the address of the data you want to read in the target device. Use the
addressing syntax of the target device.
• If you select a write message type, the Source Tag is the first element of the tag that you want to send to the target device.
Number of Elements
The number of elements you read/write depends on the type of data you are using. An element refers to one “chunk” of related data. For
example, tag timer1 is one element that consists of one timer control structure.
Destination Element
• If you select a read message type, the Destination Element is the first element of the tag in the Logix5000 controller where you
want to store the data you read from the target device.
• If you select a write message type, the Destination Element is the address of the location in the target device where you want to
write the data.
When you configure a MSG instruction, specify these details on the Communication tab.
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7 - 13
Map PLC/SLC Addresses
You only map PLC/SLC addresses if you send a message from a PLC or SLC 500 processor to a Logix controller and the PLC/SLC processor
does not support logical ASCII addressing. To use a logical address (e.g., N7:0) to specify a value (tag) in a Logix controller, you must map
files to tags:
• You only have to map the file numbers that are used in messages; the other file numbers do not need to be mapped.
• The mapping table is loaded into the controller and is used whenever a “logical” address accesses data.
• You can only access controller-scoped tags (global data).
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Communicate with Other Controllers
For each file that is referenced in a PLC or SLC command, make a map entry:
• Type the file number of the logical address.
• Type or select the controller-scoped (global) tag that supplies or receives data for the file number. (You can map multiple files to the
same tag.)
• For PLC-2 commands, specify the tag that supplies or receives the data.
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7 - 15
Send a Message to Multiple Devices
To send a message to multiple devices:
•
•
•
•
•
•
•
Define source and destination elements
Create the MESSAGE_CONFIGURATION data type
Create the configuration array
Get the size of the local array
Load the message properties for a device
Configure the message
Step to the next device
Define source and destination elements
An array stores the data that is read from or written to each remote controller. Each element in the array corresponds to a different remote
device. Create the local_array tag, which stores the data in this controller.
Tag Name
Type
local_array
data_type [length]
where:
data_type
length
is the data type of the data that the message sends or receives, such as DINT, REAL, or STRING.
is the number of elements in the local array.
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Communicate with Other Controllers
Create the MESSAGE_CONFIGURATION data type
Create a user-defined data type to store the configuration variables for the message to each device.
• Some of the required members of the data type use a string data type.
• The default STRING data type stores 82 characters.
• If your paths or remote tag names or addresses use less than 82 characters, you have the option of creating a new string type that
stores fewer characters. This lets you conserve memory.
• To create a new string type, choose File ⇒New Component ⇒String Type…
• If you create a new string type, use it in place of the STRING data type in this procedure.
To store the configuration variables for the message to each controller, create the following user-defined data type.
Data Type: MESSAGE_CONFIGURATION
Name
MESSAGE_CONFIGURATION
Description
Configuration properties for a message to another controller
Members
Name
Data Type
+
Path
STRING
+
RemoteElement
STRING
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Style
Description
Communicate with Other Controllers
7 - 17
Create the configuration array
Store the configuration properties for each device in an array. Before each execution of the MSG instruction, your logic loads new
properties into the instruction. This sends the message to a different controller.
1. Create this array:
Tag Name
Type
Scope
message_config
MESSAGE_CONFIGURATION[number]
any
where number is the number of devices to which to send the message.
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Communicate with Other Controllers
2. Into the message_config array, enter the path to the first controller that receives the message.
Tag Name
−
Value
{…}
message_config
−
{…}
message_config[0]
+
message_config[0].Path
+
message_config[0].RemoteElement
Type the path to the
remote controller.
or
Browse to the remote
controller.
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Right-click and choose Go to Message Path Editor.
Message Path Browser
Path:
peer_controller
I/O Configuration
Communicate with Other Controllers
7 - 19
3. Into the message_config array, enter the tag name or address of the data in the first controller to receive the message.
Tag Name
−
Value
message_config
−
−
message_config[0]
+
message_config[0].Path
+
message_config[0].RemoteElement
message_config[1]
+
message_config[1].Path
+
message_config[1].RemoteElement
{…}
{…}
...
{…}
Type the tag name or address of the data in
the other controller.
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Communicate with Other Controllers
4. Enter the path and remote element for each additional controller:
Tag Name
−
Value
message_config
−
−
message_config[0]
+
message_config[0].Path
+
message_config[0].RemoteElement
message_config[1]
+
message_config[1].Path
+
message_config[1].RemoteElement
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{…}
{…}
{…}
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7 - 21
Get the size of the local array
Load the message properties for a device
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Communicate with Other Controllers
Configure the message
Although your logic controls the remote element and path for the message, the Message Properties dialog box requires an initial
configuration. Make sure to clear the Cache Connections option.
On this tab:
If you want to:
For this item:
Type or select:
Configuration
read (receive) data from the other
controllers
Message Type
the read-type that corresponds to the other controllers
Source Element
tag or address that contains the data in the first controller
Number Of Elements
1
Destination Tag
local_array[*]
Index
0
Message Type
the write-type that corresponds to other controllers
Source Tag
local_array[*]
Index
0
Number Of Elements
1
Destination Element
tag or address that contains the data in the first controller
Path
path to the first controller
Cache Connections
Clear the Cache Connection check box. Since this procedure continuously changes
the path of the message, it is more efficient to clear this check box.
write (send) data to the other
controllers
Communication
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7 - 23
Step to the next controller
Restart the sequence
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Communicate with Other Controllers
Notes:
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Forcing
Chapter
8
What You Can Force
Use a force to override data that your logic either uses or produces. For example, use forces in the following situations:
• test and debug your logic
• check wiring to an output device
• temporarily keep your process functioning when an input device has failed
Use forces only as a temporary measure. They are not intended to be a permanent part of your application.
You can force the following elements:
If you want to:
Then:
override an input value, output value, produced tag, or consumed tag
add an I/O force
override the conditions of a transition one time to go from an active step to the next step
step through a transition or a force of a path
override one time the force of a simultaneous path and execute the steps of the path
override the conditions of a transition in a sequential function chart
add an SFC force
execute some but not all the paths of a simultaneous branch of a sequential function chart
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Forcing
Before you use a force, determine the status of forces for the controller:
Use this method:
To determine the status of:
online toolbar
I/O forces
SFC forces
Description:
Forces tab
FORCE LED
I/O forces
If the FORCE LED is:
continued
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Then:
off
• No tags contain force values.
• I/O forces are inactive (disabled).
flashing
• At least one tag contains a force value.
• I/O forces are inactive (disabled).
solid
• I/O forces are active (enabled).
• Force values may or may not exist.
Forcing
Use this method:
To determine the status of:
GSV instruction
I/O forces
8-3
Description:
Force_Status is a DINT tag.
To determine if:
Examine this bit:
For this value:
forces are installed
0
1
no forces are installed
0
0
forces are enabled
1
1
forces are disabled
1
0
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Forcing
Force I/O
Use an I/O force to accomplish the following:
• override an input value from another controller (i.e., a consumed tag)
• override an input value from an input device
• override your logic and specify an output value for another controller (i.e., a produced tag)
• override your logic and specify the state of an output device
IMPORTANT
Forcing increases logic execution time. The more values you force, the longer it takes to
execute the logic.
IMPORTANT
I/O forces are held by the controller and not by the programming workstation. Forces
remain even if the programming workstation is disconnected.
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Forcing
8-5
When you force an I/O value:
•
•
•
•
You can force all I/O data, except for configuration data.
If the tag is an array or structure, such as an I/O tag, force a BOOL, SINT, INT, DINT, or REAL element or member.
If the data value is a SINT, INT, or DINT, you can force the entire value or you can force individual bits within the value.
You can also force an alias to an I/O structure member, produced tag, or consumed tag. An alias tag shares the same data value as
its base tag, so forcing an alias tag also forces the associated base tag.
Forcing an input or consumed tag:
• overrides the value regardless of the value of the physical device or produced tag
• does not affect the value received by other controllers monitoring that input or produced tag
Forcing an output or produced tag overrides the logic for the physical device or other controller (s). Other controllers monitoring that
output module in a listen-only capacity will also see the forced value.
To force I/O:
1. What is the state of the I/O Forces indicator?
If:
Then note the following:
off
No I/O forces currently exist.
flashing
No I/O forces are active. But at least one force already exists in your project. When you enable I/O forces, all existing I/O
forces will also take effect.
solid
I/O forces are enabled (active). When you install (add) a force, it immediately takes effect.
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Forcing
2. Open the routine that contains the tag that you want to force.
3. Right-click the tag and choose Monitor… If necessary, expand the tag to show the value that you want to force.
4. Install the force value:
To force a:
Do this:
BOOL value
Right-click the tag and choose Force ON or Force OFF.
non-BOOL value
In the Force Mask column for the tag, type the value to which you want to force the tag. Then press the Enter key.
5. Are I/O forces enabled? (See
step 1.)
If:
Then:
no
From the Logic menu, choose I/O Forcing ⇒Enable All I/O Forces. Then choose Yes to confirm.
yes
Stop.
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Forcing
8-7
Step Through a Transition
To override a false transition one time and go from an active step to the next step, use the Step Through option.
With the Step Through option:
• You do not have to add, enable, disable, or remove forces.
• The next time the SFC reaches the transition, it executes according to the conditions of the transition.
To step through the transition of an active step or a force of a simultaneous path:
1. Open the SFC routine.
2. Right-click the transition or the path that is forced and choose Step Through.
Force an SFC
To override the logic of an SFC, you have the following options:
If you want to:
Then:
override the conditions of a transition each time the SFC reaches the transition
Force a Transition
prevent the execution of one or more paths of a simultaneous branch
Force a Simultaneous Path
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Forcing
Force a Transition
To override the conditions of a transition through repeated executions of an SFC, force the transition. The force remains until you remove
it or disable forces
If you want to:
Then:
prevent the SFC from going to the next step
force the transition false
cause the SFC go to the next step regardless of transition conditions
force the transition true
If you force a transition within a simultaneous branch to be false, the SFC stays in the simultaneous branch as long as the force is active
(installed and enabled).
• To leave a simultaneous branch, the last step of each path must execute at least one time and the transition below the branch must
be true.
• Forcing a transition false prevents the SFC from reaching the last step of a path.
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Forcing
8-9
• When you remove or disable the force, the SFC can execute the rest of the steps in the path.
For example, to exit this branch, the SFC must be able to:
• execute Step_011 at least once
• get past Tran_011 and execute Step_012 at least once
• determine that Tran_012 is true
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Forcing
Force a Simultaneous Path
To prevent the execution of a path of a simultaneous branch, force the path false. When the SFC reaches the branch, it executes only the
un-forced paths.
This path executes.
This path does not execute.
If you force a path of a simultaneous branch to be false, the SFC stays in the simultaneous branch as long as the force is active (installed
and enabled).
• To leave a simultaneous branch, the last step of each path must execute at least one time and the transition below the branch must
be true.
• Forcing a path false prevents the SFC from entering a path and executing its steps.
• When you remove or disable the force, the SFC can execute the steps in the path.
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8 - 11
To force an SFC:
1. What is the state of the SFC Forces indicator?
If:
Then note the following:
off
No SFC forces currently exist.
flashing
No SFC forces are active. But at least one force already exists in your project. When you enable SFC forces, all existing
SFC forces will also take effect.
solid
SFC forces are enabled (active). When you install (add) a force, it immediately takes effect.
2. Open the SFC routine.
3. Right-click the transition or start of a simultaneous path that you want to force, and choose either Force TRUE (only for a transition)
or Force FALSE.
4. Are SFC forces enabled?
If:
Then:
no
From the Logic menu, choose SFC Forcing ⇒Enable All SFC Forces. Then choose Yes to confirm.
yes
Stop.
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Forcing
Notes:
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System Faults
Chapter
9
Controller Faults
The controller stored different fault information:
Fault type:
Description:
See page:
major fault
A fault condition that is severe enough for the controller to shut down, unless the condition is cleared. When a
major fault occurs, the controller:
1. Sets a major fault bit
2. Runs user-supplied fault logic, if it exists
3. If the user-supplied fault logic cannot clear the fault, the controller goes to faulted mode
4. Sets outputs according to their output state during program mode
5. OK LED flashes red
9-2
minor fault
A fault condition that is not severe enough for the controller to shut down.
9-10
user-defined faults
If you want to suspend (shut down) the controller based on conditions in your application, create a
user-defined major fault. With a user-defined major fault:
• You define a value for the fault code.
• The controller handles the fault the same as other major faults:
– The controller changes to the faulted mode (major fault) and stops executing the logic.
– Outputs are set to their configured state or value for faulted mode.
9-15
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System Faults
Major Faults
If a fault condition occurs that is severe enough for the controller to shut down, the controller generates a major fault and stops the
execution of logic.
1. Create the following user-defined data type. It stores information about the fault.
Data Type: FAULTRECORD
Name
FAULTRECORD
Description
Stores the MajorFaultRecord attribute or MinorFaultRecord attribute of the PROGRAM object.
Members
Name
Data Type
Style
Description
Time_Low
DINT
Decimal
lower 32 bits of the fault timestamp value
Time_High
DINT
Decimal
upper 32 bits of the fault timestamp value
Type
INT
Decimal
fault type (program, I/O, etc.)
Code
INT
Decimal
unique code for the fault
Info
DINT[8]
Hex
fault specific information
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9-3
2. Create a fault routine to clear specific faults and let the controller resume execution. Where you place the routine depends on the
type of fault that you want to clear:
For a fault due to:
Do this:
execution of an instruction
Create a fault routine for the program:
• In the controller organizer, right-click the program and select New Routine.
a. In the name box, type a name for the fault routine.
b. From the Type drop-down list, select Ladder.
• Right-click the program and select Properties.
a. Click the Configuration tab.
b. From the Fault drop-down list, select the fault routine
power loss
Create a program and main routine for the Controller Fault Handler:
• In the controller organizer, right-click Controller Fault Handler and select New Program.
a. Enter the name of the program and a description.
• Click the + sign next to Controller Fault Handler.
• Right-click the program and select the New Routine
a. Enter the name of the routine and a description.
b. From the Type drop-down list, select the programming language for the routine.
c. Right-click the program and select Properties.
d. Click the Configuration tab.
e. From the Main drop-down list, select the routine
I/O
task watchdog
mode change
motion axis
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System Faults
3. To clear a major fault that occurs during the execution of your project, use the following logic to:
• Get the fault type and code
1.
2.
1. The GSV instruction accesses the MAJORFAULTRECORD attribute of this program.
2. The GSV instruction stores the fault information in the major_fault_record tag.
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• Check for a specific fault
1.
2.
3.
4.
1. This EQU instruction checks for a specific type of fault, such as program, I/O. In Source B, enter the value for the type of fault
that you want to clear.
2. This EQU instruction checks for a specific fault code. In Source B, enter the value for the code that you want to clear.
3. This CLR instruction sets to zero the value of the fault type in the major_fault_record tag.
4. This CLR instruction sets to zero the value of the fault code in the major_fault_record tag.
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System Faults
• Clear the fault
1.
2.
1. The SSV instruction writes new values to the MAJORFAULTRECORD attribute of this program.
2. The SSV instruction writes the values contained in the major_fault_record tag. Since the Type and Code member are set to zero,
the fault clears and the controller resumes execution.
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System Faults
9-7
Major Fault Codes
Type:
Code:
Cause:
Recovery Method:
1
1
The controller powered on in Run mode.
Execute the power-loss handler.
1
60
On power-up, a non-recoverable fault occurred which
resulted in loss of controller memory integrity. The
controller has been reset and memory has been cleared.
Download the program to the controller.
Contact Rockwell Automation for help in diagnosing the fault.
1
61
On power-up, a non-recoverable fault occurred which
resulted in loss of controller memory integrity. The
controller has been reset and memory has been cleared.
Extended Diagnostic information was saved.
Download program to the controller.
Contact Rockwell Automation for help in diagnosing the fault.
3
16
A required I/O module connection failed.
Check that the I/O module is in the chassis. Check electronic keying requirements.
View the controller properties Major Fault tab and the module properties Connection tab for more
information about the fault.
3
20
Possible problem with the ControlBus chassis.
Not recoverable - replace the chassis.
3
23
At least one required connection was not established
before going to Run mode.
Wait for the controller I/O light to turn green before changing to Run mode.
4
16
Unknown instruction encountered.
Remove the unknown instruction. This probably happened due to a program conversion process.
4
20
Array subscript too big, control structure .POS or .LEN is
invalid.
Adjust the value to be within the valid range. Don’t exceed the array size or go beyond dimensions
defined.
4
21
Control structure .LEN or .POS < 0.
Adjust the value so it is > 0.
4
31
The parameters of the JSR instruction do not match those
of the associated SBR or RET instruction.
Pass the appropriate number of parameters. If too many parameters are passed, the extra ones
are ignored without any error.
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System Faults
Type:
Code:
Cause:
Recovery Method:
4
34
A timer instruction has a negative preset or accumulated
value.
Fix the program to not load a negative value into timer preset or accumulated value.
4
42
JMP to a label that did not exist or was deleted.
Correct the JMP target or add the missing label.
4
82
A sequential function chart (SFC) called a subroutine and
the subroutine tried to jump back to the calling SFC. Occurs
when the SFC uses either a JSR or FOR instruction to call
the subroutine.
Remove the jump back to the calling SFC.
4
83
The data tested was not inside the required limits.
Modify value to be within limits.
4
84
Stack overflow.
Reduce the subroutine nesting levels or the number of parameters passed.
4
89
In a SFR instruction, the target routine does not contain the
target step.
Correct the SFR target or add the missing step.
4
user
defined
A user-defined fault.
6
1
Task watchdog expired.
User task has not completed in specified period of time. A
program error caused an infinite loop, or the program is too
complex to execute as quickly as specified, or a higher
priority task is keeping this task from finishing.
7
40
Store to nonvolatile memory failed.
7
41
Load from nonvolatile memory failed due to
controller type mismatch.
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Increase the task watchdog, shorten the execution time, make the priority of this task “higher,”
simplify higher priority tasks, or move some code to another controller.
1. Try again to store the project to nonvolatile memory.
2. If the project fails to store to nonvolatile memory, replace the memory board.
Update the controller firmware to the with the correct firmware for
the controller.
System Faults
9-9
Type:
Code:
Cause:
Recovery Method:
7
42
Load from nonvolatile memory failed because the firmware
revision of the project in nonvolatile memory does not
match the firmware revision of the controller.
Update the controller firmware to the same revision level as the project that is in nonvolatile
memory.
7
43
Load from nonvolatile memory failed due to bad
checksum.
Contact Rockwell Automation support. See the back of this
publication.
7
44
Failed to restore processor memory.
Contact Rockwell Automation support. See the back of this
publication.
8
1
Attempted to place controller in Run mode with keyswitch
during download.
Wait for the download to complete and clear fault.
11
1
Actual position has exceeded positive overtravel limit.
Move axis in negative direction until position is within overtravel limit and then execute Motion
Axis Fault Reset.
11
2
Actual position has exceeded negative overtravel limit.
Move axis in positive direction until position is within overtravel limit and then execute Motion
Axis Fault Reset.
11
3
Actual position has exceeded position error tolerance.
Move the position within tolerance and then execute Motion Axis Fault Reset.
11
4
Encoder channel A, B, or Z connection is broken.
Reconnect the encoder channel then execute Motion Axis Fault Reset.
11
5
Encoder noise event detected or the encoder signals are not
in quadrature.
Fix encoder cabling then execute Motion Axis Fault Reset.
11
6
Drive Fault input was activated.
Clear Drive Fault then execute Motion Axis Fault Reset.
11
7
Synchronous connection incurred a failure.
First execute Motion Axis Fault Reset. If that doesn’t work, pull servo module out and plug back
in. If all else fails replace servo module.
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System Faults
Type:
Code:
Cause:
Recovery Method:
11
8
Servo module has detected a serious hardware fault.
Replace the module.
11
9
Asynchronous Connection has incurred a failure.
First execute Motion Axis Fault Reset. If that doesn’t work, pull servo module out and plug back
in. If all else fails replace servo module.
11
32
The motion task has experienced an overlap.
The group’s course update rate is too high to maintain correct operation. Clear the group fault tag,
raise the group’s update rate, and then clear the major fault.
Minor Faults
If a fault condition occurs that is not severe enough for the controller to shut down, the controller generates a minor fault.
• The controller continues to execute.
• You do not need to clear a minor fault.
• To optimize execution time and ensure program accuracy, you should monitor and correct minor faults.
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9 - 11
To use ladder logic to capture information about a minor fault:
To check for a:
Do this:
periodic task overlap
1. Enter a GSV instructions that gets the FAULTLOG object, MinorFaultBits attribute.
2. Monitor bit 6.
load from nonvolatile memory
1. Enter a GSV instructions that gets the FAULTLOG object, MinorFaultBits attribute.
2. Monitor bit 7.
problem with the serial port
1. Enter a GSV instructions that gets the FAULTLOG object, MinorFaultBits attribute.
2. Monitor bit 9.
low battery
1. Enter a GSV instructions that gets the FAULTLOG object, MinorFaultBits attribute.
2. Monitor bit 10.
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System Faults
To check for a:
problem with an instruction
Do this:
1. Create a user-defined data type that stores the fault information. Name the data type FaultRecord and assign the following members:
2.
3.
4.
5.
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Name:
Data Type:
Style:
TimeLow
DINT
Decimal
TimeHigh
DINT
Decimal
Type
INT
Decimal
Code
INT
Decimal
Info
DINT[8]
Hex
Create a tag that will store the values of the MinorFaultRecord attribute.
Monitor S:MINOR.
If S:MINOR is on, use a GSV instruction to get the values of the MinorFaultRecord attribute.
To detect a minor fault that is caused by another instruction, reset S:MINOR. (S:MINOR remains set until the end of the scan.)
System Faults
9 - 13
Minor Fault Codes
Type:
Code:
Cause:
Recovery Method:
4
4
An arithmetic overflow occurred in an instruction.
Fix program by examining arithmetic operations (order) or adjusting values.
4
7
The GSV/SSV destination tag was too small to hold all of the data.
Fix the destination so it has enough space.
4
35
PID delta time ≤0.
Adjust the PID delta time so that it is > 0.
4
36
PID setpoint out of range
Adjust the setpoint so that it is within range.
4
51
The LEN value of the string tag is greater than the DATA size of the
string tag.
4
52
The output string is larger than the destination.
Create a new string data type that is large enough for the output string. Use the
new string data type as the data type for the destination.
4
53
The output number is beyond the limits of the destination data type.
Either:
• Reduce the size of the ASCII value.
• Use a larger data type for the destination.
4
56
The Start or Quantity value is invalid.
4
57
The AHL instruction failed to execute because the serial port is set to
no handshaking.
Either:
• Change the Control Line setting of the serial port.
• Delete the AHL instruction.
6
2
Periodic task overlap.
Periodic task has not completed before it is time to execute again.
Simplify program(s), or lengthen period, or raise relative priority, etc.
1. Check that no instruction is writing to the LEN member of the string tag.
2. In the LEN value, enter the number of characters that the string contains.
1. Check that the Start value is between 1 and the DATA size of the Source.
2. Check that the Start value plus the Quantity value is less than or equal to
the DATA size of the Source.
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System Faults
Type:
Code:
Cause:
7
49
Project loaded from nonvolatile memory.
9
0
Unknown error while servicing the serial port.
Contact Technical Support group.
9
1
The CTS line is not correct for the current configuration.
Disconnect and reconnect the serial port cable to the controller.
Make sure the cable is wired correctly
9
2
Poll list error.
A problem was detected with the DF1 master’s poll list, such as
specifying more stations than the size of the file, specifying more then
255 stations, trying to index past the end of the list, or polling the
broadcast address (STN #255).
Check for the following errors in the poll list:
• total number of stations is greater than the space in the poll list tag
• total number of stations is greater than 255
• current station pointer is greater than the end of the poll list tag
• a station number greater than 254 was encountered
9
5
DF1 slave poll timeout.
The poll watchdog has timed out for slave. The master has not polled
this controller in the specified amount of time.
Determine and correct delay for polling.
9
9
Modem contact was lost.
DCD and/or DSR control lines are not being received in proper
sequence and/or state.
Correct modem connection to the controller.
10
10
Battery not detected or needs to be replaced.
Install new battery.
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Recovery Method:
System Faults
9 - 15
User-Defined Faults
If you want to suspend (shut down) the controller based on conditions in your application, create a user-defined major fault. With a
user-defined major fault:
• The fault type is always 4.
• You define a value for the fault code. Make sure it isn’t a code that is already used by the predefined major faults.
If you use a fault code that is already a predefined fault code, a major fault occurs.
• The controller handles the fault the same as other major faults:
– The controller changes to the faulted mode (major fault) and stops executing the logic.
– Outputs are set to their configured state or value for faulted mode.
In the main routine of the program, enter the following rung:
conditions when the controller
should shut down
JSR
Jump to Subroutine
Routine name name_of_fault_routine
Input par
x
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System Faults
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Data Structures
Chapter
10
Common Structures
The following structures are common structures used by several relay ladder instructions. Function block instructions also use structures,
but they are more unique to individual types of instructions.
COMPARE Structure
Mnemonic:
Data Type:
Description:
.EN
BOOL
The enable bit indicates that the instruction is enabled.
.DN
BOOL
The done bit is set when the instruction has operated on the last element (.POS = .LEN).
.FD
BOOL
The found bit is set each time the instruction records a mismatch (one-at-a-time operation) or after recording all
mismatches (all-per-scan operation).
.IN
BOOL
The inhibit bit indicates the search mode.
0 = all mode
1 = one mismatch at a time mode
.ER
BOOL
The error bit is set if .POS < 0 or .LEN < 0. The instruction stops executing until the program clears the .ER bit.
.LEN
DINT
The length specifies the number of elements in the array.
.POS
DINT
The position contains the position of the current element.
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Data Structures
CONTROL Structure
Mnemonic:
Data Type:
Description:
.EN
BOOL
The enable bit indicates that the instruction is enabled.
.DN
BOOL
The done bit is set when the instruction has operated on the last element (.POS = .LEN).
.ER
BOOL
The error bit is set if the expression generates an overflow (S:V is set). The instruction stops executing until the program
clears the .ER bit. The .POS value contains the position of the element that caused the overflow.
.LEN
DINT
The length specifies the number of elements in the array.
.POS
DINT
The position contains the position of the current element.
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Data Structures
10 - 3
COUNTER Structure
Mnemonic:
Data Type:
Description:
.CD
BOOL
The count down enable bit indicates that the CTD instruction is enabled.
.CU
BOOL
The count up enable bit indicates that the CTU instruction is enabled.
.DN
BOOL
The done bit indicates that .ACC ≥ .PRE.
.OV
BOOL
The overflow bit indicates that the counter exceeded the upper limit of 2,147,483,647. The counter then rolls over to
-2,147,483,648 and begins counting up again.
.UN
BOOL
The underflow bit indicates that the counter exceeded the lower limit of -2,147,483,648. The counter then rolls over to
2,147,483,647 and begins counting down again.
.PRE
DINT
The preset value specifies the value which the accumulated value must reach before the instruction sets the .DN bit.
.ACC
DINT
The accumulated value specifies the number of transitions the instruction has counted.
EXT_ROUTINE_CONTROL Structure (SoftLogix5800 controller only)
Mnemonic:
Data Type:
Description:
ErrorCode
SINT
If an error occurs, this value identifies the error. Valid values are from 0-255.
NumParams
SINT
This value indicates the number of parameters associated with this instruction.
ParameterDefs
EXT_ROUTINE_
PARAMETERS[10]
This array contains definitions of the parameters to pass to the external routine. The instruction can pass as many as 10
parameters.
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Data Structures
Mnemonic:
Data Type:
Description:
ReturnParamDef
EXT_ROUTIN_
PARAMETERS
This value contains definitions of the return parameter from the external routine. There is only one return parameter.
EN
BOOL
When set, the enable bit indicates that the JXR instruction is enabled.
ReturnsValue
BOOL
If set, this bit indicates that a return parameter was entered for the instruction. If cleared, this bit indicates that no return
parameter was entered for the instruction.
DN
BOOL
The done bit is set when the external routine has executed once to completion.
ER
BOOL
The error bit is set if an error occurs. The instruction stops executing until the program clears the error bit.
FirstScan
BOOL
This bit identifies whether this is the first scan after switching the controller to Run mode. Use FirstScan to initialize the
external routine, if needed.
EnableOut
BOOL
Enable output.
EnableIn
BOOL
Enable input.
User1
BOOL
These bits are available for the user. The controller does not initialize these bits.
User0
BOOL
ScanType1
BOOL
ScanType0
BOOL
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These bits identify the current scan type:
Bit Values:
Scan Type:
00
Normal
01
Pre Scan
10
Post Scan (not applicable to relay ladder programs)
Data Structures
10 - 5
MESSAGE Structure
Mnemonic:
Data Type:
Description:
.FLAGS
INT
The .FLAGS member provides access to the status members (bits) in one, 16-bit word.
This bit:
Is this member:
2
.EW
4
.ER
5
.DN
6
.ST
7
.EN
8
.TO
9
.EN_CC
Important: Resetting any MSG status bits while a MSG is enabled can disrupt communications.
.ERR
INT
If the .ER bit is set, the error code word identifies error codes for the MSG instruction.
.EXERR
INT
The extended error code word specifies additional error code information for some error codes.
.REQ_LEN
INT
The requested length specifies how many words the message instruction will attempt to transfer.
.DN_LEN
INT
The done length identifies how many words actually transferred.
.EW
BOOL
The enable waiting bit is set when the controller detects that a message request has entered the queue. The controller resets
the.EW bit when the .ST bit is set.
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Data Structures
Mnemonic:
Data Type:
Description:
.ER
BOOL
The error bit is set when the controller detects that a transfer failed. The .ER bit is reset the next time the rung-condition-in goes
from false to true.
.DN
BOOL
The done bit is set when the last packet of the message is successfully transferred. The .DN bit is reset the next time the
rung-condition-in goes from false to true.
.ST
BOOL
The start bit is set when the controller begins executing the MSG instruction. The .ST bit is reset when the .DN bit or the .ER bit
is set.
.EN
BOOL
The enable bit is set when the rung-condition-in goes true and remains set until either the .DN bit or the .ER bit is set and the
rung-condition-in is false. If the rung-condition-in goes false, but the .DN bit and the .ER bit are cleared, the .EN bit remains set.
.TO
BOOL
If you manually set the .TO bit, the controller stops processing the message and sets the .ER bit.
.EN_CC
BOOL
The enable cache bit determines how to manage the MSG connection. Connections for MSG instructions going out the serial port
are not cached, even if the .EN_CC bit is set.
.ERR_SRC
SINT
Used by RSLogix 5000 software to show the error path on the Message Configuration dialog box
.DestinationLink
INT
To change the Destination Link of a DH+ or CIP with Source ID message, set this member to the required value.
.DestinationNode
INT
To change the Destination Node of a DH+ or CIP with Source ID message, set this member to the required value.
.SourceLink
INT
To change the Source Link of a DH+ or CIP with Source ID message, set this member to the required value.
.Class
INT
To change the Class parameter of a CIP Generic message, set this member to the required value.
.Attribute
INT
To change the Attribute parameter of a CIP Generic message, set this member to the required value.
.Instance
DINT
To change the Instance parameter of a CIP Generic message, set this member to the required value.
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Data Structures
10 - 7
Mnemonic:
Data Type:
Description:
.LocalIndex
DINT
If you use an asterisk [*] to designate the element number of the local array, the LocalIndex provides the element number. To change
the element number, set this member to the required value.
If the message:
Then the local array is the:
reads data
Destination element
writes data
Source element
.Channel
SINT
To send the message out a different channel of the 1756-DHRIO module, set this member to the required value. Use either the ASCII
character A or B.
.Rack
SINT
To change the rack number for a block transfer message, set this member to the required rack number (octal).
.Group
SINT
To change the group number for a block transfer message, set this member to the required group number (octal).
.Slot
SINT
To change the slot number for a block transfer message, set this member to the required slot number.
.Path
STRING
If the network is:
Then specify the slot number in:
universal remote I/O
octal
ControlNet
decimal (0-15)
To send the message to a different controller, set this member to the new path.
• enter the path as hexadecimal values
• omit commas [,]
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Data Structures
Mnemonic:
Data Type:
Description:
.RemoteIndex
DINT
If you use an asterisk [*] to designate the element number of the remote array, the RemoteIndex provides the element number. To
change the element number, set this member to the required value.
.RemoteElement
STRING
If the message:
Then the remote array is the:
reads data
Source element
writes data
Destination element
To specify a different tag or address in the controller to which the message is sent, set this member to the required value. Enter the
tag or address as ASCII characters.
If the message:
Then the remote array is the:
reads data
Source element
writes data
Destination element
.UnconnnectedTimeout
DINT
The time out for unconnected messages. The default value is 30 seconds.
.ConnectionRate
DINT
.TimeoutMultiplier
SINT
The ConnectionRate times the TimeoutMultiplier produces the time out for connected messages.
• the default ConnectionRate is 7.5 seconds
• the default TimeoutMultiplier is 0 (which equates to a multiplication factor of 4)
• the default time out for connected messages is 30 seconds (7.5 seconds x 4 = 30 seconds)
• to change the time out, change the ConnectionRate and leave the TimeoutMultiplier at the default value
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Data Structures
10 - 9
RESULT Structure
Mnemonic:
Data Type:
Description:
.DN
BOOL
The done bit is set when the Result array is full.
.LEN
DINT
The length value identifies the number of storage locations in the Result array.
.POS
DINT
The position value identifies the current position in the Result array.
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Data Structures
SERIAL_PORT_CONTROL Structure
Mnemonic:
Data Type:
Description:
.EN
BOOL
The enable bit indicates that the instruction is enabled.
.EU
BOOL
The queue bit indicates that the instruction entered the ASCII queue.
.DN
BOOL
The done bit indicates when the instruction is done, but it is asynchronous to the logic scan.
.RN
BOOL
The run bit indicates that the instruction is executing.
.EM
BOOL
The empty bit indicates that the instruction is done, but it is synchronous to the logic scan.
.ER
BOOL
The error bit indicates when the instruction fails (errors).
.FD
BOOL
The found bit indicates that the instruction found the termination character or characters.
.POS
DINT
The position determines the number of characters in the buffer, up to and including the first set of termination characters.
The instruction only returns this number after it finds the termination character or characters.
.ERROR
DINT
The error contains a hexadecimal value that identifies the cause of an error.
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Data Structures
10 - 11
STRING Structure
Every string data type includes these members:
Name:
Data Type:
Description:
Notes:
LEN
DINT
number of characters in the string
The LEN automatically updates to the new count of characters whenever you:
• use the String Browser dialog box to enter characters
• use instructions that read, convert, or manipulate a string
The LEN shows the length of the current string. The DATA member may contain additional, old
characters, which are not included in the LEN count.
DATA
SINT array
ASCII characters of the string
To access the characters of the string, address the name of the tag. Each element of the DATA array
contains one character. You can create new string data types that store less or more characters.
You store ASCII characters in tags that use a string data type.
• You can use the default STRING data type. It stores up to 82 characters.
• You can create a new string data type that stores less or more characters.
IMPORTANT
Use caution when you create a new string data type. If you later decide to change the size of the string data type, you may lose data in any tags that currently use
that data type.
If you:
make a string data type smaller
make a string data type larger
Then:
• The data is truncated.
• The LEN is unchanged.
The data and LEN is reset to zero.
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Data Structures
To create a string data type:
OR
Use the default STRING data type. It
stores as many as 82 characters.
Create a new string data type to store the
number of characters that you define.
If you create a new string data type, define the number of characters in the string:
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Data Structures
10 - 13
TIMER Structure
Mnemonic:
Data Type:
Description:
.EN
BOOL
The enable bit indicates that the instruction is enabled.
.TT
BOOL
The timing bit indicates that a timing operation is in process
.DN
BOOL
The done bit is set when .ACC ≥ .PRE.
.PRE
DINT
The preset value specifies the value (1 msec units) which the accumulated value must reach before the instruction sets the
.DN bit.
.ACC
DINT
The accumulated value specifies the number of milliseconds that have elapsed since the instruction was enabled.
User-Defined Structure
You can also create your own structures, called a user-defined data type. A user-defined data type groups different types of data into a
single named entity.
•
•
•
•
•
Within a user-defined data type, you define the members.
Like tags, members have a name and data type.
You can include arrays and structures.
Once you create a user-defined data type, you can create one or more tags using that data type.
Minimize the use of these data type because they typically increase the memory requirements and execution time of your logic:
– INT
– SINT
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Data Structures
• If you include members that represent I/O devices, you must use ladder logic to copy the data between the members in the structure
and the corresponding I/O tags.
• When you use the BOOL, SINT, or INT data types, place members that use the same data type in sequence:
more efficient
•
•
•
•
less efficient
BOOL
BOOL
BOOL
DINT
BOOL
BOOL
DINT
DINT
DINT
BOOL
You can use single dimension arrays.
You can create, edit, and delete user-defined data types only when programming offline.
If you modify a user-defined data type and change its size, the existing values of any tags that use the data type are set to zero (0).
To copy data to a structure, use the COP instruction.
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Data Structures
10 - 15
To create a user-defined data type:
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Data Structures
Notes:
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Instruction Set
Instruction:
Chapter
Relay Ladder:
ABL
ASCII Test for
Buffer Line
11
Function Block:
Structured Text:
Description:
not available
ABL(Channel
SerialPortControl);
The ABL instruction counts the characters in the buffer up
to and including the first termination character.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
Serial Port
Control
SERIAL_PORT_
CONTROL
tag
tag that controls the operation
Character Count
DINT
immediate
displays the number of characters in the buffer, including the first set of termination characters (relay ladder only)
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction Set
Instruction:
Relay Ladder:
Function Block:
ABS
Absolute Value
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
dest := ABS(source);
The ABS instruction takes the absolute value of the Source
and places the result in the Destination.
Operand:
Type:
Format:
Description:
Source
SINT
INT
DINT
REAL
immediate
tag
value of which to take the absolute value
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
ABS tag
FBD_MATH_
ADVANCED
structure
ABS structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
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Parameter:
Type:
Description:
Source
REAL
value of which to take the absolute value
Dest
REAL
result of the math instruction
Instruction Set
Instruction:
Relay Ladder:
ACB
ASCII
Characters in
Buffer
11 - 3
Function Block:
Structured Text:
Description:
not available
ACB(Channel
SerialPortControl)
The ACB instruction counts the characters in the buffer.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
Serial Port
Control
SERIAL_PORT_
CONTROL
tag
tag that controls the operation
Character Count
DINT
immediate
displays the number of characters in the buffer (relay ladder only)
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction Set
Instruction:
Relay Ladder:
ACL
ASCII Clear
Buffer
Function Block:
Structured Text:
Description:
not available
ACL(Channel,
ClearSerialPortRead,
ClearSerialPortWrite);
The ACL instruction immediately clears the buffer and
ASCII queue.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
Clear Serial Port
Read
BOOL
immediate
tag
to empty the buffer and remove ARD and ARL instructions from the queue, enter Yes.
Clear Serial Port
Write
BOOL
immediate
tag
to remove AWA and AWT instructions from the queue, enter Yes.
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction Set
Instruction:
Relay Ladder:
Function Block:
ACS
Arc Cosine
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
ACS tag
Structured Text:
Description:
dest := ACOS(source);
The ACS instruction takes the arc cosine of the Source
value (in radians) and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the arc cosine of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
ACS structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
11 - 5
Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
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Instruction Set
Instruction:
Relay Ladder:
Function Block:
ADD
Add
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source A
SINT
INT
Source B
Structured Text:
Description:
dest := sourceA + sourceB;
The ADD instruction adds Source A to Source B and places
the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
value to add to Source B
SINT
INT
DINT
REAL
immediate
tag
value to add to Source A
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
ADD tag
FBD_MATH
structure
ADD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
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Parameter:
Type:
Description:
SourceA
REAL
value to add to SourceB
SourceB
REAL
value to add to SourceA
Dest
REAL
result of the math instruction
Instruction Set
Instruction:
Relay Ladder:
AFI
Always False
11 - 7
Function Block:
Structured Text:
Description:
not available
not available
The AFI instruction sets its rung-condition-out to false.
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction Set
Instruction:
Relay Ladder:
AHL
ASCII
Handshake
Lines
Function Block:
Structured Text:
Description:
not available
AHL(Channel,ANDMask
ORMask,
SerialPortControl);
The AHL instruction obtains the status of control lines and
turns on or off the DTR and RTS signals.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
ANDMask
DINT
immediate
tag
ORMask
DINT
immediate
tag
To turn
DTR:
off
on
And turn
RTS:
ANDMask
value:
ORMask
value:
3
0
off
2
2
on
0
2
unchanged
1
0
unchanged
0
0
off
2
1
on
0
3
unchanged
0
1
tag that controls the operation
Channel Status
DINT
immediate
displays the status of the control lines (relay ladder only)
Type 4
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Code 57
ORMask
value:
1
tag
Major Faults:
unchanged
ANDMask
value:
off
SERIAL_PORT_
CONTROL
affected
And turn
RTS:
on
Serial Port Control
Arithmetic Status Flags:
To turn
DTR:
The AHL instruction failed to execute because the serial port is set to no handshaking.
Either change the Control Line setting of the serial port or delete the AHL instruction.
0
Instruction Set
Instruction:
Relay Ladder:
ALM
Alarm
not available
Function Block:
Structured Text:
Description:
ALM(ALM_tag);
The ALM instruction provides alarming for any
analog signal.
Operand:
Type:
Format:
Description:
ALM tag
ALARM
structure
ALM structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input
HHAlarm
BOOL
high-high alarm indicator
HAlarm
BOOL
high alarm indicator
LAlarm
BOOL
low alarm indicator
LLAlarm
BOOL
low-low alarm indicator
ROCPosAlarm
BOOL
rate-of-change positive alarm indicator
ROCNegAlarm
BOOL
rate-of-change negative alarm indicator
11 - 9
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11 - 10
Instruction Set
Instruction:
Relay Ladder:
Function Block:
AND
Bitwise AND
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source A
SINT
INT
Source B
Structured Text:
Description:
dest := sourceA AND sourceB
The AND instruction performs a bitwise AND operation
using the bits in Source A and Source B and places the
result in the Destination.
Format:
Description:
DINT
immediate
tag
value to AND with Source B
SINT
INT
DINT
immediate
tag
value to AND with Source A
Destination
SINT
INT
DINT
tag
tag to store the result
Operand:
Type:
Format:
Description:
AND tag
FBD_LOGICAL
structure
AND structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
SourceA
DINT
value to AND with Source B
SourceB
DINT
value to AND with Source A
Dest
DINT
result of the instruction
Instruction Set
Instruction:
Relay Ladder:
ARD
ASCII Read
11 - 11
Function Block:
Structured Text:
Description:
not available
ARD(Channel,
Destination,
SerialPortControl);
The ARD instruction removes characters from the buffer
and stores them in the Destination.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
Destination
string
SINT
INT
tag
tag into which the characters are moved (read):
• for a string data type, enter the name of the tag
• for a SINT, INT, or DINT array, enter the first element of the array
DINT
Serial Port
Control
SERIAL_PORT_
CONTROL
tag
tag that controls the operation
Serial Port
Control Length
DINT
immediate
displays the number of characters to move to the destination (relay ladder only)
Characters Read
DINT
immediate
during execution, displays the number of characters that were read (relay ladder only)
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 12
Instruction Set
Instruction:
Relay Ladder:
ARL
ASCII Read
Line
Function Block:
Structured Text:
Description:
not available
ARL(Channel,
Destination,
SerialPortControl);
The ARL instruction removes specified characters from the
buffer and stores them in the Destination.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
Destination
string
SINT
INT
tag
tag into which the characters are moved (read):
• for a string data type, enter the name of the tag
• for a SINT, INT, or DINT array, enter the first element of the array
DINT
Serial Port
Control
SERIAL_PORT_
CONTROL
tag
tag that controls the operation
Serial Port Control
Length
DINT
immediate
displays the maximum number of characters to read if no termination characters are found (relay ladder only)
Characters Read
DINT
immediate
during execution, displays the number of characters that were read (relay ladder only)
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction Set
Instruction:
Relay Ladder:
Function Block:
ASN
Arc Sine
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
ASN tag
Structured Text:
Description:
dest := ASIN(source);
The ASN instruction takes the arc sine of the Source value
(in radians) and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the arc sine of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
ASN structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
11 - 13
Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
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11 - 14
Instruction Set
Instruction:
Relay Ladder:
Function Block:
ATN
Arc Tangent
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
ATN tag
Structured Text:
Description:
dest := ATAN(source);
The ATN instruction takes the arc tangent of the Source
value (in radians) and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the arc tangent of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
ATN structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
Instruction Set
Instruction:
Relay Ladder:
AVE
Average
Operand:
Type:
Array
SINT
INT
Dimension to vary
DINT
Destination
SINT
INT
Control
Function Block:
Structured Text:
Description:
not available
SIZE(array,0,length);
sum := 0;
FOR position = 0 TO length-1
DO
sum := sum +
array[position];
END_FOR;
destination := sum / length;
The AVE instruction calculates the average of a set
of values.
Format:
Description:
array tag
find the average of the values in this array; specify the first element of the group of elements to average
do not use CONTROL.POS in the subscript
immediate
(0, 1, 2)
which dimension to use
the order is: array[dim_0,dim_1,dim_2] then array[dim_0,dim_1] then array[dim_0]
tag
result of the operation
CONTROL
tag
control structure for the operation
Length
DINT
immediate
number of elements of the array to average
Position
DINT
immediate
current element in the array; initial value is typically 0
DINT
REAL
DINT
REAL
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 20
Dimension to vary does not exist for the specified array
Type 4
Code 21
.POS < 0 or .LEN < 0
11 - 15
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11 - 16
Instruction Set
Instruction:
Relay Ladder:
AWA
ASCII Write
Append
Function Block:
Structured Text:
Description:
not available
AWA(Channel,Source,
SerialPortControl);
The AWA instruction sends a specified number of
characters of the Source tag to a serial device and appends
either one or two predefined characters.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
Source
string
SINT
INT
tag
tag that contains the characters to send:
• for a string data type, enter the name of the tag.
• for a SINT, INT, or DINT array, enter the first element of the array.
DINT
Serial Port
Control
SERIAL_PORT_
CONTROL
tag
tag that controls the operation
Serial Port Control
Length
DINT
immediate
displays the number of characters to send (relay ladder only)
Characters Sent
DINT
immediate
displays the number of characters that were sent (relay ladder only)
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction Set
Instruction:
Relay Ladder:
AWT
ASCII Write
Function Block:
Structured Text:
Description:
not available
AWT(Channel,
Source,
SerialPortControl);
The AWT instruction sends a specified number of
characters of the Source tag to a serial device.
Operand:
Type:
Format:
Description:
Channel
DINT
immediate
tag
0
Source
SINT
INT
tag
tag that contains the characters to send:
• for a string data type, enter the name of the tag
• for a SINT, INT, or DINT array, enter the first element of the array
Serial Port
Control
SERIAL_PORT_
CONTROL
tag
tag that controls the operation
Serial Port Control
Length
DINT
immediate
number of characters to send (relay ladder only)
Characters Sent
DINT
immediate
displays the number of characters that were sent (relay ladder only)
DINT
string
Arithmetic Status Flags:
Major Faults:
not affected
none
11 - 17
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11 - 18
Instruction Set
Instruction:
Relay Ladder:
BAND
Boolean AND
see AND
Function Block:
Structured Text:
Description:
IF operandA AND operandB
THEN
<statement>;
END_IF;
The BAND instruction logically ANDs as many as 8
boolean inputs.
Operand:
Type:
Format:
Description:
BAND tag
FBD_BOOLEAN_
AND
structure
BAND structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
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Parameter:
Type:
Description:
Inx
BOOL
boolean input; where x = 1-8
Out
BOOL
result of the instruction
Instruction Set
Instruction:
Relay Ladder:
BNOT
Boolean NOT
see NOT
Function Block:
Structured Text:
Description:
IF NOT operand THEN
<statement>;
END_IF;
The BNOT instruction complements a boolean input.
Operand:
Type:
Format:
Description:
BNOT tag
FBD_BOOLEAN_B
NOT
structure
BNOT structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Parameter:
Type:
Description:
In
BOOL
boolean input
Out
BOOL
result of the instruction
11 - 19
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11 - 20
Instruction Set
Instruction:
Relay Ladder:
BOR
Boolean OR
see OR
Instruction:
Function Block:
Structured Text:
Description:
IF operandA OR operandB THEN
<statement>;
END_IF;
The BOR instruction logically ORs as many as 8
boolean inputs.
Operand:
Type:
Format:
Description:
BOR tag
FBD_BOOLEAN_
OR
structure
BOR structure (default parameters):
Parameter:
Type:
Description:
Inx
BOOL
boolean input; where x = 1-8
Out
BOOL
result of the instruction
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
EXIT;
The BRK instruction interrupts the execution of a routine
that was called by a FOR instruction.
BRK
Break
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction Set
Instruction:
Relay Ladder:
BSL
Bit Shift Left
11 - 21
Function Block:
Structured Text:
Description:
not available
not available
The BSL instruction shifts the specified bits within the Array
one position left.
Operand:
Type:
Format:
Description:
Array
DINT
array tag
array to modify; specify the first element of the group of elements
do not use CONTROL.POS in the subscript
Control
CONTROL
tag
control structure for the operation
Source bit
BOOL
tag
bit to shift
Length
DINT
immediate
number of bits in the array to shift
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 22
Instruction Set
Instruction:
Relay Ladder:
BSL
Bit Shift Right
Function Block:
Structured Text:
Description:
not available
not available
The BSR instruction shifts the specified bits within the
Array one position right.
Operand:
Type:
Format:
Description:
Array
DINT
array tag
array to modify; specify the first element of the group of elements
do not use CONTROL.POS in the subscript
Control
CONTROL
tag
control structure for the operation
Source bit
BOOL
tag
bit to shift
Length
DINT
immediate
number of bits in the array to shift
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Instruction Set
Instruction:
Relay Ladder:
BTD
Bit Field
Distribute
Operand:
Type:
Source
SINT
INT
Source Bit
DINT
Destination
SINT
INT
Destination bit
Length
Function Block:
Structured Text:
Description:
see BTDT
see BTDT
The BTD instruction copies the specified bits from the
Source, shifts the bits to the appropriate position, and
writes the bits into the Destination.
Format:
Description:
immediate
tag
tag that contains the bits to move
immediate
number of the bit (lowest bit number) from where to start the move
must be within the valid range for the Source data type (0-31 DINT, 0-15 INT, 0-7 SINT)
immediate
tag
tag where to move the bits
DINT
immediate
the number of the bit (lowest bit number) where to start copying bits from the Source
must be within the valid range for the Destination data type (0-31 DINT, 0-15 INT, 0-7 SINT)
DINT
tag
number of bits to move (1-32)
DINT
DINT
11 - 23
Arithmetic Status Flags:
Major Faults:
affected
none
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11 - 24
Instruction Set
Instruction:
Relay Ladder:
BTDT
Bit Field
Distribute with
Target
see BTD
Function Block:
Structured Text:
Description:
BTDT(BTDT_tag);
The BTDT instruction first copies the Target to the
Destination. Then the instruction copies the specified bits
from the Source, shifts the bits to the appropriate position,
and writes the bits into the Destination. The Target and
Source remain unchanged.
Operand:
Type:
Format:
Description:
BTDT tag
FBD_BIT_FIELD_
DISTRIBUTE
structure
BTDT structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source
DINT
input value containing the bits to move to Destination
SourceBit
DINT
the bit position in Source (lowest bit number where to start the move)
Length
DINT
number of bits to move (1-32)
DestBit
DINT
the bit position in Dest (lowest bit number to start copying bits into)
Target
DINT
input value to move to Dest prior to moving bits from the Source
Dest
DINT
result of the bit move operation
Instruction Set
Instruction:
Relay Ladder:
BXOR
Boolean
Exclusive XOR
see XOR
Instruction:
Function Block:
11 - 25
Structured Text:
Description:
IF operandA XOR operandB
THEN
<statement>;
END_IF;
The BXOR performs an exclusive OR on two boolean inputs.
Operand:
Type:
Format:
Description:
BXOR tag
FBD_BOOLEAN_X
OR
structure
BXOR structure (default parameters):
Parameter:
Type:
Description:
In1
BOOL
boolean input
In2
BOOL
boolean input
Out
BOOL
result of the instruction
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
dest := 0;
The CLR instruction clears all the bits of the Destination.
CLR
Clear
Operand:
Type:
Destination
SINT
INT
DINT
REAL
Format:
Description:
tag
tag to clear
Arithmetic Status Flags:
Major Faults:
affected
none
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11 - 26
Instruction Set
Instruction:
Relay Ladder:
CMP
Compare
Instruction:
Operand:
Type:
Expression
SINT
INT
DINT
REAL
string
Function Block:
Structured Text:
Description:
not available
IF BOOL_expression THEN
<statement>;
END_IF;
The CMP instruction performs a comparison on the
arithmetic operations you specify in the expression.
Format:
Description:
immediate
tag
an expression consisting of tags and/or immediate values separated by operators
Arithmetic Status Flags:
Major Faults:
affected if expressions uses operators
that affect arithmetic status flags
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
CONCAT(SourceA,SourceB,
Dest);
The CONCAT instruction adds ASCII characters to the end of
a string.
CONCAT
String
Concatenate
Operand:
Type:
Format:
Description:
Source A
string
tag
tag that contains the initial characters
Source B
string
tag
tag that contains the end characters
Destination
string
tag
tag to store the result
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Publication 1756-QR107C-EN-P - June 2005
Code 51
The LEN value of the string tag is greater than the DATA size of the string tag.
Check that no instruction is writing to the LEN member of the string tag and that in the LEN value, you
entered the number of characters that the string contains.
Instruction Set
Instruction:
Relay Ladder:
COP
Copy File
11 - 27
Function Block:
Structured Text:
Description:
not available
COP(Source,Dest
Length);
The COP instruction copies the value(s) in the Source to the
Destination. The Source remains unchanged.
The data can change during the copy operation
Operand:
Type:
Format:
Description:
Source
SINT
INT
DINT
REAL
string
structure
tag
initial element to copy
the Source and Destination operands should be the same data type, or unexpected results may occur
Destination
SINT
INT
DINT
REAL
string
structure
tag
initial element to be overwritten by the Source
the Source and Destination operands should be the same data type, or unexpected results may occur
Length
DINT
immediate
tag
number of Destination elements to copy
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 28
Instruction Set
Instruction:
Relay Ladder:
Function Block:
COS
Cosine
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
COS tag
Structured Text:
Description:
dest := COS(source);
The COS instruction takes the cosine of the Source value (in
radians) and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the cosine of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
COS structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
Instruction Set
Instruction:
Relay Ladder:
CPS
Synchronous
Copy File
11 - 29
Function Block:
Structured Text:
Description:
not available
CPS(Source,Dest
Length);
The CPS instruction copies the value(s) in the Source to the
Destination. The Source remains unchanged.
The data cannot change during the copy operation.
Operand:
Type:
Source
SINT
INT
DINT
Destination
SINT
INT
DINT
Length
DINT
Format:
Description:
REAL
string
structure
tag
initial element to copy
the Source and Destination operands should be the same data type, or unexpected results may occur
REAL
string
structure
tag
initial element to be overwritten by the Source
the Source and Destination operands should be the same data type, or unexpected results may occur
immediate
tag
number of Destination elements to copy
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 30
Instruction Set
Instruction:
Relay Ladder:
CPT
Compute
Instruction:
Function Block:
Structured Text:
Description:
not available
destination :=
numeric_expresion;
The CPT instruction performs the arithmetic operations you
define in the expression.
Operand:
Type:
Format:
Description:
Destination
SINT
INT
DINT
REAL
immediate
tag
tag to store the result
Expression
SINT
INT
DINT
REAL
immediate
tag
an expression consisting of tags and/or immediate values separated by operators
Arithmetic Status Flags:
Major Faults:
affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
see CTUD
see CTUD
The CTD instruction counts downward.
CTD
Counter Down
Operand:
Type:
Format:
Description:
Counter
COUNTER
tag
counter structure
Preset
DINT
immediate
how low to count
Accum
DINT
immediate
number of times the counter has counted; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Instruction Set
Instruction:
Relay Ladder:
CTU
Counter Up
Function Block:
Structured Text:
Description:
see CTUD
see CTUD
The CTU instruction counts upward.
Operand:
Type:
Format:
Description:
Counter
COUNTER
tag
counter structure
Preset
DINT
immediate
how high to count
Accum
DINT
immediate
number of times the counter has counted; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
none
11 - 31
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11 - 32
Instruction Set
Instruction:
Relay Ladder:
CTUD
Count
Up/Down
see CTU and CTD
Function Block:
Structured Text:
Description:
CTUD(CTUD_tag);
The CTUD instruction counts up by one when CUEnable
transitions from clear to set. The instruction counts down by
one when CDEnable transitions from clear to set.
Operand:
Type:
Format:
Description:
CTUD tag
FBD_COUNTER
structure
CTUD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
CUEnable
BOOL
enable up count
When input toggles from clear to set, accumulator counts up by one.
CDEnable
BOOL
enable down count
When input toggles from clear to set, accumulator counts down by one.
PRE
DINT
counter preset value
Reset
BOOL
request to reset the timer
ACC
DINT
accumulated value
DN
BOOL
counting done
Instruction Set
Instruction:
Relay Ladder:
D2SD
Discrete
2-State Device
not available
Function Block:
11 - 33
Structured Text:
Description:
D2SD(D2SD_tag);
The D2SD instruction controls a discrete device which has
only two possible states such as on/off, open/closed, etc.
Operand:
Type:
Format:
Description:
D2SD tag
DISCRETE_
2STATE
structure
D2SD structure (default parameters):
Parameter:
Type:
Description:
ProgCommand
BOOL
program state command
StatexPerm
BOOL
state x permissive, where x = 0 or 1
unless in Hand or Override mode, this input must be set for the device to enter
the state
FBx
BOOL
feedback input, where x = 0 or 1
HandFB
BOOL
hand feedback input
when set, the field device is being requested to enter the 1 state; when cleared,
the field device is being requested to enter the 0 state
ProgProgReq
BOOL
program program request
ProgOperReq
BOOL
program operator request
ProgOverrideReq
BOOL
program override request
continued
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11 - 34
Instruction Set
Instruction:
Relay Ladder:
Function Block:
D2SD
Discrete
2-State Device
(continued)
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
Parameter:
Type:
Description:
ProgHandReq
BOOL
program hand request
Out
BOOL
output of the instruction
DevicexState
BOOL
device x state output, where x = 0 or 1
CommandStatus
BOOL
command status output
FaultAlarm
BOOL
fault alarm output
ModeAlarm
BOOL
mode alarm output
ProgOper
BOOL
program/operator control indicator
Override
BOOL
override mode indicator
Hand
BOOL
hand mode indicator
Instruction Set
Instruction:
Relay Ladder:
D3SD
Discrete
3-State Device
not available
Function Block:
11 - 35
Structured Text:
Description:
D3SD(D3SD_tag);
The D3SD instruction controls a discrete device having
three possible states such as fast/slow/off,
forward/stop/reverse, etc.
Operand:
Type:
Format:
Description:
D3SD tag
DISCRETE_
3STATE
structure
D3SD structure (default parameters):
Parameter:
Type:
Description:
ProgxCommand
BOOL
program state x command, where x = 0, 1, or 2
StatexPerm
BOOL
state x permissive, where x = 0, 1, or 2
unless in Hand or Override mode, this input must be set for the device to enter
the state
FBx
BOOL
feedback input; where x = 0,1, 2, or 3
continued
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11 - 36
Instruction Set
Instruction:
Relay Ladder:
Function Block:
D3SD
Discrete
3-State Device
Structured Text:
Parameter:
Type:
Description:
HandFBx
BOOL
hand feedback input, where x = 0, 1, or 2
when set, the field device is being requested to enter the 1 state; when cleared,
the field device is being requested to enter some other state
ProgProgReq
BOOL
program program request
ProgOperReq
BOOL
program operator request
ProgOverrideReq
BOOL
program override request
ProgHandReq
BOOL
program hand request
Outx
BOOL
output of the instruction, where x = 0, 1, or 2
DevicexState
BOOL
device x state output, where x = 0, 1, or 2
CommandxStatus
BOOL
command status output, where x = 0, 1, or 2
FaultAlarm
BOOL
fault alarm output
ModeAlarm
BOOL
mode alarm output
ProgOper
BOOL
program/operator control indicator
Override
BOOL
override mode indicator
Hand
BOOL
hand mode indicator
(continued)
Arithmetic Status Flags:
Major Faults:
not affected
none
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Description:
Instruction Set
Instruction:
Relay Ladder:
DDT
Diagnostic
Detect
11 - 37
Function Block:
Structured Text:
Description:
not available
not available
The DDT instruction compares bits in a Source array with
bits in a Reference array to determine changes of state.
Operand:
Type:
Format:
Description:
Source
DINT
array tag
array to compare to the reference; do not use CONTROL.POS in the subscript
Reference
DINT
array tag
array to compare to the source; do not use CONTROL.POS in the subscript
Result
DINT
array tag
array to store the results; do not use CONTROL.POS in the subscript
Cmp control
CONTROL
structure
control structure for the compare
Length
DINT
immediate
number of bits to compare
Position
DINT
immediate
current position in the source; initial value typically 0
Result control
CONTROL
structure
control structure for the results
Length
DINT
immediate
number of storage locations in the result
Position
DINT
immediate
current position in the result; initial value typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 20
Result.POS > size of Result array
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11 - 38
Instruction Set
Instruction:
Relay Ladder:
DEDT
Deadtime
not available
Function Block:
Structured Text:
Description:
DEDT(DEDT_tag,storage);
The DEDT instruction performs a delay of a single input. You
select the amount of deadtime delay.
Operand:
Type:
Format:
Description:
DEDT tag
DEADTIME
structure
DEDT structure (default parameters):
storage
REAL
array
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
deadtime buffer
Instruction Set
Instruction:
Relay Ladder:
Function Block:
DEG
Degrees
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
DEG tag
Structured Text:
Description:
dest := DEG(source);
The DEG instruction converts the Source (in radians) to
degrees and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
value to convert to degrees
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
DEG structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
11 - 39
Parameter:
Type:
Description:
Source
REAL
input to the conversion instruction
Dest
REAL
result of the conversion instruction
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11 - 40
Instruction Set
Instruction:
Relay Ladder:
DELETE
String Delete
Operand:
Type:
Source
string
Quantity
SINT
INT
DINT
Start
SINT
INT
DINT
Destination
string
Function Block:
Structured Text:
Description:
not available
DELETE(Source,Qty,
Start,Dest);
The DELETE instruction removes ASCII characters from a
string.
Format:
Description:
tag
tag that contains the string from which you want to delete characters
immediate
tag
number of characters to delete; the Start plus the Quantity must be less than or equal to the DATA size of the Source
immediate
tag
position of the first character to delete; enter a number between 1 and the DATA size of the Source
tag
tag to store the result
Arithmetic Status Flags:
Major Faults:
not affected
4
51
The LEN value of the string tag is greater than the DATA size of the string tag. Check:
• that no instruction is writing to the LEN member of the string tag.
• in the LEN value, you entered the number of characters that the string contains.
4
56
The Start or Quantity value is invalid. Check that:
• the Start value is between 1 and the DATA size of the Source.
• the Start value plus the Quantity value is less than or equal to the DATA size of the Source.
Publication 1756-QR107C-EN-P - June 2005
Instruction Set
Instruction:
Relay Ladder:
DERV
Derivative
not available
Function Block:
Structured Text:
Description:
DERV(DERV_tag);
The DERV instruction calculates the amount of change of a
signal over time in per-second units.
Operand:
Type:
Format:
Description:
DERV tag
DERIVATIVE
structure
DERV structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
11 - 41
Parameter:
Type:
Description:
In
REAL
input to the instruction
ByPass
BOOL
request to bypass the algorithm; when set, the instruction sets Out = In
Out
REAL
calculated output of the algorithm
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11 - 42
Instruction Set
Instruction:
Relay Ladder:
DFF
D FLip-Flop
not available
Function Block:
Structured Text:
Description:
DFF(DFF_tag);
The DFF instruction sets the Q output to the state of the D
input on a cleared to set transition of the Clock input. The
QNot output is set to the opposite state of the Q output.
Operand:
Type:
Format:
Description:
DFF tag
FLIP_FLOP_D
structure
DFF structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
D
BOOL
input to the instruction
Clear
BOOL
clear input to the instruction; if set, the instruction clears Q and sets QNot
Clock
BOOL
Clock input to the instruction
Q
BOOL
output of the instruction
QNot
BOOL
complement of the Q output
Instruction Set
Instruction:
Relay Ladder:
Function Block:
DIV
Divide
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source A
SINT
INT
Source B
Structured Text:
Description:
dest := sourceA / sourceB;
The DIV instruction divides Source A by Source B and
places the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
value of the dividend
SINT
INT
DINT
REAL
immediate
tag
value of the divisor
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
DIV tag
FBD_MATH
structure
DIV structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
Type 4
11 - 43
Parameter:
Type:
Description:
SourceA
REAL
value of the dividend
SourceB
REAL
value of the divisor
Dest
REAL
result of the math instruction
Code 4
the divisor is 0
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11 - 44
Instruction Set
Instruction:
Relay Ladder:
DTOS
DINT to String
Operand:
Type:
Source
SINT
INT
Destination
string
DINT
REAL
Function Block:
Structured Text:
Description:
not available
DTOS(Source,Dest);
The DTOS instruction produces the ASCII representation of
a value.
Format:
Description:
tag
tag that contains the value; if the Source is a REAL, the instruction converts it to a DINT value
tag
tag to store the ASCII value
Arithmetic Status Flags:
Major Faults:
not affected
4
51
The LEN value of the string tag is greater than the DATA size of the string tag. Check:
• that no instruction is writing to the LEN member of the string tag.
• in the LEN value, you entered the number of characters that the string contains.
4
52
The output string is larger than the destination. Create a new string data type that is large enough for
the output string. Use the new string data type as the data type for the destination.
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Instruction Set
Instruction:
Relay Ladder:
DTR
Data
Transitional
Instruction:
11 - 45
Function Block:
Structured Text:
Description:
not available
not available
The DTR instruction passes the Source value through a
Mask and compares the result with the Reference value.
Operand:
Type:
Format:
Description:
Source
DINT
immediate
tag
array to compare to the reference
Mask
DINT
immediate
tag
which bits to block or pass
Reference
DINT
tag
array to compare to the source
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
EOT(data_bit);
The EOT instruction returns a boolean state to an SFC
transition.
EOT
End of Transition
Operand:
Type:
Format:
Description:
data bit
BOOL
tag
state of the transition (0=executing, 1=completed)
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 46
Instruction Set
Instruction:
Relay Ladder:
Function Block:
EQU
Equal To
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
IF sourceA = sourceB THEN
<statements>;
The EQU instruction tests whether Source A is equal to
Source B.
Operand:
Type:
Format:
Description:
Source A
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source B
Source B
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source A
Operand:
Type:
Format:
Description:
EQU tag
FBD_COMPARE
structure
EQU structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
SourceA
REAL
value to test against SourceB
SourceB
REAL
value to test against SourceA
Dest
BOOL
result of the instruction
Instruction Set
Instruction:
Relay Ladder:
ESEL
Enhanced
Select
not available
Function Block:
11 - 47
Structured Text:
Description:
ESEL(ESEL_tag);
The ESEL instruction lets you select one of as many as six
inputs. Selection options include:
• manual select (either by operator or by program)
• high select
• low select
• median select
• average (mean) select
Operand:
Type:
Format:
Description:
ESEL tag
SELECT_
ENHANCED
structure
ESEL structure (default parameters):
Parameter:
Type:
Description:
Inx
REAL
analog signal inputs to the instruction, where x = 1-6
ProgSelector
DINT
program selector input
ProgProgReq
BOOL
program program request
ProgOperReq
BOOL
program operator request
ProgOverrideReq
BOOL
program override request
continued
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11 - 48
Instruction Set
Instruction:
Relay Ladder:
Function Block:
ESEL
Enhanced
Select
(continued)
Instruction:
Structured Text:
Description:
Parameter:
Type:
Description:
Out
REAL
calculated output of the algorithm
SelectedIn
DINT
number of inputs selected; if the selector mode is average select, the instruction
sets SelectedIn = 0
ProgOper
BOOL
program/operator control indicator; set when in Program control; cleared when in
Operator control
Override
BOOL
override mode; set when the instruction is in Override mode
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
EVENT(Task);
The EVENT instruction triggers one execution of an
event task.
EVENT
Trigger Event
Task
Operand:
Type:
Format:
Description:
Task
na
task name
event task to execute
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Instruction Set
Instruction:
Relay Ladder:
FAL
File Arithmetic
and Logic
11 - 49
Function Block:
Structured Text:
Description:
not available
SIZE(destination,0
length-1);
FOR position = 0 TO length
DO
destination[position]
:= numeric_expression;
END_FOR;
The FAL instruction performs copy, arithmetic, logic, and
function operations on data stored in an array.
Operand:
Type:
Format:
Description:
Control
CONTROL
tag
control structure for the operation
Length
DINT
immediate
number of elements in the array to be manipulated
Position
DINT
immediate
current element in array; initial value is typically 0
Mode
DINT
immediate
how to distribute the operation; select INC, ALL, or enter a number
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Expression
SINT
INT
DINT
REAL
immediate
tag
an expression consisting of tags and/or immediate values separated by operators
Arithmetic Status Flags:
Major Faults:
affected
Type 4
Code 20
subscript is out of range
Type 4
Code 21
.POS < 0 or .LEN < 0
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Instruction Set
Instruction:
Relay Ladder:
FBC
File Bit
Compare
Function Block:
Structured Text:
Description:
not available
not available
The FBC instruction compares bits in a Source array with
bits in a Reference array.
Operand:
Type:
Format:
Description:
Source
DINT
array tag
array to compare to the reference; do not use CONTROL.POS in the subscript
Reference
DINT
array tag
array to compare to the source; do not use CONTROL.POS in the subscript
Result
DINT
array tag
array to store the result; do not use CONTROL.POS in the subscripts
Cmp control
CONTROL
structure
control structure for the compare
Length
DINT
immediate
number of bits to compare
Position
DINT
immediate
current position in the source; initial value is typically 0
Result control
CONTROL
structure
control structure for the results
Length
DINT
immediate
number of storage locations in the result
Position
DINT
immediate
current position in the result
initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Publication 1756-QR107C-EN-P - June 2005
Code 20
Result.POS > size of Result array
Instruction Set
Instruction:
Relay Ladder:
FFL
FIFO Load
11 - 51
Function Block:
Structured Text:
Description:
not available
not available
The FFL instruction copies the Source value to the FIFO.
Operand:
Type:
Format:
Description:
Source
SINT DINT
INT
REAL
string
structure
immediate
tag
data to be stored in the FIFO
FIFO
SINT DINT
INT
REAL
string
structure
array tag
FIFO to modify; specify the first element of the FIFO
do not use CONTROL.POS in the subscript
Control
CONTROL
tag
control structure for the operation; typically use the same CONTROL as the associated FFU
Length
DINT
immediate
maximum number of elements the FIFO can hold at one time
Position
DINT
immediate
next location in the FIFO where the instruction loads data; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 20
(starting element + .POS) > FIFO array size
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Instruction Set
Instruction:
Relay Ladder:
FFU
FIFO Unload
Function Block:
Structured Text:
Description:
not available
not available
The FFU instruction unloads the value from position 0 (first
position) of the FIFO and stores that value in the
Destination. The remaining data in the FIFO shifts down one
position.
Operand:
Type:
Format:
Description:
FIFO
SINT DINT
INT
REAL
string
structure
array tag
FIFO to modify; specify the first element of the FIFO
do not use CONTROL.POS in the subscript
Destination
SINT DINT
INT
REAL
string
structure
tag
value that exits the FIFO
Control
CONTROL
tag
control structure for the operation; typically use the same CONTROL as the associated FFL
Length
DINT
immediate
maximum number of elements the FIFO can hold at one time
Position
DINT
immediate
next location in the FIFO where the instruction unloads data; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Publication 1756-QR107C-EN-P - June 2005
Code 20
Length > FIFO array size
Instruction Set
Instruction:
Relay Ladder:
FGEN
Function
Generator
not available
Function Block:
Structured Text:
Description:
FGEN(FGEN_tag,X1,Y1,X2,Y2);
The FGEN instruction converts an input based on a
piece-wise linear function.
Operand:
Type:
Format:
Description:
FGEN tag
FUNCTION_
GENERATOR
structure
FGEN structure (default parameters):
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
X1
REAL
array
X-axis array, table one
combine with the Y-axis array, table one to define the points of the first piece-wise linear curve
Y1
REAL
array
Y-axis array, table one
combine with the X-axis array, table one to define the points of the first piece-wise linear curve
X2
REAL
array
(optional) X-axis array, table two
combine with the Y-axis array, table two to define the points of the second piece-wise linear curve
Y2
REAL
array
(optional) Y-axis array, table two
combine with the X-axis array, table two to define the points of the second piece-wise linear curve
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
11 - 53
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11 - 54
Instruction Set
Instruction:
Relay Ladder:
FIND
Find String
Function Block:
Structured Text:
Description:
not available
FIND(Source,Search,
Start,Result);
The FIND instruction locates the starting position of a
specified string within another string
Operand:
Type:
Format:
Description:
Source
string
tag
string to search in
Search
string
tag
string to find
Start
SINT
INT
DINT
immediate
tag
position in Source to start the search; enter a number between 1 and the DATA size of the Source.
Result
SINT
INT
DINT
tag
tag that stores the starting position of the string to find
Arithmetic Status Flags:
Major Faults:
not affected
4
51
The LEN value of the string tag is greater than the DATA size of the string tag. Check:
• that no instruction is writing to the LEN member of the string tag.
• in the LEN value, you entered the number of characters that the string contains.
4
56
The Start value is invalid. Check that the Start value is between 1 and the DATA size of the Source.
Publication 1756-QR107C-EN-P - June 2005
Instruction Set
Instruction:
Relay Ladder:
FLL
File Fill
Operand:
Type:
Source
SINT
INT
Destination
Length
Function Block:
Structured Text:
Description:
not available
SIZE(destination,0
length);
FOR position = 0 TO length-1
DO
destination[position]
:= source;
END_FOR;
The FLL instruction fills elements of an array with the
Source value. The Source remains unchanged.
Format:
Description:
immediate
tag
element to copy
the Source and Destination operands should be the same data type, or unexpected results may occur
SINT DINT
INT
REAL
structure
tag
initial element to be overwritten by the Source
the Source and Destination operands should be the same data type, or unexpected results may occur
the preferred way to initialize a structure is to use the COP instruction
DINT
immediate
number of elements to fill
DINT
REAL
11 - 55
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 56
Instruction Set
Instruction:
Relay Ladder:
FOR
For
Function Block:
Structured Text:
Description:
not available
FOR count:= initial_value TO
final_value BY increment DO
<statement>;
END_FOR;
The FOR instruction executes a routine repeatedly.
Operand:
Type:
Format:
Description:
Routine name
ROUTINE
routine name
routine to execute
Index
DINT
tag
counts how many times the routine has been executed
Initial value
SINT
INT
DINT
immediate
tag
value at which to start the index
Terminal value
SINT
INT
DINT
immediate
tag
value at which to stop executing the routine
Step size
SINT
INT
DINT
immediate
tag
amount to add to the index each time the FOR instruction executes the routine
Arithmetic Status Flags:
Major Faults:
not affected
4
Publication 1756-QR107C-EN-P - June 2005
31
main routine contains a RET instruction
Instruction Set
Instruction:
Relay Ladder:
Function Block:
FRD
Convert to
Integer
Relay Ladder
Function Block
Structured Text:
Description:
not available
The FRD instruction converts a BCD value (Source) to an
integer value and stores the result in the Destination.
Operand:
Type:
Format:
Description:
Source
SINT
INT
DINT
immediate
tag
value to convert
Destination
SINT
INT
DINT
tag
tag to store the result
Operand:
Type:
Format:
Description:
FRD tag
FBD_CONVERT
structure
FRD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
11 - 57
Parameter:
Type:
Description:
Source
DINT
input to the conversion instruction.
Dest
DINT
result of the math instruction.
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Instruction Set
Instruction:
Relay Ladder:
FSC
File Search
and Compare
Function Block:
Structured Text:
Description:
not available
not available
The FSC instruction compares values in an array, element by
element.
Operand:
Type:
Format:
Description:
Control
CONTROL
tag
control structure for the operation
Length
DINT
immediate
number of elements in the array to be manipulated
Position
DINT
immediate
offset into array; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
affected
4
Publication 1756-QR107C-EN-P - June 2005
21
.POS < 0 or .LEN < 0
Instruction Set
Instruction:
Relay Ladder:
Function Block:
GEQ
Greater Than
or Equal To
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
IF sourceA >= sourceB THEN
<statements>;
The GEQ instruction tests whether Source A is greater than
or equal to Source B.
Operand:
Type:
Format:
Description:
Source A
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source B
Source B
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source A
Operand:
Type:
Format:
Description:
GEQ tag
FBD_COMPARE
structure
GEQ structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
11 - 59
Parameter:
Type:
Description:
SourceA
REAL
value to test against SourceB
SourceB
REAL
value to test against SourceA
Dest
BOOL
result of the instruction
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Instruction Set
Instruction:
Relay Ladder:
Function Block:
GRT
Greater Than
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
IF sourceA > sourceB THEN
<statements>;
The GRT instruction tests whether Source A is greater than
Source B.
Operand:
Type:
Format:
Description:
Source A
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source B
Source B
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source A
Operand:
Type:
Format:
Description:
GRT tag
FBD_COMPARE
structure
GRT structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
SourceA
REAL
value to test against SourceB
SourceB
REAL
value to test against SourceA
Dest
BOOL
result of the instruction
Instruction Set
Instruction:
Relay Ladder:
GSV
Get System
Value
Function Block:
Structured Text:
Description:
not available
GSV(ClassName,
InstanceName,
AttributeName,Dest);
The GSV instructions get s controller system data that is
stored in objects.
Operand:
Type:
Format:
Description:
Class name
na
name
name of object
Instance name
na
name
name of specific object, when object requires name
Attribute Name
na
name
attribute of object; data type depends on the attribute you select
Destination
SINT
INT
tag
destination for attribute data
DINT
REAL
11 - 61
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 5
Type 4
Code 6
Type 4
Code 7
invalid object address
• specified an object that does not support GSV/SSV
• invalid attribute
• did not supply enough information for an SSV instruction
the GSV destination was not large enough to hold the requested data
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Instruction Set
Instruction:
Relay Ladder:
HLL
High/Low Limit
not available
Function Block:
Structured Text:
Description:
HLL(HLL_tag);
The HLL instruction limits an analog input between two
values. You can select high/low, high, or low limits.
Operand:
Type:
Format:
Description:
HLL tag
HL_LIMIT
structure
HLL structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
HighAlarm
BOOL
high alarm indicator; set when In ≥ HighLimit
LowAlarm
BOOL
low alarm indicator; set when In ≤LowLimit
11 - 63
Instruction:
Relay Ladder:
HPF
High Pass
Filter
not available
Function Block:
Structured Text:
Description:
HPF(HPF_tag);
The HPF instruction provides a filter to attenuate input
frequencies that are below the cutoff frequency.
Operand:
Type:
Format:
Description:
HPF tag
FILTER_HIGH_
PASS
structure
HPF structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
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Instruction:
Relay Ladder:
INSERT
Insert String
Function Block:
Structured Text:
Description:
not available
INSERT(SourceA,SourceB,
Start,Dest);
The INSERT instruction adds ASCII characters to a specified
location within a string.
Operand:
Type:
Format:
Description:
Source A
string
tag
string to add the characters to
Source B
string
tag
string containing the characters to add
Start
SINT
INT
immediate
tag
position in Source A to add the characters; enter a number between 1 and the DATA size of the Source.
Result
string
tag
string to store the result
DINT
Arithmetic Status Flags:
Major Faults:
not affected
4
51
The LEN value of the string tag is greater than the DATA size of the string tag. ChecK:
• that no instruction is writing to the LEN member of the string tag.
• in the LEN value, you entered the number of characters that the string contains.
4
56
The Start value is invalid. Check that the Start value is between 1 and the DATA size of the Source.
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Instruction:
Relay Ladder:
INTG
Integrator
not available
Instruction:
Function Block:
Structured Text:
Description:
INTG(INTG_tag);
The INTG instruction implements an integral operation. This
instruction is designed to execute in a task where the scan
rate remains constant.
Operand:
Type:
Format:
Description:
INTG tag
INTEGRATOR
structure
INTG structure (default parameters):
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
IOT(output_tag);
The IOT instruction immediately updates the specified
output data (output tag or produced tag).
IOT
Immediate
Output
Operand:
Type:
Format:
Description:
Output tag
tag name
tag
tag that you want to update, either an output tag of an I/O module or a produced tag
do not choose a member or element of a tag
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 66
Instruction:
Relay Ladder:
JKFF
JK FLip-Flop
not available
Instruction:
JMP
Jump
Function Block:
Structured Text:
Description:
JKFF(JKFF_tag);
The JKFF instruction complements the Q and QNot outputs
when the Clock input transitions from cleared to set.
Operand:
Type:
Format:
Description:
JKFF tag
FLIP_FLOP_JK
structure
JKFF structure (default parameters):
Parameter:
Type:
Description:
Clear
BOOL
clear input to the instruction; if set, the instruction clears Q and sets QNot
Clock
BOOL
Clock input to the instruction
Q
BOOL
output of the instruction
QNot
BOOL
complement of the Q output
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
not available
The JMP and LBL instructions skip portions of ladder logic.
Operand:
Type:
Format:
Description:
Label name
na
name
name of associated LBL instruction
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
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Code 42
label does not exist
11 - 67
Instruction:
Relay Ladder:
Function Block:
JSR
Jump to
Subroutine
Structured Text:
Description:
JSR(RoutineName
InputCount,
InputPar,ReturnPar);
The JSR instruction jumps execution to a different routine.
Operand:
Type:
Format:
Description:
Routine name
ROUTINE
name
routine to execute
Input parameter
BOOL DINT
SINT REAL
INT
structure
immediate
tag
array tag
data from this routine that you want to copy to a tag in the subroutine
• parameters are optional
• enter multiple parameters, if needed
Return parameter
BOOL DINT
SINT REAL
INT
structure
tag
array tag
tag in this routine to which you want to copy a result of the subroutine
• parameters are optional
• enter multiple parameters, if needed
Input count
SINT
INT
immediate
number of input parameters (structured text only)
DINT
REAL
Arithmetic Status Flags:
Major Faults:
affected
4
31
4
0
• JSR instruction has fewer input parameters than SBR instruction
• RET instruction has fewer return parameters than JSR instruction
• main routine contains a RET instruction
JSR instruction jumps to a fault routine
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Instruction:
Relay Ladder:
JXR
Jump to
External
Routine
Instruction:
Function Block:
Structured Text:
Description:
not available
not available
The JXR instruction executes an external routine. This
instruction is only supported by the SoftLogix5800
controllers.
Operand:
Type:
Format:
Description:
External routine
name
ROUTINE
name
external routine to execute
External routine
control
EXT_ROUTINE_
CONTROL
tag
control structure
Parameter
BOOL DINT
SINT REAL
INT
structure
immediate
tag
array tag
data from this routine that you want to copy to a variable in the external routine
• parameters are optional
• enter multiple parameters, if needed
• you can have as many as 10 parameters
Return parameter
BOOL
SINT
INT
tag
tag in this routine to which you want to copy a result of the external routine
• the return parameter is optional.
• you can have only one return parameter
DINT
REAL
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
LBL
Label
not available
Structured Text:
Description:
not available
The JMP and LBL instructions skip portions of ladder logic.
Operand:
Type:
Format:
Description:
Label name
na
name
execution jumps to LBL instruction with referenced label name
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
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Code 42
label does not exist
11 - 69
Instruction:
Relay Ladder:
LDL2
Second-Order
Lead Lag
not available
Function Block:
Structured Text:
Description:
LDL2(LDL2_tag);
The LDL2 instruction provides a filter with a pole pair and a
zero pair. The frequency and damping of the pole and zero
pairs are adjustable. The pole or zero pairs can be either
complex (damping less than unity) or real (damping greater
than or equal to unity).
Operand:
Type:
Format:
Description:
LDL2 tag
LEAD_LAG_SEC_
ORDER
structure
LDL2 structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
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Instruction:
Relay Ladder:
LDLG
Lead Lag
not available
Function Block:
Structured Text:
Description:
LDLG(LDLG_tag);
The LDLG instruction provides a phase lead-lag
compensation for an input signal. This instruction is
typically used for feedforward PID control or for
process simulations.
Operand:
Type:
Format:
Description:
LDLG tag
LEAD_LAG
structure
LDLG structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
11 - 71
Instruction:
Relay Ladder:
Function Block:
LEQ
Less Than or
Equal To
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
IF sourceA <= sourceB THEN
<statements>;
The LEQ instruction tests whether Source A is less than or
equal to Source B.
Operand:
Type:
Format:
Description:
Source A
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source B
Source B
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source A
Operand:
Type:
Format:
Description:
LEQ tag
FBD_COMPARE
structure
LEQ structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Parameter:
Type:
Description:
SourceA
REAL
value to test against SourceB
SourceB
REAL
value to test against SourceA
Dest
BOOL
result of the instruction
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Instruction:
Relay Ladder:
Function Block:
LES
Less Than
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
IF sourceA < sourceB THEN
<statements>;
The LES instruction tests whether Source A is less than
Source B.
Operand:
Type:
Format:
Description:
Source A
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source B
Source B
SINT
INT
DINT
REAL
string
immediate
tag
value to test against Source A
Operand:
Type:
Format:
Description:
LES tag
FBD_COMPARE
structure
LES structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
SourceA
REAL
value to test against SourceB
SourceB
REAL
value to test against SourceA
Dest
BOOL
result of the instruction
11 - 73
Instruction:
Relay Ladder:
LFL
LIFO Load
Function Block:
Structured Text:
Description:
not available
not available
The LFL instruction copies the Source value to the LIFO.
Operand:
Type:
Format:
Description:
Source
SINT DINT
INT
REAL
string
structure
immediate
tag
data to be stored in the LIFO
LIFO
SINT DINT
INT
REAL
string
structure
array tag
LIFO to modify; specify the first element of the LIFO
do not use CONTROL.POS in the subscript
Control
CONTROL
tag
control structure for the operation; typically use the same CONTROL as the associated LFU
Length
DINT
immediate
maximum number of elements the LIFO can hold at one time
Position
DINT
immediate
next location in the LIFO where the instruction loads data; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 20
(starting element + .POS) > LIFO array size
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Instruction:
Relay Ladder:
LFU
LIFO Unload
Function Block:
Structured Text:
Description:
not available
not available
The LFU instruction unloads the value at .POS of the LIFO
and stores 0 in that location.
Operand:
Type:
Format:
Description:
LIFO
SINT DINT
INT
REAL
string
structure
array tag
LIFO to modify; specify the first element of the LIFO
do not use CONTROL.POS in the subscript
Destination
SINT DINT
INT
REAL
string
structure
tag
value that exits the LIFO
Control
CONTROL
tag
control structure for the operation; typically use the same CONTROL as the associated LFL
Length
DINT
immediate
maximum number of elements the LIFO can hold at one time
Position
DINT
immediate
next location in the LIFO where the instruction unloads data; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
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Code 20
Length > LIFO array size
11 - 75
Instruction:
Relay Ladder:
Function Block:
LIM
Limit
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Low Limit
SINT
INT
Test
Structured Text:
Description:
IF (LowLimit <= HighLimit
AND
(Test >= LowLimit AND
Test <= HighLimit)) OR
(LowLimit >= HighLimit
AND
(Test <= LowLimit OR
Test >= HighLimit)) THEN
<statement>;
END_IF;
The LIM instruction tests whether the Test value is within
the range of the Low Limit to the High Limit.
Format:
Description:
DINT
REAL
immediate
tag
value of lower limit
SINT
INT
DINT
REAL
immediate
tag
value to test
High Limit
SINT
INT
DINT
REAL
immediate
tag
value of upper limit
Operand:
Type:
Format:
Description:
LIM tag
FBD_LIMIT
structure
LIM structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Parameter:
Type:
Description:
LowLimit
REAL
value of lower limit
Test
REAL
value to test against limits
HighLimit
REAL
value of upper limit
Dest
BOOL
result of the instruction
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Instruction:
Relay Ladder:
Function Block:
LN
Natural Log
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
LN tag
Structured Text:
Description:
dest := LN(source);
The LN instruction takes the natural log of the Source and
stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the natural log of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
LN structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
11 - 77
Instruction:
Relay Ladder:
Function Block:
LOG
Log Base 10
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
LOG tag
Structured Text:
Description:
dest := LOG(source);
The LOG instruction takes the log base 10 of the Source and
stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the log of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
LOG structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
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Instruction:
Relay Ladder:
LOWER
Lower Case
Function Block:
Structured Text:
Description:
not available
LOWER(Source,Dest);
The LOWER instruction converts the alphabetical
characters in a string to lower case characters.
Operand:
Type:
Format:
Description:
Source
string
tag
tag that contains the characters that you want to convert to lower case
Destination
string
tag
tag to store the characters in lower case
Arithmetic Status Flags:
Major Faults:
not affected
none
Instruction:
Relay Ladder:
Function Block:
LPF
Low Pass Filter
not available
Structured Text:
Description:
LPF(LPF_tag);
The LPF instruction provides a filter to attenuate input
frequencies that are above the cutoff frequency.
Operand:
Type:
Format:
Description:
LPF tag
FILTER_LOW_
PASS
structure
LPF structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
11 - 79
Instruction:
Relay Ladder:
MAAT
Motion Apply
Axis Tuning
Function Block:
Structured Text:
Description:
not available
MAAT(Axis,MotionControl);
The MAAT computes a complete set of servo gains and
dynamic limits based on the results of a previously run
MRAT instruction and updates the motion module with
these new gain parameters.
Operand:
Type:
Format:
Description:
Axis
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MAFR
Motion Axis
Fault Reset
Function Block:
Structured Text:
Description:
not available
MAFR(Axis,MotionControl);
The MAFR instruction clears all motion faults for an axis.
This is the only method for clearing axis motion faults.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MAG
Motion Axis
Gear
Function Block:
Structured Text:
Description:
not available
MAG(SlaveAxis,MasterAxis,
MotionControl,Direction,
Ratio,SlaveCounts,
MasterCounts,
MasterReference,
RatioFormat,Clutch,
AccelRate,AccelUnits);
The MAG instruction provides electronic gearing between
any two axes in a specified direction and at a
specified ratio
Operand:
Type:
Format:
Description:
Slave axis
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Master axis
AXIS_FEEDBACK
AXIS_CONSUME
D
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_DRI
VE
tag
axis that the slave axis follows
Motion control
MOTION_
INSTRUCTION
tag
motion structure
continued
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Instruction:
Relay Ladder:
Function Block:
MAG
Motion Axis
Gear
Direction
UINT32
immediate
tag
relative direction that the Slave axis tracks the Master Axis:
• 0 = slave axis moves in the same direction as the master axis
• 1 = slave axis moves in the opposite direction of its current direction
• 2 = slave axis reverses from current or previous
• 3 = slave axis to continue its current or previous direction
Ratio
REAL
immediate
tag
signed Real value establishing the gear ratio in Slave User Units per Master User Unit
Slave counts
UINT32
immediate
tag
slave counts
Master counts
UINT32
immediate
tag
master counts
Master reference
BOOL
immediate
master position reference: 0 = actual position, 1 = command position
Ratio format
BOOL
immediate
ratio format:
• 0 = real gear ratio
• 1 = integer fraction of slave encoder counts to master encoder counts
Clutch
BOOL
immediate
whether Clutch is enabled or disabled
Accel rate
BOOL
immediate
tag
acceleration rate of the Slave Axis in% or Acceleration Units
Accel units
DINT
immediate
units used to display the Acceleration value: 0 = units per sec2; 1 =% of maximum acceleration
(continued)
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
11 - 83
Instruction:
Relay Ladder:
MAH
Motion Axis
Home
Function Block:
Structured Text:
Description:
not available
MAH(Axis,MotionControl);
The MAH instruction homes an axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MAHD
Motion Apply
Hookup
Diagnostics
Function Block:
Structured Text:
Description:
not available
MAHD(Axis,MotionControl,
DiagnosticTest,
ObservedDirection);
The MAHD instruction applies the results of a previously
run MRHD instruction to generate a new set of encoder and
servo polarities based on the observed direction of motion
during the test.
Operand:
Type:
Format:
Description:
Axis
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Diagnostic test
UDINT
immediate
test for the motion module to run:
• 0 = motor/encoder hookup test
• 1 = encoder hookup test
• 2 = encoder marker test
Observed
direction
BOOL
immediate
direction of the test motion: 0 = forward; 1 = reverse
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MAJ
Motion Axis
Jog
Function Block:
Structured Text:
Description:
not available
MAJ(Axis,MotionControl,
Direction,Speed,SpeedUnits,
AccelRate,AccelUnits,
DecelRate,DecelUnits,
Profile,Merge,MergeSpeed);
The MAJ instruction initiates a jog motion profile for the
specified axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Direction
UDINT
immediate
tag
direction of jog: 0 = forward jog; 1 = reverse jog
Speed
REAL
immediate
tag
speed to move the axis in% or Speed Units
Speed units
UDINT
immediate
engineering units for the Speed value: 0 = units per sec; 1 =% of maximum speed
continued
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Instruction:
Relay Ladder:
Function Block:
MAJ
Motion Axis
Jog
Accel units
UDINT
immediate
engineering units for the Acceleration value: 0 = units per sec ; 1 =% of maximum acceleration
Accel rate
REAL
immediate
tag
acceleration rate of the axis in% or Acceleration Units
Decel rate
REAL
immediate or tag
deceleration rate of the axis in% or Deceleration Units
Decel units
UDINT
immediate
engineering units for the Deceleration value: 0 = units per sec2; 1 =% of maximum deceleration
Profile
UDINT
immediate
select the velocity profile to run the jog: 0 = trapezoidal; 1 = S-curve
Merge
UDINT
immediate
instructs the motion control to turn all current axis motion
Merge speed
UDINT
immediate
determines whether the speed is the specified Speed value of this instruction or the Current axis speed:
• 0 = programmed value in the speed field
• 1 = current axis speed
(continued)
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
2
11 - 87
Instruction:
Relay Ladder:
MAM
Motion Axis
Move
Function Block:
Structured Text:
Description:
not available
MAM(Axis,MotionControl,
MoveType,Position,Speed,
SpeedUnits,AccelRate,
AccelUnits,DecelRate,
DecelUnits,Profile,Merge,
MergeSpeed);
The MAM instruction initiates a move profile for the
specified axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Move type
UDINT
immediate or tag
type of move operation: 0 = Absolute Move; 1 = Incremental Move; 2 = Rotary Shortest Path Move;
3 = Rotary Positive Move; 4 = Rotary Negative Move; 5 = Absolute Master Offset; 6 = Incremental Master Offset
Position
/Distance
REAL
immediate
tag
value of the absolute command position to move to, or for incremental movement, the value of the distance to move from the
current command position.
Speed
REAL
immediate
tag
speed to move the axis in either% or Speed units.
continued
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Instruction:
Relay Ladder:
MAM
Motion Axis
Move
Speed Units
BOOL
immediate
units for the Speed value:0 =units per sec; 1 =% of maximum speed
Accel rate
REAL
immediate or tag
acceleration rate of the axis in% or Acceleration units
Accel units
BOOL
immediate
units for the Accel value: 0 = units per sec2; 1 =% of maximum acceleration
Decel rate
REAL
immediate or tag
deceleration rate of the axis in% or Deceleration units
Decel units
BOOLEAN
immediate
units for the Deceleration value: 0 = units per sec2; 1 =% of maximum acceleration
Profile
UDINT
immediate
velocity profile to run for the move: 0 = Trapezoidal; 1 = S-curve
Merge
BOOL
immediate
instructs the motion control to turn all current axis motion, regardless of the motion instructions currently in process, into a
pure move governed by this instruction
Merge speed
DINT
immediate
determines whether the speed of the move profile is going to be the specified Speed value of this instruction or the Current
axis speed:
• 0 = programmed value in the speed field
• 1 = current axis speed
(continued)
Function Block:
Arithmetic Status Flags:
Major Faults:
not affected
none
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Structured Text:
Description:
11 - 89
Instruction:
Relay Ladder:
MAOC
Motion Arm
Output Cam
Function Block:
Structured Text:
Description:
not available
MAOC(Axis,ExecutionTarget,
MotionControl,Output,Input,
OutputCam,CamStartPosition,
CamEndPosition,
OutputCompensation,
ExecutionMode,
ExecutionSchedule,
AxisArmPosition,
CamArmPosition,Reference);
The MAOC instruction sets and resets output bits based on
an axis position.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_CONSUME
D
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Execution Target
UNIT32
immediate
tag
defines the specific output cam:
• 0...8 – Output Cams executed in the Logix controller.
• 9...31 – Reserved for future use.
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
continued
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11 - 90
Instruction:
Relay Ladder:
MAOC
Motion Arm
Output Cam
Output
DINT
tag
32 output bits that are set or reset based on the specified output cam
Input
DINT
tag
32 input bits that can be used as enable bits depending on the specified output cam
Output Cam
OUTPUT_CAM
array tag
array of OUTPUT_CAM elements
Cam Start
Position
SINT
INT
DINT
REAL
immediate
tag
cam start position with the cam end position define the left and right boundaries of the output cam range
Cam End Position
SINT
INT
DINT
REAL
immediate
tag
cam end position with the cam start position define the left and right boundaries of the output cam range
Output
Compensation
OUTPUT_
COMPENSATION
array tag
array of 1 to 32 OUTPUT_COMPENSATION elements
Execution Mode
UINT32
immediate
execution mode: once (0); continuous (1); persistent (2)
Execution
Schedule
UINT32
immediate
when to arm the output cam: 0 = immediate; 1 = pending; 2 = forward only; 3 = reverse only; 4 = bi-directional
Axis Arm Position
SINT
INT
DINT
REAL
immediate
tag
axis position where the output cam is armed when the execution schedule is set to forward only, reverse only, or
bi-directional and the axis moves in the specified direction
Cam Arm Position
SINT
INT
DINT
REAL
immediate
tag
cam position associated with the axis arm position when the output cam is armed
Reference
UINT32
immediate
whether the output cam is connected to either 0 = actual position, 1 = command position
(continued)
Function Block:
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
11 - 91
Instruction:
Relay Ladder:
MAPC
Motion Axis
Position Cam
Function Block:
Structured Text:
Description:
not available
MAPC(SlaveAxis,MasterAxis,
MotionControl,Direction,
CamProfile,SlaveScaling,
MasterScaling,
ExecutionMode,
ExecutionSchedule,
MasterLockPosition,
CamLockPosition,
MasterReference,
MasterDirection);
The MAPC instruction provides electronic camming
between any two axes according to the specified
cam profile.
Operand:
Type:
Format:
Description:
Slave Axis
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Master Axis
AXIS_FEEDBACK
AXIS_CONSUME
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
axis that the slave axis follows according to the cam profile
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
continued
Publication 1756-QR107C-EN-P - June 2005
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Instruction:
Relay Ladder:
MAPC
Motion Axis
Position Cam
Direction
UINT32
immediate
tag
relative direction of the slave axis: same, opposite, revers, or unchanged
Cam Profile
CAM_PROFILE
array
calculated cam profile array used to establish the master/slave position relationship
Slave Scaling
REAL
immediate
tag
scales the total distance covered by the slave axis through the cam profile
Master Scaling
REAL
immediate
tag
scales the total distance covered by the master axis through the cam profile
Execution Mode
UINT32
immediate
determines if the cam profile is executed: 0 = once, 1 = continuous, 2 = persistent
Execution
Schedule
UINT32
immediate
method to execute the cam profile: 0 = immediate, 1 = pending, 2 = forward only, 3 = reverse only, 4 = bi-directional
Master Lock
Position
REAL
immediate
tag
master axis absolute position where the slave axis locks to the master axis
Cam Lock Position
REAL
immediate
tag
starting location in the cam profile
Master Reference
UINT32
immediate
master position reference: 0 = actual position, 1 = command position
Master Direction
UINT32
immediate
direction of the master axis that generates slave motion according to the cam profile: bi-directional (0), forward only (1),
reverse only (2)
(continued)
Function Block:
Arithmetic Status Flags:
Major Faults:
not affected
none
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Structured Text:
Description:
11 - 93
Instruction:
Relay Ladder:
MAR
Motion Arm
Registration
Function Block:
Structured Text:
Description:
not available
MAR(Axis,MotionControl,
TriggerCondition,
WindowedRegistration,
MinimumPosition,
MaximumPosition,
InputNumber);
The MAR instruction arms servo-module registration
event-checking for the specified axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Trigger condition
BOOL
immediate
registration input transition trigger: 0 = on positive edge, 1 = on negative edge
Windowed
registration
BOOL
immediate
whether registration is to be windowed, meaning that the computed registration position must fall within the specified
minimum and maximum position limits
Minimum position
REAL
immediate or tag
registration position must be greater than minimum position limit
Maximum
position
REAL
immediate or tag
registration position must be less than maximum position limit
Input Number
UINT32
1 or 2
registration input: 1 = Registration 1 Position, 2 = Registration 2 Position
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MAS
Motion Axis
Stop
Function Block:
Structured Text:
Description:
not available
MAS(Axis,MotionControl,
StopType,ChangeDecel,
DecelRate,DecelUnits);
The MAS instruction initiates a controlled stop of any
motion process on the designated axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Stop type
UNIT32
immediate
determines motion process: 0 = stop all motion; 1 = stop jogging; 2 = stop moving; 3 = stop gearing; 4 = stop homing
5 = stop tuning; 6 = stop test; 7 = stop position camming; 8 = stop time camming; 9 = stop a Master Offset Move
Change Decel
BOOL
immediate
set to enable use of Decel value rather then the current configured Max Deceleration rate
Decel rate
REAL
immediate
tag
deceleration rate of the axis in% or Deceleration Units
Decel units
BOOL
immediate
engineering units for Decel value: 0 = units per sec2; 1 =% of maximum
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MASD
Motion Axis
Shutdown
Function Block:
Structured Text:
Description:
not available
MASD(Axis,MotionControl);
The MASD instruction forces a specified axis into the
Shutdown state. The Shutdown state of an axis is when the
drive output is disabled, servo loop deactivated, and any
available or associated OK solid-state relay contacts are
open. The axis remains in the Shutdown state until either
an Axis or Group Shutdown Reset is executed.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MASR
Motion Axis
Shutdown
Reset
Function Block:
Structured Text:
Description:
not available
MASR(Axis,MotionControl);
The MASR instruction transitions an axis from an existing
Shutdown state to an Axis Ready state.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MATC
Motion Axis
Time Cam
Function Block:
Structured Text:
Description:
not available
MATC(Axis,MotionControl,
Direction,CamProfile,
DistanceScaling,
TimeScaling,
ExecutionMode,
ExecutionSchedule);
The MATC instruction provides electronic camming of an
axis as a function of time, according to the specified Cam
Profile.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Direction
UINT32
immediate
tag
relative direction of the slave axis to the master axis: same, opposite, reverse, unchanged
Cam Profile
CAM_PROFILE
array
calculated cam profile array
Distance Scaling
REAL
immediate
tag
scales the total distance covered by the axis through the cam profile
continued
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11 - 98
Instruction:
Relay Ladder:
MATC
Motion Axis
Time Cam
Time Scaling
REAL
immediate
tag
scales the time interval covered by the cam profile
Execution Mode
UINT32
immediate
how the cam motion behaves when the time moves beyond the end point of the cam profile: once (0), continuous (1)
Execution
Schedule
UNIT32
immediate
method to execute the cam profile: 0 = immediate, 1 = pending
(continued)
Function Block:
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
11 - 99
Instruction:
Relay Ladder:
MAVE
Moving
Average
not available
Function Block:
Structured Text:
Description:
MAVE(MAVE_tag,storage,
weight);
The MAVE instruction calculates a time average value for
the In signal. This instruction optionally supports
user-specified weights.
Operand:
Type:
Format:
Description:
MAVE tag
MOVING_
AVERAGE
structure
MAVE structure (default parameters):
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
storage
REAL
array
holds the moving average samples; this array must be at least as large as NumberOfSamples
weight
REAL
array
(optional) used for weighted averages; this array must be at least as large as NumberOfSamples
element [0] is used for the newest sample; element [n] is used for the oldest sample
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
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Instruction:
Relay Ladder:
MAW
Motion Arm
Watch
Function Block:
Structured Text:
Description:
not available
MAW(Axis,MotionControl,
TriggerCondition,Position);
The MAW instruction arms watch-position event-checking
for the specified axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Trigger condition
BOOL
immediate
watch-event trigger condition: 0 = forward; 1 = reverse
Position
REAL
immediate
tag
new value for the watch position
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MAXC
Maximum
Capture
not available
Function Block:
Structured Text:
Description:
MAXC(MAXC_tag);
The MAXC instruction finds the maximum of the Input
signal over time.
Operand:
Type:
Format:
Description:
MAXC tag
MAXIMUM_
CAPTURE
structure
MAXC structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Reset
BOOL
request to reset control algorithm
the instruction sets Out = ResetValue as long as Reset is set
ResetValue
REAL
reset value for instruction
the instruction sets Out = ResetValue as long as Reset is set
Out
REAL
calculated output of the algorithm
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Instruction:
Relay Ladder:
MCCD
Motion
Coordinated
Change
Dynamics
Function Block:
Structured Text:
Description:
not available
MCCD(CoordinateSystem,
MotionControl,MotionType,
ChangeSpeed,Speed,
SpeedUnits);
The MCCD instruction initiates a change in path dynamics
for coordinate motion active on the specified coordinate
system
Operand:
Type:
Format:
Description:
Coordinate
System
COORDINATE_
SYSTEM
tag
coordinate group of axes
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Motion Type
SINT
INT
DINT
immediate
1 = coordinated move
Change Speed
SINT
INT
DINT
immediate
tag
whether to change speed: 0 = no; 1 = yes
Speed
SINT
INT
DINT
REAL
immediate
tag
coordination units
Speed Units
SINT
INT
DINT
immediate
0 = units per second; 1 = % of maximum
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MCCM
Motion
Coordinated
Circular Move
Function Block:
Structured Text:
Description:
not available
MCCM(CoordinateSystem,
MotionControl,MotionType,
Position);
The MCCM instruction initiates a 2- or 3-dimensional
circular coordinated move for the specified axes within the
coordinate system.
Operand:
Type:
Format:
Description:
Coordinate
System
COORDINATE_
SYSTEM
tag
coordinate group of axes
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Motion Type
SINT
INT
immediate
tag
type of move: 0 = absolute; 1 = incremental
Position
REAL
array
coordination units
DINT
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MCCP
Motion
Calculate Cam
Profile
Function Block:
Structured Text:
Description:
not available
MCCP(MotionControl,Cam,
Length,StartSlope,EndSlope,
CamProfile);
The MCCP instruction calculates a cam profile based on an
array of cam points.
Operand:
Type:
Format:
Description:
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Cam
CAM
array
cam array
Length
UINT
immediate
tag
number of cam elements in the array
Start Slope
REAL
immediate
tag
boundary condition for the initial slope of the profile
End Slope
REAL
immediate
tag
boundary condition for the ending slope of the profile
Cam Profile
CAM_PROFILE
array
calculated cam profile array
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MCD
Motion Change
Dynamics
Function Block:
Structured Text:
Description:
not available
MCD(Axis,MotionControl,
MotionType,ChangeSpeed,
Speed,ChangeAccel,
AccelRate,ChangeDecel,
DecelRate,SpeedUnits,
AccelUnits,DecelUnits);
The MCD instruction selectively changes the speed,
acceleration rate, or deceleration rate of a move profile or a
jog profile in process
Operand:
Type:
Format:
Description:
Axis
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Motion type
UDINT
immediate
motion profile to change: 0 = jog; 1 = move
Change speed
BOOL
immediate
whether to enable a change of speed
Speed
REAL
immediate
tag
new Speed to move the axis in% or Speed Units
continued
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Instruction:
Relay Ladder:
Function Block:
MCD
Motion Change
Dynamics
Change accel
BOOL
immediate
whether to enable an acceleration change
Accel rate
REAL
immediate
tag
acceleration rate of the axis in% or Acceleration units
Change decel
BOOL
immediate
whether to enable a deceleration change
Decel rate
REAL
immediate
tag
deceleration rate of the axis in% or Deceleration units
Speed units
BOOL
immediate
units used to display the Speed value: 0 = units per sec; 1 =% of maximum speed
Accel units
BOOL
immediate
units used to display the Acceleration value: 0 = units per sec2; 1 =% of maximum acceleration
Decel units
BOOL
immediate
units used to display the Deceleration value: 0 = units per sec2; 1 =% of maximum acceleration
(continued)
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
11 - 107
Instruction:
Relay Ladder:
MCLM
Motion
Coordinated
Linear Move
Instruction:
MCR
Master Control
Reset
Function Block:
Structured Text:
Description:
not available
MCLM(CoordinateSystem,
MotionControl,MotionType,
Position);
The MCLM instruction initiates a single- or
multi-dimensional linear coordinated move for the specified
axes within the coordinate system.
Operand:
Type:
Format:
Description:
Coordinate
System
COORDINATE_
SYSTEM
tag
coordinate group of axes
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Motion Type
SINT
INT
immediate
tag
type of move: 0 = absolute; 1 = incremental
Position
REAL
array
coordination units
DINT
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
not available
The MCR instruction, used in pairs, creates a program zone
that can disable all rungs within the MCR instructions.
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MCS
Motion
Coordinated
Stop
Function Block:
Structured Text:
Description:
not available
MCS(CoordinateSystem,
MotionControl,StopType);
The MCS instruction initiates a controlled stop of the
coordinated motion profile.
Operand:
Type:
Format:
Description:
Coordinate
System
COORDINATE_
SYSTEM
tag
coordinate group of axes
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Stop Type
SINT
INT
immediate
type of stop: 2 = coordinated move
DINT
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
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Instruction:
Relay Ladder:
MCSD
Motion
Coordinated
Shutdown
Instruction:
Function Block:
Structured Text:
Description:
not available
MCSD(CoordinateSystem,
MotionControl);
The MCSD instruction initiates a controlled shutdown of all
axes in the specified coordinate system.
Operand:
Type:
Format:
Description:
Coordinate
System
COORDINATE_
SYSTEM
tag
coordinate group of axes
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
MCSR(CoordinateSystem,
MotionControl);
The MCSD instruction resets all axes in the specified
coordinate system.
MCSR
Motion
Coordinated
Shutdown
Reset
Operand:
Type:
Format:
Description:
Coordinate
System
COORDINATE_
SYSTEM
tag
coordinate group of axes
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MCSV
Motion
Calculate
Slave Value
Function Block:
Structured Text:
Description:
not available
MCSV(MotionControl,
CamProfile,MasterValue,
SlaveValue,SlopValue,
SlopeDerivative
The MCSV instruction calculates the slave value, the slope
value, and the derivative of the slope for a given cam profile
and master value. As an extension to the position and time
camming functionality it supplies the values essential for
the recovery from faults during camming operations.
Operand:
Type:
Format:
Description:
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Cam profile
CAM_PROFILE
array
defines the cam profile used in calculating the slave values
Master value
SINT
INT
immediate or tag
value along the master axis of the cam profile that is used in calculating the slave values
Slave value
REAL
tag
value along the slave axis of the cam profile with the master at the specified master value
Slope value
REAL
tag
first derivative of the value along the slave axis of the cam profile with the master at the specified master value
Slope derivative
REAL
tag
second derivative of the value along the slave axis of the cam profile with the master at the specified master value
DINT
REAL
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
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Instruction:
Relay Ladder:
MDF
Motion Direct
Drive Off
Function Block:
Structured Text:
Description:
not available
MDF(Axis,MotionControl);
The MDF instruction deactivates the servo drive and sets
the servo output voltage to the output offset voltage.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_SERVO
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
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Instruction:
Relay Ladder:
MDO
Motion Direct
Drive On
Function Block:
Structured Text:
Description:
not available
MDO(Axis,MotionControl,
DriveOutput,DriveUnits);
The MDO instruction works in conjunction with motion
modules that support an external analog servo drive
interface. The MDO instruction activates the module’s Drive
Enable, enabling the external servo drive, and also sets the
servo module’s output voltage of the drive to the specified
voltage level.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_SERVO
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Drive Output
REAL
tag
voltage to output in% of servo output limit or in volts
Drive Units
BOOL
tag
units for drive output value: 0 = volts, 1 = %
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MDOC
Motion Disarm
Output Cam
Function Block:
Structured Text:
Description:
not available
MDOC(Axis,ExecutionTarget,M
otionControl,DisarmType);
The MDOC instruction initiates the disarming of one or
more output cams connected to the specified axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_CONSUME
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Execution Target
SINT
INT
immediate
tag
output cam from the set connected to the named axis:
• 0...8 – Output Cams executed in the Logix controller.
• 9...31 – Reserved for future use.
Motion Control
MOTION_
INSTRUCTION
tag
motion structure
Disarm Type
DINT
immediate
output cam(s) to be disarmed: 0 = all, 1 = specific
DINT
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MDR
Motion Disarm
Registration
Function Block:
Structured Text:
Description:
not available
MDR(Axis,MotionControl,
InputNumber);
The MDR instruction disarms the registration input
event-checking for the specified axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Input Number
UINT32
1 or 2
registration input: 1 = Registration 1 Position, 2 = Registration 2 Position
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 115
Instruction:
Relay Ladder:
MDW
Motion Disarm
Watch
Function Block:
Structured Text:
Description:
not available
MDW(Axis,MotionControl);
The MDW instruction disarms watch-position
event-checking for an axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
Function Block:
MEQ
Masked Equal
To
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Mask
Structured Text:
Description:
IF (Source AND Mask) =
(Compare AND Mask) THEN
<statement>;
END_IF;
The MEQ instruction passes the Source and Compare
values through a Mask and compares the results.
Format:
Description:
DINT
immediate
tag
value to test against Compare
SINT
INT
DINT
immediate
tag
defines which bits to block or pass
Compare
SINT
INT
DINT
immediate
tag
value to test against Source
Operand:
Type:
Format:
Description:
MEQ tag
FBD_MASK_
EQUAL
structure
MEQ structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source
DINT
value to test against Compare
Mask
DINT
defines which bits to block (mask)
Compare
DINT
compare value
Dest
BOOL
result of the instruction
11 - 117
Instruction:
Relay Ladder:
MGS
Motion Group
Stop
Instruction:
Function Block:
Structured Text:
Description:
not available
MGS(Group,MotionControl,
StopMode);
The MGS instruction initiates a stop of all motion in
progress on all axes in the specified group by a method
configured individually for each axis or as a group via the
stop mode of the MGS instruction.
Operand:
Type:
Format:
Description:
Group
MOTION_
GROUP
tag
group of axes
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Stop Mode
UDINT
immediate
how the axes in the group are stopped: 0 = programmed, 1 = fast stop, 2 = fast disable
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
MGSD(Group,MotionControl);
The MGSD instruction forces all axes in the designated
group into a Shutdown state.
MGSD
Motion Group
Shutdown
Operand:
Type:
Format:
Description:
Group
MOTION_
GROUP
tag
group of axes
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MGSP
Motion Group
Strobe Position
Instruction:
Function Block:
Structured Text:
Description:
not available
MGSP(Group,MotionControl);
The MGSP instruction latches the current command and
actual position of all axes in the specified group at a single
point in time.
Operand:
Type:
Format:
Description:
Group
MOTION_
GROUP
tag
group of axes
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
MGSR(Group,MotionControl);
The MGSR instruction transitions a group of axes from the
shutdown operating state to the axis ready operating state.
MGSR
Motion Group
Shutdown
Reset
Operand:
Type:
Format:
Description:
Group
MOTION_
GROUP
tag
group of axes
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MID
Middle String
Operand:
Type:
Source
string
Quantity
SINT
INT
DINT
Start
SINT
INT
DINT
Destination
string
Function Block:
Structured Text:
Description:
not available
MID(Source,Qty,
Start,Dest);
The MID instruction copies a specified number of ASCII
characters from a string and stores them in another string.
Format:
Description:
tag
string to copy characters from
immediate
tag
number of characters to copy; the Start plus the Quantity must be less than or equal to the DATA size of the Source
immediate
tag
position of the first character to copy; enter a number between 1 and the DATA size of the Source
tag
string to copy the characters to
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 51
The LEN value of the string tag is greater than the DATA size of the string tag. Check:
• that no instruction is writing to the LEN member of the string tag
• in the LEN value, you entered the number of characters that the string contains
Type 4
Code 56
The Start or Quantity value is invalid. Check that the:
• Start value is between 1 and the DATA size of the Source
• Start value plus the Quantity value is less than or equal to the DATA size of the Source
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Instruction:
Relay Ladder:
MINC
Minimum
Capture
not available
Function Block:
Structured Text:
Description:
MINC(MINC_tag);
The MINC instruction finds the minimum of the Input signal
over time.
Operand:
Type:
Format:
Description:
MINC tag
MINIMUM_
CAPTURE
structure
MINC structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Reset
BOOL
request to reset control algorithm
the instruction sets Out = ResetValue as long as Reset is set
ResetValue
REAL
reset value for instruction
the instruction sets Out = ResetValue as long as Reset is set.
Out
REAL
calculated output of the algorithm
11 - 121
Instruction:
Relay Ladder:
Function Block:
MOD
Modulo
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source A
SINT
INT
Source B
Structured Text:
Description:
dest := sourceA MOD sourceB;
The MOD instruction divides Source A by Source B and
places the remainder in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
value of the dividend
SINT
INT
DINT
REAL
immediate
tag
value of the divisor
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
MOD tag
FBD_MATH
structure
MOD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
Type 4
Parameter:
Type:
Description:
SourceA
REAL
value of the dividend
SourceB
REAL
value of the divisor
Dest
REAL
result of the math instruction
Code 4
the divisor is 0
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Instruction:
Relay Ladder:
MOV
Move
Instruction:
Function Block:
Structured Text:
Description:
not available
dest := source;
The MOV instruction copies the Source to the Destination.
The Source remains unchanged.
Operand:
Type:
Format:
Description:
Source
SINT
INT
DINT
REAL
immediate
tag
value to move (copy)
Destination
SINT
INT
DINT
REAL
tag
an expression consisting of tags and/or immediate values separated by operators
Arithmetic Status Flags:
Major Faults:
affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
MRAT(Axis,MotionControl);
The MRAT instruction commands the motion module to run
a tuning profile for the specified axis.
MRAT
Motion Run
Axis Tuning
Operand:
Type:
Format:
Description:
Axis
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MRHD
Motion Run
Hookup
Diagnostics
Function Block:
Structured Text:
Description:
not available
MRHD(Axis,MotionControl,
DiagnosticTest);
The MRHD instruction commands the motion module to run
any one of three different diagnostics on the specified axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Diagnostic test
DINT
immediate
test for the motion module to run:
• 0 = motor/encoder hookup test
• 1 = encoder hookup test
• 2 = encoder marker test
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MRP
Motion
Redefine
Position
Function Block:
Structured Text:
Description:
not available
MRP(Axis,MotionControl,
Type,PositionSelect,
Position);
The MRP instruction changes the command or actual
position of an axis.
Operand:
Type:
Format:
Description:
Axis
AXIS_FEEDBACK
AXIS_VIRTUAL
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Type
BOOL
immediate
how the redefinition operation should work: 0 = absolute, 1 = relative
Position select
BOOL
immediate
what position to perform the redefinition operation on: 0 = actual position, 1 = command position
Position
REAL
immediate
tag
value to use to change the axis position to or offset to current position
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MSF
Motion Servo
Off
Instruction:
Function Block:
Structured Text:
Description:
not available
MSF(Axis,MotionControl);
The MSF instruction deactivates the drive output for the
specified axis and to deactivate the axis’ servo loop.
If you execute an MSF instruction while the axis is moving,
the axis coasts to an uncontrolled stop.
Operand:
Type:
Format:
Description:
Axis
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
MSG(MessageControl);
The MSG instruction asynchronously reads or writes a block
of data to another module on a network.
MSG
Message
Operand:
Type:
Format:
Description:
message control
MESSAGE
tag
message structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MSO
Motion Servo
On
Function Block:
Structured Text:
Description:
not available
MSO(Axis,MotionControl);
The MSO instruction activates the drive amplifier for the
specified axis and to activate the axis’ servo control loop.
Operand:
Type:
Format:
Description:
Axis
AXIS_GENERIC
AXIS_SERVO
AXIS_SERVO_
DRIVE
tag
name of the axis
Motion control
MOTION_
INSTRUCTION
tag
motion structure
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
MSTD
Moving
Standard
Deviation
not available
Function Block:
Structured Text:
Description:
MSTD(MSTD_tag,storage);
The MSTD instruction calculates a moving standard
deviation and average for the In signal.
Operand:
Type:
Format:
Description:
MSTD tag
MOVING_STD_
DEV
structure
MSTD structure (default parameters):
storage
REAL
array
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
SampleEnable
BOOL
enable for taking a sample of In
When set, the instruction enters the value of In into the storage array and
calculates a new Out and Average value.
When cleared and Initialize is cleared, the instruction holds Out and Average at
their current values.
Out
REAL
calculated output of the algorithm
holds the In samples; this array must be at least as large as NumberOfSamples
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Instruction:
Relay Ladder:
Function Block:
MUL
Multiply
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
dest := sourceA * sourceB;
The MUL instruction multiplies Source A with Source B and
places the result in the Destination.
Operand:
Type:
Format:
Description:
Source A
SINT
INT
DINT
REAL
immediate
tag
value of the multiplicand
Source B
SINT
INT
DINT
REAL
immediate
tag
value of the multiplier
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
MUL tag
FBD_MATH
structure
MUL structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
SourceA
REAL
value of the multiplicand
SourceB
REAL
value of the multiplier
Dest
REAL
result of the math instruction
11 - 129
Instruction:
Relay Ladder:
MUX
Multiplexer
not available
Function Block:
Structured Text:
Description:
not available
The MUX instruction selects one of eight inputs based on
the selector input.
Operand:
Type:
Format:
Description:
MUX tag
MULTIPLEXER
structure
MUX structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
Inx
REAL
analog signal input to the instruction where x = 1-8
Selector
DINT
selector input to the instruction
Out
REAL
selected output of the algorithm
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Instruction:
Relay Ladder:
MVM
Masked Move
Operand:
Type:
Source
SINT
INT
Mask
Destination
Function Block:
Structured Text:
Description:
see MVMT
dest := (Dest AND NOT
(Mask))
OR (Source AND Mask);
The MVM instruction copies the Source to a Destination
and allows portions of the data to be masked.
Format:
Description:
DINT
immediate
tag
value to move
SINT
INT
DINT
immediate
tag
which bits to block or pass
SINT
INT
DINT
tag
an expression consisting of tags and/or immediate values separated by operators
Arithmetic Status Flags:
Major Faults:
affected
none
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Instruction:
Relay Ladder:
MVMT
Masked Move
with Target
see MVM
Function Block:
Structured Text:
Description:
MVMT(MVMT_tag);
The MVMT instruction first copies the Target to the
Destination. Then the instruction compares the masked
Source to the Destination and makes any required changes
to the Destination. The Target and the Source remain
unchanged.
Operand:
Type:
Format:
Description:
MVMT tag
FBD_MASKED_
MOVE
structure
MVMT structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Parameter:
Type:
Description:
Source
DINT
input value to move to Destination based on value of Mask
Mask
DINT
mask of bits to move from Source to Dest. All bits set to one cause the
corresponding bits to move from Source to Dest. All bits that are set to zero
cause the corresponding bits not to move from Source to Dest
Target
DINT
input value to move to Dest prior to moving Source bits through the Mask
Dest
DINT
result of masked move instruction
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Instruction:
Relay Ladder:
Function Block:
NEG
Negate
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
dest := -source;
The NEG instruction changes the sign of the Source and
places the result in the Destination.
Operand:
Type:
Format:
Description:
Source
SINT
INT
DINT
REAL
immediate
tag
value to negate
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
NEG tag
FBD_MATH_
ADVANCED
structure
NEG structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source
REAL
value to negate
Dest
REAL
result of the math instruction
11 - 133
Instruction:
Relay Ladder:
Function Block:
NEQ
Not Equal To
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source A
SINT
INT
DINT
Source B
SINT
INT
DINT
Operand:
NEQ tag
Structured Text:
Description:
IF sourceA <> sourceB THEN
<statements>;
The NEQ instruction tests whether Source A is not equal to
Source B.
Format:
Description:
REAL
string
immediate
tag
value to test against Source B
REAL
string
immediate
tag
value to test against Source A
Type:
Format:
Description:
FBD_COMPARE
structure
NEQ structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Parameter:
Type:
Description:
SourceA
REAL
value to test against SourceB
SourceB
REAL
value to test against SourceA
Dest
BOOL
result of the instruction
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Instruction:
Relay Ladder:
NOP
No Operation
Instruction:
Function Block:
Structured Text:
Description:
not available
not available
The NOP instruction functions as a placeholder
Structured Text:
Description:
dest := NOT source
The NOT instruction performs a bitwise NOT operation
using the bits in the Source and places the result in
the Destination.
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
NOT
Bitwise NOT
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Format:
Description:
Source
SINT
INT
DINT
immediate
tag
value to NOT
Destination
SINT
INT
DINT
tag
tag to store the result
Operand:
Type:
Format:
Description:
NOT tag
FBD_LOGICAL
structure
NOT structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source
DINT
value to NOT
Dest
DINT
result of the instruction
11 - 135
Instruction:
Relay Ladder:
NTCH
Notch Filter
not available
Instruction:
Function Block:
Structured Text:
Description:
NTCH(NTCH_tag);
The NTCH instruction provides a filter to attenuate input
frequencies that are at the notch frequency.
Operand:
Type:
Format:
Description:
NTCH tag
FILTER_NOTCH
structure
NTCH structure (default parameters):
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
IF BOOL_expression AND NOT
storage_bit THEN
<statement>;
END_IF;
storage_bit :=
BOOL_expression;
The ONS instruction enables or disables the remainder of
the rung, depending on the status of the storage bit.
ONS
One Shot
Operand:
Type:
Format:
Description:
storage bit
BOOL
tag
internal storage bit
stores the rung-condition-in from the last time the instruction was executed
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
Function Block:
OR
Bitwise OR
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source A
SINT
INT
Source B
Structured Text:
Description:
dest := sourceA OR sourceB
The OR instruction performs a bitwise OR operation using
the bits in Source A and Source B and places the result in
the Destination.
Format:
Description:
DINT
immediate
tag
value to OR with Source B
SINT
INT
DINT
immediate
tag
value to OR with Source A
Destination
SINT
INT
DINT
tag
tag to store the result
Operand:
Type:
Format:
Description:
OR tag
FBD_LOGICAL
structure
OR structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
SourceA
DINT
value to OR with Source B
SourceB
DINT
value to OR with Source A
Dest
DINT
result of the instruction
11 - 137
Instruction:
Relay Ladder:
OSF
One Shot
Falling
Function Block:
Structured Text:
Description:
see OSFI
see OSFI
The OSF instruction sets or clears the output bit depending
on the status of the storage bit.
Operand:
Type:
Format:
Description:
storage bit
BOOL
tag
internal storage bit
stores the rung-condition-in from the last time the instruction was executed
output bit
BOOL
tag
bit to be set
Arithmetic Status Flags:
Major Faults:
not affected
none
Instruction:
Relay Ladder:
Function Block:
OSFI
One Shot
Falling with
Input
see OSF
Structured Text:
Description:
OSFI(OSFI_tag);
The OSFI instruction sets the OutputBit for one execution
cycle when the InputBit toggles from set to cleared.
Operand:
Type:
Format:
Description:
OSFI tag
FBD_ONESHOT
structure
OSFI structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Parameter:
Type:
Description:
InputBit
BOOL
input bit
OutputBit
BOOL
output bit
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Instruction:
Relay Ladder:
OSR
One Shot
Rising
Function Block:
Structured Text:
Description:
see OSRI
see OSRI
The OSR instruction sets or clears the output bit, depending
on the status of the storage bit.
Operand:
Type:
Format:
Description:
storage bit
BOOL
tag
internal storage bit
stores the rung-condition-in from the last time the instruction was executed
output bit
BOOL
tag
bit to be set
Arithmetic Status Flags:
Major Faults:
not affected
none
Instruction:
Relay Ladder:
Function Block:
OSRI
One Shot
Rising with
Input
see OSR
Structured Text:
Description:
OSRI(OSRI_tag);
The OSRI instruction sets the output bit for one execution
cycle when the input bit toggles from cleared to set.
Operand:
Type:
Format:
Description:
OSRI tag
FBD_ONESHOT
structure
OSRI structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
InputBit
BOOL
input bit
OutputBit
BOOL
output bit
11 - 139
Instruction:
OTE
Output
Energize
Instruction:
Relay Ladder:
Structured Text:
Description:
not available
data_bit [:=]
BOOL_expression;
The OTE instruction sets or clears the data bit.
Operand:
Type:
Format:
Description:
data bit
BOOL
tag
bit to be set or cleared
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
IF BOOL_expression THEN
data_bit := 1;
END_IF;
The OTL instruction sets (latches) the data bit.
OTL
Output Latch
Instruction:
Function Block:
Operand:
Type:
Format:
Description:
data bit
BOOL
tag
bit to be set
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
IF BOOL_expression THEN
data_bit := 0;
END_IF;
The OTU instruction clears (unlatches) the data bit.
OTU
Output Unlatch
Operand:
Type:
Format:
Description:
data bit
BOOL
tag
bit to be cleared
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
PATT
Attach to
Equipment
Phase
Relay Ladder and
Structured Text
Instruction:
Structured Text:
Description:
not available
PATT(Phase_Name, Result);
The PATT instruction lets a program take ownership of an
equipment phase.
Operand:
Type:
Format:
Description:
Phase Name
phase
name of the
equipment phase
Equipment phase that you want to own
Result
DINT
immediate
tag
To let the instruction return a code for its success/failure, enter a DINT tag in which to store the result code.
Otherwise, enter 0.
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
PCLF(Phase_Name);
The PCLF instruction clears the failure code for an
equipment phase.
PCLF
Equipment
Phase Clear
Failure
Relay Ladder and
Structured Text
Function Block:
Operand:
Type:
Format:
Description:
Phase Name
phase
name of the
equipment phase
Equipment phase that you no longer want to own
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 141
Instruction:
Relay Ladder:
PCMD
Equipment
Phase
Command
Relay Ladder and
Structured Text
Instruction:
Structured Text:
Description:
not available
PCMD(PhaseName, Command,
Result);
The PCMD instruction transitions an equipment phase to
the next state or substate.
Operand:
Type:
Format:
Description:
Phase Name
phase
name of the
equipment phase
Equipment phase that you want to change to a different state or substate
Command
command
name of the
command
Command that you want to send to the equipment phase to change its state
Result
DINT
immediate
tag
To let the instruction return a code for its success/failure, enter a DINT tag in which to store the result code.
Otherwise, enter 0.
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
PDET(Phase_Name);
After a program executes a PDET instruction, the program
no longer owns the equipment phase. This frees the
equipment phase for ownership by another program or by
RSBizWare Batch software. Use the PDET instruction only if
the program previously took ownership of an equipment
phase via an Attach to Equipment Phase (PATT) instruction.
PDET
Detach from
Equipment
Phase
Relay Ladder and
Structured Text
Function Block:
Operand:
Type:
Format:
Description:
Phase Name
phase
name of the
equipment phase
Equipment phase that you no longer want to own
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 142
Instruction:
Relay Ladder:
PFL
Equipment
Phase Failure
Relay Ladder and
Structured Text
Function Block:
Structured Text:
Description:
not available
PFL(Failure_Code);
The PFL instruction sets the value of the failure code for an
equipment phase. Use the instruction to signal a specific
failure for an equipment phase, such as a specific device
has faulted.
Operand:
Type:
Format:
Description:
Failure_Code
DINT
immediate
tag
value to which you want to set the failure code for the equipment phase
Arithmetic Status Flags:
Major Faults:
not affected
none
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11 - 143
Instruction:
Relay Ladder:
PI
Proportional +
Integral
not available
Function Block:
Structured Text:
Description:
PI(PI_tag);
The PI instruction provides two methods of operation. The
first method follows the conventional PI algorithm in that
the proportional and integral gains remain constant over
the range of the input signal (error). The second method
uses a non-linear algorithm where the proportional and
integral gains vary over the range of the input signal. The
input signal is the deviation between the setpoint and
feedback of the process.
Operand:
Type:
Format:
Description:
PI tag
PROP_INT
structure
PI structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
process error signal input
Out
REAL
calculated output of the PI algorithm
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Instruction:
Relay Ladder:
PID
Proportional,
Integral,
Derivative
Function Block:
Structured Text:
Description:
not available
PID(PID,
ProcessVariable,Tieback,
ControlVariable,
PIDMasterLoop,
InholdBit,
InHoldValue);
The PID instruction controls a process variable such as flow,
pressure, temperature, or level.
Operand:
Type:
Format:
Description:
PID
PID
structure
PID structure
Process variable
SINT
INT
DINT
REAL
tag
value you want to control
Tieback
SINT
INT
DINT
REAL
immediate
tag
(optional) output of a hardware hand/auto station which is bypassing the output of the controller
Enter 0 if you don’t want to use this parameter.
Control variable
SINT
INT
DINT
REAL
tag
value which goes to the final control device (valve, damper, etc.)
If you are using the deadband, the Control variable must be REAL or it will be forced to 0 when the error is within the
deadband.
PID master loop
PID
structure
(optional) PID tag for the master PID
Enter 0 if you don’t want to use this parameter.
Inhold bit
BOOL
tag
(optional) current status of the inhold bit from a 1756 analog output channel to support bumpless restart
Enter 0 if you don’t want to use this parameter.
Inhold value
SINT
INT
tag
(optional) data readback value from a 1756 analog output channel to support bumpless restart
Enter 0 if you don’t want to use this parameter.
DINT
REAL
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11 - 145
Instruction:
Relay Ladder:
Function Block:
Structured Text:
PID
Proportional,
Integral,
Derivative
(continued)
Setpoint
na
na
displays current value of the setpoint
Process variable
na
na
displays current value of the scaled process variable
Output %
na
na
displays current output percentage value
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 35
.UPD =0
Type 4
Code 36
setpoint out of range
Description:
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11 - 146
Instruction:
Relay Ladder:
PIDE
Enhanced PID
not available
Function Block:
Structured Text:
Description:
PIDE(PIDE_tag);
The PIDE instruction provides enhanced capabilities over
the standard PID instruction. The instruction uses the
velocity form of the PID algorithm. The gain terms are
applied to the change in the value of error or PV, not the
value of error or PV.
Operand:
Type:
Format:
Description:
PIDE tag
PIDE_ENHANCED
structure
PIDE structure (default parameters):
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
PV
REAL
scaled process variable input
SPProg
REAL
SP program value, scaled in PV units
SPCascade
REAL
SP Cascade value, scaled in PV units
RatioProg
REAL
ratio program multiplier.
CVProg
REAL
CV program manual value
11 - 147
Instruction:
PIDE
Enhanced PID
(continued)
Relay Ladder:
Function Block:
Structured Text:
Description:
Parameter:
Type:
Description:
FF
REAL
feed forward value
HandFB
REAL
CV hand feedback value
ProgProgReq
BOOL
program program request
ProgOperReq
BOOL
program operator request
ProgCasRatReq
BOOL
program cascade/ratio mode request
ProgAutoReq
BOOL
program auto mode request
ProgManualReq
BOOL
program manual mode request
ProgOverrideReq
BOOL
program override mode request
ProgHandReq
BOOL
program hand mode request
CVEU
REAL
scaled control variable output
SP
REAL
current setpoint value
PVHHAlarm
BOOL
PV high-high alarm indicator
PVHAlarm
BOOL
PV high alarm indicator
PVLAlarm
BOOL
PV low alarm indicator
PVLLAlarm
BOOL
PV low-low alarm indicator
PVROCPosAlarm
BOOL
PV rate-of-change positive alarm indicator
PVROCNegAlarm
BOOL
PV rate-of-change negative alarm indicator
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11 - 148
Instruction:
Relay Ladder:
Function Block:
PIDE
Enhanced PID
(continued)
autotune
PIDE_AUTOTUNE
structure
Arithmetic Status Flags:
Major Faults:
set for the CVEU parameter
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
Parameter:
Type:
Description:
DevHHAlarm
BOOL
deviation high-high alarm indicator
DevHAlarm
BOOL
deviation high alarm indicator
DevLAlarm
BOOL
deviation low alarm indicator
DevLLAlarm
BOOL
deviation low-low alarm indicator
ProgOper
BOOL
program/operator control indicator
set when in program mode; cleared when in operator mode
CasRat
BOOL
cascade ration mode indicator
Auto
BOOL
auto mode indicator
Manual
BOOL
manual mode indicator
Override
BOOL
override mode indicator
Hand
BOOL
hand mode indicator
(optional) autotune structure (function block only)
11 - 149
Instruction:
Relay Ladder:
PMUL
Pulse
Multiplier
not available
Function Block:
Structured Text:
Description:
PMUL(PMUL_tag);
The PMUL instruction provides an interface from a position
input module, such as a resolver or encoder feedback
module, to the digital system by computing the change in
input from one scan to the next. By selecting a specific
word size, you configure the PMUL instruction to
differentiate through the rollover boundary in a continuous
and linear fashion.
Operand:
Type:
Format:
Description:
PMUL tag
PULSE_
MULTIPLIER
structure
PMUL structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
DINT
analog signal input to the instruction
Multiplier
DINT
multiplier; divide this value by 100,000 to control the ratio of In to Out
Out
REAL
output of the instruction
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Instruction:
Relay Ladder:
POSP
Position
Proportional
not available
Function Block:
Structured Text:
Description:
POSP(POSP_tag);
The POSP instruction opens or closes a device by pulsing
open or close contacts at a user defined cycle time with a
pulse width proportional to the difference between the
desired and actual positions.
Operand:
Type:
Format:
Description:
POSP tag
POSITION_PROP
structure
POSP structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the PositionPercent parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
SP
REAL
setpoint value; must use the same engineering units as Position
Position
REAL
position feedback
OpenedFB
BOOL
opened feedback; when set, the open output is not allowed to turn on
ClosedFB
BOOL
closed feedback; when set, the close output is not allowed to turn on
OpenOut
BOOL
output is pulsed to open the device
CloseOut
BOOL
output is pulsed to close the device
11 - 151
Instruction:
Relay Ladder:
POVR
Equipment
Phase Override
Command
Relay Ladder and
Structured Text
Instruction:
PPD
Equipment
Phase Paused
Function Block:
Structured Text:
Description:
not available
POVR(PhaseName, Command,
Result);
Gives the hold, stop, or abort command to an equipment
phase.
Overrides all owners of the equipment phase. The
command works even if RSLogix 5000 software, RSBizWare
Batch software, or another program already own the
equipment phase.
Operand:
Type:
Format:
Description:
Phase Name
phase
name of the
equipment phase
Equipment phase that you want to change to a different state
Command
command
name of the
command
One of these commands for the equipment phase:
• hold
• stop
• abort
Result
DINT
immediate
tag
To let the instruction return a code for its success/failure, enter a DINT tag in which to store the result code.
Otherwise, enter 0.
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
PPD( );
The PPD instruction lets you stop execution at a specific
step (breakpoint) to test and troubleshoot your logic.
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
PRNP
Equipment
Phase New
Parameters
Instruction:
PSC
Phase State
Complete
Instruction:
Relay Ladder:
Structured Text:
Description:
not available
PRNP( );
The PRNP instruction clears the NewInputParameters bit of
the equipment phase.
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
PSC( );
The PSC instruction signals the completion of a phase state
routine.
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
PXRQ(Phase_Instruction,
External_Request,
Data_Value);
The PXRQ instruction sends a request to RSBizWare Batch
software.
PXRQ
Equipment
Phase External
Request
Relay Ladder and
Structured Text
Function Block:
Operand:
Type:
Format:
Description:
Phase Instruction
PHASE_INSTRUC
TION
tag
tag that controls the operation
External Request
request
name
type of request
Data Value
DINT
array tag
parameters of the request
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
Function Block:
RAD
Radians
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
RAD tag
Structured Text:
Description:
dest := RAD(source);
The RAD instruction converts the Source (in degrees) to
radians and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
value to convert to radians
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
RAD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Parameter:
Type:
Description:
Source
REAL
input to the conversion instruction
Dest
REAL
result of the conversion instruction
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Instruction:
Relay Ladder:
RES
Reset
Function Block:
Structured Text:
Description:
not available
not available
The RES instruction resets a TIMER, COUNTER, or
CONTROL structure.
Operand:
Type:
Format:
Description:
structure
TIMER
CONTROL
COUNTER
tag
structure to reset
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
RESD
Reset
Dominant
not available
Function Block:
Structured Text:
Description:
RESD(RESD_tag);
The RESD instruction uses Set and Reset inputs to control
latched outputs. The Reset input has precedence over the
Set input.
Operand:
Type:
Format:
Description:
RESD tag
DOMINANT_
RESET
structure
RESD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Parameter:
Type:
Description:
Set
BOOL
set input to the instruction
Reset
BOOL
reset input to the instruction
Out
BOOL
output of the instruction
OutNot
BOOL
inverted output of the instruction
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11 - 156
Instruction:
Relay Ladder:
Function Block:
RET
Return
Structured Text:
Description:
RET(ReturnPar);
The RET instruction is an optional instruction that
exchanges data with the JSR instruction.
Operand:
Type:
Format:
Description:
Return parameter
BOOL DINT
SINT REAL
INT
structure
immediate
tag
array tag
data from this routine that you want to copy to the corresponding return parameter in the JSR instruction
Arithmetic Status Flags:
Major Faults:
affected
4
31
4
0
Publication 1756-QR107C-EN-P - June 2005
• JSR instruction has fewer input parameters than SBR instruction
• RET instruction has fewer return parameters than JSR instruction
• main routine contains a RET instruction
JSR instruction jumps to a fault routine
11 - 157
Instruction:
Relay Ladder:
RLIM
Rate Limiter
not available
Function Block:
Structured Text:
Description:
RLIM(RLIM_tag);
The RLIM instruction limits the amount of change of a
signal over time.
Operand:
Type:
Format:
Description:
RLIM tag
RATE_LIMITER
structure
RLIM structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
ByPass
BOOL
request to bypass the algorithm; when set, Out = In
Out
REAL
calculated output of the algorithm
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Instruction:
Relay Ladder:
RMPS
Ramp/Soak
not available
Function Block:
Structured Text:
Description:
RMPS(RMPS_tag,RampValue,
SoakValue,SoakTime);
The RMPS instruction provides for a number of segments of
alternating ramp and soak periods.
Operand:
Type:
Format:
Description:
RMPS tag
RAMP_SOAK
structure
RMPS structure (default parameters):
continued
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
PV
REAL
scaled analog temperature signal input to the instruction
CurrentSegProg
DINT
current segment program value
OutProg
REAL
output program value
SoakTimeProg
REAL
soak time program value
ProgProgReq
BOOL
program program request
ProgOperReq
BOOL
program operator request
11 - 159
Instruction:
Relay Ladder:
Function Block:
RMPS
Ramp/Soak
(continued)
Structured Text:
Description:
Parameter:
Type:
Description:
ProgAutoReq
BOOL
program auto mode request
ProgManualReq
BOOL
program manual mode request
ProgHoldReq
BOOL
program hold mode request
Out
REAL
output of the instruction
CurrentSeg
DINT
current segment number
SoakTimeLeft
REAL
soak time left
GuarRampOn
BOOL
guaranteed ramp status
GuarSoakOn
BOOL
guaranteed soak status
ProgOper
BOOL
program/operator control indicator
Auto
BOOL
auto mode indicator
Manual
BOOL
manual mode indicator
Hold
BOOL
hold mode indicator
RampValue
REAL
array
ramp value array; enter a ramp value (time in minutes) for each segment (0 to NumberOfSegs-1)
SoakValue
REAL
array
soak value array; enter a soak value for each segment (0 to NumberOfSegs-1); the array must be at least as large
as NumberOfSegs
SoakTime
REAL
array
soak time array; enter a soak time (time in minutes) for each segment (0 to NumberOfSegs-1)
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
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11 - 160
Instruction:
Relay Ladder:
RTO
Retentive
Timer On
Function Block:
Structured Text:
Description:
see RTOR
see RTOR
The RTO instruction is a retentive timer that accumulates
time when the instruction is enabled.
Operand:
Type:
Format:
Description:
Timer
TIMER
tag
timer structure
Preset
DINT
immediate
how long to delay (accumulate time)
Accum
DINT
immediate
number of msec the timer has counted; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Publication 1756-QR107C-EN-P - June 2005
Code 34
• .PRE < 0
• .ACC < 0
11 - 161
Instruction:
Relay Ladder:
RTOR
Retentive
Timer On with
Reset
see RTO
Function Block:
Structured Text:
Description:
RTOR(RTOR_tag);
The RTOR instruction is a retentive timer that accumulates
time when TimerEnable is set.
Operand:
Type:
Format:
Description:
RTOR tag
FBD_TIMER
structure
RTOR structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Parameter:
Type:
Description:
TimerEnable
BOOL
if cleared, enables the timer to run and accumulate time
PRE
DINT
timer preset value in 1msec units
Reset
BOOL
request to reset the timer
ACC
BOOL
accumulated time in milliseconds
DN
BOOL
timing done output. Indicates when the ACC ≥ PRE
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11 - 162
Instruction:
Relay Ladder:
RTOS
REAL to String
Function Block:
Structured Text:
Description:
not available
RTOS(Source,Dest);
The RTOS instruction produces the ASCII representation of
a REAL value.
Operand:
Type:
Format:
Description:
Source
REAL
tag
tag that contains the REAL value
Destination
string
tag
tag to store the ASCII value
Arithmetic Status Flags:
Major Faults:
not affected
4
51
The LEN value of the string tag is greater than the DATA size of the string tag. Check:
• that no instruction is writing to the LEN member of the string tag.
• in the LEN value, you entered the number of characters that the string contains.
4
52
The output string is larger than the destination. Create a new string data type that is large enough for
the output string. Use the new string data type as the data type for the destination.
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Instruction:
Relay Ladder:
Function Block:
SBR
Subroutine
Structured Text:
Description:
SBR(InputPar);
The SBR instruction is an optional instruction that
exchanges data with the JSR instruction.
Operand:
Type:
Format:
Description:
Input parameter
BOOL DINT
SINT REAL
INT
structure
tag
array tag
tag in this routine into which you want to copy the corresponding input parameter from the JSR instruction
Arithmetic Status Flags:
Major Faults:
affected
4
31
4
0
• JSR instruction has fewer input parameters than SBR instruction
• RET instruction has fewer return parameters than JSR instruction
• main routine contains a RET instruction
JSR instruction jumps to a fault routine
Publication 1756-QR107C-EN-P - June 2005
11 - 164
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11 - 165
Instruction:
Relay Ladder:
SCL
Scale
not available
Function Block:
Structured Text:
Description:
SCL(SCL_tag);
The SCL instruction converts an unscaled input value to a
floating point value in engineering units.
Operand:
Type:
Format:
Description:
SCL tag
SCALE
structure
SCL structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
output that represents the scaled value of the analog input
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11 - 166
Instruction:
Relay Ladder:
SCRV
S-Curve
not available
Function Block:
Structured Text:
Description:
SCRV(SCRV_tag);
The SCRV instruction performs a ramp function with an
added jerk rate. The jerk rate is the maximum rate of
change of the rate used to ramp output to input.
Operand:
Type:
Format:
Description:
SCRV tag
S_CURVE
structure
SCRV structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
output of the instruction
11 - 167
Instruction:
Relay Ladder:
SEL
Selector
not available
Function Block:
Structured Text:
Description:
not available
The SEL instruction uses a digital input to select one of
two inputs.
Operand:
Type:
Format:
Description:
SEL tag
SELECT
structure
SEL structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In1
REAL
first analog signal input to the instruction
In2
REAL
second analog signal input to the instruction
SelectorIn
BOOL
input that selects between In1 and In2
Out
REAL
calculated output of the algorithm
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11 - 168
Instruction:
Relay Ladder:
SETD
Set Dominant
not available
Function Block:
Structured Text:
Description:
SETD(SETD_tag);
The SETD instruction uses Set and Reset inputs to control
latched outputs. The Set input has precedence over the
Reset input.
Operand:
Type:
Format:
Description:
SETD tag
DOMINANT_SET
structure
SETD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Set
BOOL
Set input to the instruction
Reset
BOOL
Reset input to the instruction
Out
BOOL
output of the instruction
OutNot
BOOL
inverted output of the instruction
11 - 169
Instruction:
Relay Ladder:
SFP
Pause SFC
Instruction:
Function Block:
Structured Text:
Description:
not available
SFP(SFCRoutineName,
TargetState);
The SFP instruction pauses an SFC routine.
Operand:
Type:
Format:
Description:
SFCRoutine Name
ROUTINE
name
SFC routine to pause
TargetState
DINT
immediate
tag
select executing (enter 0) or paused (enter 1)
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
SFR(SFCRoutineName
StepName);
The SFR instruction resets the execution of a SFC routine at
a specified step.
SFR
Reset SFC
Code 85
the routine type is not an SFC routine
Operand:
Type:
Format:
Description:
SFCRoutine Name
ROUTINE
name
SFC routine to reset
Step Name
SFC_STEP
tag
target step where to resume execution
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 85
the routine type is not an SFC routine
Type 4
Code 89
specified target step does not exist in the SFC routine
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Instruction:
Relay Ladder:
Function Block:
SIN
Sine
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
SIN tag
Structured Text:
Description:
dest := SIN(source);
The SIN instruction takes the sine of the Source value (in
radians) and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the sine of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
SIN structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
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Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
11 - 171
Instruction:
Relay Ladder:
SIZE
Size in
Elements
Function Block:
Structured Text:
Description:
not available
not available
The SIZE instruction finds the size of a dimension of an
array.
Operand:
Type:
Format:
Description:
Source
SINT DINT
INT
REAL
structure
string
array tag
array on which the instruction is to operate
Dimension to vary
DINT
immediate
(0, 1, 2)
which dimension to use
enter 0 (first dimension), 1 (second dimension), or 2 (third dimension)
Size
SINT
INT
tag
tag to store the number of elements in the specified dimension of the array
DINT
REAL
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
SNEG
Selected
Negate
not available
Function Block:
Structured Text:
Description:
SNEG(SNEG_tag);
The SNEG instruction uses a digital input to select between
the input value and the negative of the input value.
Operand:
Type:
Format:
Description:
SNEG tag
SELECTABLE_
NEGATE
structure
SNEG structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
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Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
NegateEnable
BOOL
when NegateEnable is set, the instruction sets Out to the negative value of In
Out
REAL
calculated output of the algorithm
11 - 173
Instruction:
Relay Ladder:
SOC
Second-Order
Controller
not available
Function Block:
Structured Text:
Description:
SOC(SOC_tag);
The SOC instruction is designed for use in closed loop
control systems in a similar manner to the PI instruction.
The SOC instruction provides a gain term, a first order lag,
and a second order lead.
Operand:
Type:
Format:
Description:
SOC tag
SEC_ORDER_
CONTROLLER
structure
SOC structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
Out
REAL
calculated output of the algorithm
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Instruction:
Relay Ladder:
SQI
Sequencer
Input
Function Block:
Structured Text:
Description:
not available
not available
The SQI instruction detects when a step is complete in a
sequence pair of SQO/SQI instructions.
Operand:
Type:
Format:
Description:
Array
DINT
array tag
sequencer array; specify the first element of the sequencer array
do not use CONTROL.POS in the subscript
Mask
SINT
INT
DINT
tag
immediate
which bits to block or pass
Source
SINT
INT
DINT
tag
input data for the sequencer array
Control
CONTROL
tag
control structure for the operation; typically use the same CONTROL as the SQO and SQL instructions
Length
DINT
immediate
number of elements in the Array (sequencer table) to compare
Position
DINT
immediate
current position in the array; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
SQL
Sequencer
Load
Function Block:
Structured Text:
Description:
not available
not available
The SQL instruction loads reference conditions into a
sequencer array.
Operand:
Type:
Format:
Description:
Array
DINT
array tag
sequencer array; specify the first element of the sequencer array
do not use CONTROL.POS in the subscript
Source
SINT
INT
tag
immediate
input data to load into the sequencer array
Control
CONTROL
tag
control structure for the operation; typically use the same CONTROL as the SQI and SQO instructions
Length
DINT
immediate
number of elements in the Array (sequencer table) to load
Position
DINT
immediate
current position in the array; initial value is typically 0
DINT
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 20
Length > size of Array
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Instruction:
Relay Ladder:
SQO
Sequencer
Output
Function Block:
Structured Text:
Description:
not available
not available
The SQO instruction sets output conditions for the next step
of a sequence pair of SQO/SQI instructions.
Operand:
Type:
Format:
Description:
Array
DINT
array tag
sequencer array; specify the first element of the sequencer array
do not use CONTROL.POS in the subscript
Mask
SINT
INT
tag
immediate
which bits to block or pass
Destination
DINT
tag
output data from the sequencer array
Control
CONTROL
tag
control structure for the operation; typically use the same CONTROL as the SQI and SQL instructions
Length
DINT
immediate
number of elements in the Array (sequencer table) to output
Position
DINT
immediate
current position in the array; initial value is typically 0
DINT
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
Function Block:
SQR
Square Root
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
SQR tag
Structured Text:
Description:
dest := SQRT(source);
The SQR instruction computes the square root of the Source
and places the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the square root of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
SQR structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Parameter:
Type:
Description:
Source
REAL
find the square root of this value
Dest
REAL
result of the math instruction
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Instruction:
Relay Ladder:
SRT
File Sort
Operand:
Type:
Array
SINT
INT
Dimension to vary
Function Block:
Structured Text:
Description:
not available
SRT(Array,Dimtovary,
Control);
The SRT instruction sorts a set of values in one dimension
(Dim to vary) of the Array into ascending order.
Format:
Description:
array tag
array to sort; specify the first element of the group of elements to sort
do not use CONTROL.POS in the subscript
DINT
immediate
(0, 1, 2)
which dimension to use
the order is: array[dim_0,dim_1,dim_2] then array[dim_0,dim_1] then array[dim_0]
Control
CONTROL
tag
control structure for the operation
Length
DINT
immediate
number of elements of the array to sort
Position
DINT
immediate
current element in the array; initial value is typically 0
DINT
REAL
Arithmetic Status Flags:
Major Faults:
affected
Type 4
Code 20
Type 4
Code 21
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• instruction tries to access data outside of the array boundaries
• dimension to vary does not exist for the specified array
.POS < 0 or .LEN < 0
11 - 179
Instruction:
Relay Ladder:
SRTP
Split Range
Proportional
not available
Function Block:
Structured Text:
Description:
SRTP(SRTP_tag);
The SRTP instruction takes the 0-100% output of a PID loop
and drives heating and cooling digital output contacts with
a periodic pulse. This instruction controls applications such
as barrel temperature control on extrusion machines.
Operand:
Type:
Format:
Description:
SRTP tag
SPLIT_RANGE
structure
SRTP structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the HeatTimePercent and
CoolTimePercent parameters
none
Parameter:
Type:
Description:
In
REAL
analog signal input asking for heating or cooling
HeatOut
BOOL
heating output pulse
CoolOut
BOOL
cooling output pulse
HeatTimePercent
REAL
calculated percent of the current cycle that the HeatOut will be on
CoolTimePercent
REAL
calculated percent of the current cycle that the CoolOut will be on
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Instruction:
Relay Ladder:
SSUM
Selected
Summer
not available
Function Block:
Structured Text:
Description:
SSUM(SSUM_tag);
The SSUM instruction uses boolean inputs to select real
inputs to be algebraically summed.
Operand:
Type:
Format:
Description:
SSUM tag
SELECTABLE_
SUMMER
structure
SSUM structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
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Parameter:
Type:
Description:
Inx
REAL
input, where x = 1-4
Selectx
BOOL
selector signal for associated input, where x = 1-4
Out
REAL
calculated output of the algorithm
11 - 181
Instruction:
Relay Ladder:
SSV
Set System
Value
Function Block:
Structured Text:
Description:
not available
SSV(ClassName,
InstanceName,
AttributeName,Source);
The GSV/SSV instructions get and set controller system
data that is stored in objects.
Operand:
Type:
Format:
Description:
Class name
na
name
name of object
Instance name
na
name
name of specific object, when object requires name
Attribute Name
na
name
attribute of object; data type depends on the attribute you select
Source
SINT
INT
tag
tag that contains data you want to copy to the attribute
DINT
REAL
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 5
Type 4
Code 6
Type 4
Code 7
invalid object address
• specified an object that does not support GSV/SSV
• invalid attribute
• did not supply enough information for an SSV instruction
the GSV destination was not large enough to hold the requested data
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Instruction:
Relay Ladder:
STD
Standard
Deviation
Operand:
Type:
Array
SINT
INT
Dimension to vary
Function Block:
Structured Text:
Description:
not available
not available
The STD instruction calculates the standard deviation of a
set of values in one dimension of the Array and stores the
result in the Destination.
Format:
Description:
array tag
find the standard deviation of the values in this array
specify the first element of the group of elements to use in calculating the standard deviation
do not use CONTROL.POS in the subscript
DINT
immediate
(0, 1, 2)
which dimension to use
the order is: array[dim_0,dim_1,dim_2] then array[dim_0,dim_1] then array[dim_0]
Destination
REAL
tag
result of the operation
Control
CONTROL
tag
control structure for the operation
Length
DINT
immediate
number of elements of the array to use in calculating the standard deviation
Position
DINT
immediate
current element in the array; initial value is typically 0
DINT
REAL
Arithmetic Status Flags:
Major Faults:
affected
Type 4
Code 20
dimension to vary does not exist for the specified array
Type 4
Code 21
.POS < 0 or .LEN < 0
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Instruction:
Relay Ladder:
STOD
String to DINT
Operand:
Type:
Source
string
Destination
SINT
INT
DINT
REAL
Function Block:
Structured Text:
Description:
not available
STOD(Source,Dest);
The STOD instruction converts the ASCII representation of
an integer to an integer or REAL value.
Format:
Description:
tag
tag that contains the value in ASCII
tag
tag to store the integer value; if the Source value is a floating-point number, the instruction converts only the non-fractional
part of the number (regardless of the destination data type).
Arithmetic Status Flags:
Major Faults:
affected
Type 4
Code 51
The LEN value of the string tag is greater than the DATA size of the string tag. Check:
• that no instruction is writing to the LEN member of the string tag.
• in the LEN value, you entered the number of characters that the string contains.
Type 4
Code 53
The output number is beyond the limits of the destination data type. Either:
• reduce the size of the ASCII value
• use a larger data type for the destination
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Instruction:
Relay Ladder:
STOR
String to REAL
Function Block:
Structured Text:
Description:
not available
STOR(Source,Dest);
The STOR instruction converts the ASCII representation of a
floating-point value to a REAL value.
Operand:
Type:
Format:
Description:
Source
string
tag
tag that contains the value in ASCII
Destination
REAL
tag
tag to store the REAL value
Arithmetic Status Flags:
Major Faults:
affected
Type 4
Code 51
The LEN value of the string tag is greater than the DATA size of the string tag. Check:
• that no instruction is writing to the LEN member of the string tag.
• in the LEN value, you entered the number of characters that the string contains.
Type 4
Code 53
The output number is beyond the limits of the destination data type. Either:
• reduce the size of the ASCII value
• use a larger data type for the destination
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Instruction:
Relay Ladder:
Function Block:
SUB
Subtract
Relay Ladder and
Structured Text
Function Block
Structured Text:
Description:
dest := sourceA - sourceB;
The SUB instruction subtracts Source B from Source A and
places the result in the Destination.
Operand:
Type:
Format:
Description:
Source A
SINT
INT
DINT
REAL
immediate
tag
value from which to subtract Source B
Source B
SINT
INT
DINT
REAL
immediate
tag
value to subtract from Source A
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
SUB tag
FBD_MATH
structure
SUB structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Parameter:
Type:
Description:
SourceA
REAL
value from which to subtract Source B
SourceB
REAL
value to subtract from Source A
Dest
REAL
result of the math instruction
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Instruction:
Relay Ladder:
SWPB
Swap Byte
Operand:
Type:
Source
INT
DINT
Order Mode
na
Destination
INT
DINT
REAL
REAL
Function Block:
Structured Text:
Description:
not available
SWPB(Source,OrderMode,
Dest);
The SWPB instruction rearranges the bytes of a value.
Format:
Description:
tag
tag that contains the bytes that you want to rearrange
REVERSE
WORD
HIGH/LOW
how you want to change the order of the bytes
tag
tag to store the bytes in the new order
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
Function Block:
TAN
Tangent
Relay Ladder and
Structured Text
Function Block
Instruction:
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
TAN tag
Structured Text:
Description:
dest := TAN(source);
The TAN instruction takes the tangent of the Source value
(in radians) and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
find the tangent of this value
DINT
REAL
tag
tag to store the result
Type:
Format:
Description:
FBD_MATH_
ADVANCED
structure
TAN structure (default parameters):
Parameter:
Type:
Description:
Source
REAL
input to the math instruction
Dest
REAL
result of the math instruction
Arithmetic Status Flags:
Major Faults:
affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
TND();
The TND instruction acts as a boundary.
TND
Temporary End
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
Function Block:
TOD
Convert to BCD
Relay Ladder
Function Block
Operand:
Type:
Source
SINT
INT
Destination
SINT
INT
Operand:
TOD tag
Structured Text:
Description:
not available
The TOD instruction converts a decimal value (0 ≤Source
99,999,999) to a BCD value and stores the result in
the Destination.
Format:
Description:
DINT
immediate
tag
value to convert
DINT
tag
tag to store the result
Type:
Format:
Description:
FBD_CONVERT
structure
TOD structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
Type 4
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Parameter:
Type:
Description:
Source
DINT
input to the conversion instruction
Dest
DINT
result of the conversion instruction
Code 4
Source < 0
≤
11 - 189
Instruction:
Relay Ladder:
TOF
Timer Off Delay
Function Block:
Structured Text:
Description:
see TOFR
see TOFR
The TOF instruction is a non-retentive timer that
accumulates time when the instruction is enabled
(rung-condition-in is false).
Operand:
Type:
Format:
Description:
Timer
TIMER
tag
timer structure
Preset
DINT
immediate
how long to delay (accumulate time)
Accum
DINT
immediate
number of msec the timer has counted; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 34
• .PRE < 0
• .ACC < 0
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Instruction:
Relay Ladder:
TOFR
Timer Off Delay
with Reset
see TOF
Function Block:
Structured Text:
Description:
TOFR(TOFR_tag);
The TOFR instruction is a non-retentive timer that
accumulates time when TimerEnable is cleared.
Operand:
Type:
Format:
Description:
TOFR tag
FBD_TIMER
structure
TOFR structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
TimerEnable
BOOL
if cleared, enables the timer to run and accumulate time
PRE
DINT
timer preset value in 1msec units
Reset
BOOL
request to reset the timer
ACC
BOOL
accumulated time in milliseconds
DN
BOOL
timing done output. Indicates when the ACC ≥ PRE
11 - 191
Instruction:
Relay Ladder:
TON
Timer On Delay
Function Block:
Structured Text:
Description:
see TONR
see TONR
The TON instruction is a non-retentive timer that
accumulates time when the instruction is enabled
(rung-condition-in is true).
Operand:
Type:
Format:
Description:
Timer
TIMER
tag
timer structure
Preset
DINT
immediate
how long to delay (accumulate time)
Accum
DINT
immediate
number of msec the timer has counted; initial value is typically 0
Arithmetic Status Flags:
Major Faults:
not affected
Type 4
Code 34
• .PRE < 0
• .ACC < 0
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Instruction:
Relay Ladder:
TONR
Timer On Delay
with Reset
see TON
Function Block:
Structured Text:
Description:
TONR(TONR_tag);
The TONR instruction is a non-retentive timer that
accumulates time when TimerEnable is set.
Operand:
Type:
Format:
Description:
TONR tag
FBD_TIMER
structure
TONR structure (default parameters):
Arithmetic Status Flags:
Major Faults:
not affected
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
TimerEnable
BOOL
if cleared, enables the timer to run and accumulate time
PRE
DINT
timer preset value in 1msec units
reset
BOOL
request to reset the timer
ACC
BOOL
accumulated time in milliseconds
DN
BOOL
timing done output. Indicates when the ACC ≥ PRE
11 - 193
Instruction:
Relay Ladder:
TOT
Totalizer
not available
Function Block:
Structured Text:
Description:
TOT(TOT_tag);
The TOT instruction provides a time-scaled accumulation of
an analog input value.
Operand:
Type:
Format:
Description:
TOT tag
TOTALIZER
structure
TOT structure (default parameters):
Parameter:
Type:
Description:
In
REAL
analog signal input to the instruction
ProgProgReq
BOOL
program program request
ProgOperReq
BOOL
program operator request
ProgStartReq
BOOL
program start request
ProgStopRequest
BOOL
program stop request
ProgResetReq
BOOL
program reset request
continued
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Instruction:
Relay Ladder:
Function Block:
TOT
Totalizer
(continued)
Arithmetic Status Flags:
Major Faults:
set for the Total parameter
none
Publication 1756-QR107C-EN-P - June 2005
Structured Text:
Description:
Parameter:
Type:
Description:
Total
REAL
the totalized value if In
OldTotal
REAL
the value of the total before a reset occurred
ProgOper
BOOL
program/operator control indicator
RunStop
BOOL
the indicator of the operational state of the totalizer
ProgResetDone
BOOL
the indicator that the TOT instruction has completed a program reset request
TargetFlag
BOOL
the flag for Total; set when Total ≥ Target.
TargetDev1Flag
BOOL
the flag for TargetDev1; set when Total ≥ Target - TargetDev1
TargetDev2Flag
BOOL
the flag for TargetDev2; set when Total ≥ Target - TargetDev2
11 - 195
Instruction:
Relay Ladder:
Function Block:
TRN
Truncate
Relay Ladder and
Structured Text
Function Block
Instruction:
Description:
dest := TRUNC(source);
The TRN instruction removes (truncates) the fractional part
of the Source and stores the result in the Destination.
Operand:
Type:
Format:
Description:
Source
REAL
immediate
tag
value to truncate
Destination
SINT
INT
tag
tag to store the result
Operand:
Type:
Format:
Description:
TRN tag
FBD_
TRUNCATE
structure
TRN structure (default parameters):
DINT
REAL
Parameter:
Type:
Description:
Source
REAL
input to the conversion instruction.
Dest
DINT
result of the math instruction.
Arithmetic Status Flags:
Major Faults:
affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
UID();
The UID instruction and the UIE instruction work together to
prevent a small number of critical rungs from being
interrupted by other tasks.
UID
User Interrupt
Disable
UIE
User Interrupt
Enable
Structured Text:
UIE();
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
UPDN
Up/Down
Accumulator
not available
Function Block:
Structured Text:
Description:
UPDN(UPDN_tag);
The UPDN instruction adds and subtracts two inputs into an
accumulated value.
Operand:
Type:
Format:
Description:
UPDN tag
UP_DOWN_
ACCUM
structure
UPDN structure (default parameters):
Arithmetic Status Flags:
Major Faults:
set for the Out parameter
none
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
InPlus
REAL
input added to the accumulator
InMinus
REAL
input subtracted from the accumulator
Out
REAL
output of the instruction
11 - 197
Instruction:
Relay Ladder:
UPPER
Upper Case
Instruction:
Function Block:
Structured Text:
Description:
not available
UPPER(Source,Dest);
The UPPER instruction converts the alphabetical characters
in a string to upper case characters.
Operand:
Type:
Format:
Description:
Source
string
tag
tag that contains the characters that you want to convert to upper case
Destination
string
tag
tag to store the characters in upper case
Arithmetic Status Flags:
Major Faults:
not affected
none
Relay Ladder:
Function Block:
Structured Text:
Description:
not available
IF data_bit THEN
<statement>;
END_IF;
The XIC instruction examines the data bit to see if it is set.
XIC
Examine If
Closed
Operand:
Type:
Format:
Description:
data bit
BOOL
tag
bit to be tested
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
XIO
Examine If
Open
Function Block:
Structured Text:
Description:
not available
IF NOT data_bit THEN
<statement>;
END_IF;
The XIO instruction examines the data bit to see if it is
cleared.
Operand:
Type:
Format:
Description:
data bit
BOOL
tag
bit to be tested
Arithmetic Status Flags:
Major Faults:
not affected
none
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Instruction:
Relay Ladder:
Function Block:
XOR
Bitwise
Exclusive OR
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source A
SINT
INT
Source B
Structured Text:
Description:
dest := sourceA XOR sourceB
The XOR instruction performs a bitwise XOR operation
using the bits in Source A and Source B and places the
result in the Destination.
Format:
Description:
DINT
immediate
tag
value to XOR with Source B
SINT
INT
DINT
immediate
tag
value to XOR with Source A
Destination
SINT
INT
DINT
tag
tag to store the result
Operand:
Type:
Format:
Description:
XOR tag
FBD_LOGICAL
structure
XOR structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
none
Parameter:
Type:
Description:
SourceA
DINT
value to XOR with Source B
SourceB
DINT
value to XOR with Source A
Dest
DINT
result of the instruction
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Instruction:
Relay Ladder:
Function Block:
XPY
X to the
Power of Y
Relay Ladder and
Structured Text
Function Block
Operand:
Type:
Source X
SINT
INT
Source Y
Structured Text:
Description:
dest := sourceX ** sourceY;
The XPY instruction takes Source A (X) to the power of
Source B (Y) and stores the result in the Destination.
Format:
Description:
DINT
REAL
immediate
tag
base value
SINT
INT
DINT
REAL
immediate
tag
exponent
Destination
SINT
INT
DINT
REAL
tag
tag to store the result
Operand:
Type:
Format:
Description:
XPY tag
FBD_MATH
structure
LOXPY structure (default parameters):
Arithmetic Status Flags:
Major Faults:
affected
Type 4
Publication 1756-QR107C-EN-P - June 2005
Parameter:
Type:
Description:
Source X
REAL
immediate
tag
base value
Source Y
REAL
immediate
tag
exponent
Dest
REAL
tag
tag to store the result
Code 4
Source X is negative and Source Y is not an integer value
Rockwell Automation Support
Rockwell Automation provides technical information on the web to assist you in using our products. At
http://support.rockwellautomation.com, you can find technical manuals, a knowledge base of FAQs, technical and application notes,
sample code and links to software service packs, and a MySupport feature that you can customize to make the best use of these tools.
For an additional level of technical phone support for installation, configuration and troubleshooting, we offer TechConnect Support
programs. For more information, contact your local distributor or Rockwell Automation representative, or visit
http://support.rockwellautomation.com.
Installation Assistance
If you experience a problem with a hardware module within the first 24 hours of installation, please review the information that's contained
in this manual. You can also contact a special Customer Support number for initial help in getting your module up and running:
United States
1.440.646.3223
Monday – Friday, 8am – 5pm EST
Outside United States
Please contact your local Rockwell Automation representative for any technical support issues.
Publication 1756-QR107C-EN-P - June 2005
New Product Satisfaction Return
Rockwell tests all of our products to ensure that they are fully operational when shipped from the manufacturing facility. However, if your
product is not functioning and needs to be returned:
United States
Contact your distributor. You must provide a Customer Support case number (see phone number above to obtain one) to your distributor
in order to complete the return process.
Outside United States
Please contact your local Rockwell Automation representative for return procedure.
Publication 1756-QR107C-EN-P - June 2005
Supersedes Publication 1756-QR107B-EN-P - June 2003
PN 957955-66
Copyright © 2005 Rockwell Automation. All rights reserved. Printed in the U.S.A.

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