768 CompactLogix Controllers 1768-L43, 1768-L45 Firmware Revision 16 User Manual
Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales office or online at http://literature.rockwellautomation.com) describes some important differences between solid state equipment and hard-wired electromechanical devices.
Summary of Changes Introduction The release of this document contains new and updated information. To find new and updated information, look for change bars, as shown next to this paragraph. Updated Information The document contains these changes This table represents major topics. Make sure to look for the change bars throughout this document.
Summary of Changes 4 Notes: Publication 1768-UM001C-EN-P - November 2007
Table of Contents Important User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Summary of Changes Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Updated Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Preface Purpose of This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Who Should Use This Publication . . . . . . . . . . . .
Table of Contents Chapter 4 Manage Controller Communication Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Producing and Consuming (interlock) Data . . . . . . . . . . . . . . . . . . . . . 46 Sending and Receiving Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Determining Whether to Cache Message Connections . . . . . .
Table of Contents 7 Monitoring Controller Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Monitoring Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Determining if Communication has Timed Out with Any Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Determining if Communication has Timed Out with a Specific I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Appendix A 1768 CompactLogix Controller Specifications Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Appendix B Status Indicators Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 CompactLogix Controller Status Indicators . . . . . . . . . . . . . . . . . . . . 117 CompactFlash Card Status Indicator . . . . . . . . . . . . . . . . . . . . . .
Preface Purpose of This Manual This manual describes the necessary tasks to install, configure, program, and operate a CompactLogix system. Who Should Use This Publication This manual is for automation engineers and control system developers who design, program, and commission 1768 CompactLogix control systems. Additional Resources These documents address Logix5000 controllers.
Preface 10 Notes: Publication 1768-UM001C-EN-P - November 2007
Chapter 1 1768 CompactLogix Overview This chapter explains the design and installation requirements of the 1768 CompactLogix controllers. Introduction About the 1768 CompactLogix Controllers Topic Page About the 1768 CompactLogix Controllers 11 Designing a System 13 Additional Resources 13 The CompactLogix system is designed to provide a Logix solution for machine-level control applications with I/O, motion, and network requirements.
1768 CompactLogix Overview Example - Standalone CompactLogix Controller with I/O and DeviceNet Communication 1768 Backplane – 1768 Controller Plus Two 1768 Modules 1769 Backplane – 1769-SDN Scanner for the DeviceNet Network – As many as eight 1769 I/O modules Complex CompactLogix System Computers or Other Controllers EtherNet/IP Network via 1768-ENBT Communication Other Module or ControlNet network Networks via 1768-CNB or 1768-CNBR Communication Modules 1768 backplane contains the 1768-L43 and as ma
1768 CompactLogix Overview Designing a System 13 When designing a CompactLogix system, determine the network configuration and the placement of components in each location. You need to: • select I/O devices for your DIN-rail or panel-mounted system. • establish motion control and drives requirements. • select communication modules with a built-in RS-232 serial port (DF1 or ASCII). • select controllers. • select power supplies. • mount the system. • select ViewAnyWare products.
1768 CompactLogix Overview Notes: Publication 1768-UM001C-EN-P - November 2007
Chapter 2 Directly Connect to a Controller Via the Serial Port Introduction This chapter explains how to establish a serial connection to a controller via the serial port so you can configure a controller and upload and download a project to it.
Directly Connect to a Controller Via the Serial Port Connect a Controller Via the Serial Port Channel 0 on a CompactLogix controller is fully isolated and does not need a separate isolation device. To connect a serial cable, perform this procedure. 1. Obtain a serial cable. If you Make your own cable Then a. Limit the length to 15.2 m (50 ft). b. Wire the connectors.
Directly Connect to a Controller Via the Serial Port Configure the Serial Driver 17 Use RSLinx software to configure the RS-232 DF1 device driver for serial communication. To configure the driver, perform this procedure. 1. In RSLinx software, from the Communications menu, choose Configure Drivers. The Configure Drivers dialog appears. 2. From the Available Driver Types pull-down menu, choose RS-232 DF1 devices. 3. Click Add New to add the driver. The Add New RSLinx Driver dialog appears. 4.
Directly Connect to a Controller Via the Serial Port The Configure RS-232 DF1 Devices dialog appears. 5. From the Comm Port pull-down menu, choose the serial port on the workstation to which the cable is connected. 6. From the Device pull-down menu, choose Logix 5550/CompactLogix. 7. Click Auto-Configure. 8. Verify that the auto configuration was successful. If Then Yes Click OK. No Return to step 5 and verify that you selected the correct communication port. 9.
Directly Connect to a Controller Via the Serial Port 19 Select the Controller Path IMPORTANT Remember to update your controller’s firmware prior to establishing communication and downloading a program. To select the controller path, perform this procedure. 1. In RSLogix 5000 programming software, open a project for the controller. 2. From the Communications menu, choose Who Active. 3. Expand the communication driver to the level of the controller. 4. Select the controller.
Directly Connect to a Controller Via the Serial Port Set the IP Address via a Serial Port To set the IP address via a serial port, perform this procedure. 1. Make sure the module is installed, started, and connected to the controller via a serial connection. 2. In the Controller Organizer of RSLogix 5000 programming software, right-click the module and choose Properties. The Module Properties dialog appears. 3. Click the Port Configuration tab. 4. In the IP Address box, type the IP address. 5.
Chapter 3 Communicate over Networks Introduction Network Support This chapter explains how CompactLogix controllers support multiple networks.
Communicate over Networks EtherNet/IP Network Communication The EtherNet/IP network offers a full suite of control, configuration, and data collection services by layering the Common Industrial Protocol (CIP) over the standard Internet protocols, such as TCP/IP and UDP. With this combination of well-accepted standards, the EtherNet/IP network supports information data exchange and control applications.
Communicate over Networks 23 Set the IP Address Using the BOOTP/DHCP Utility To set the IP address using the BOOTP/DHCP utility, perform this procedure. 1. From the Tools menu of RSLogix 5000 programming software, choose BootP-DHCP Server. The Network Settings dialog appears. 2. Enter at least one subnet mask setting and click OK. The BOOTP/DHCP Server dialog appears. You will see BOOTP requests fill the upper portion of the dialog.
Communicate over Networks 3. Select one of the requests and click Add to Relation List. The New Entry dialog appears, showing the Ethernet address (MAC). 4. In the IP Address box, type the IP address and click OK. 1768-ENBT EtherNet/IP Communication Module The 1768-ENBT EtherNet/IP communication module: • supports messaging, produced/consumed tags, HMI, and distributed I/O. • encapsulates messages within standard TCP/UDP/IP protocol.
Communicate over Networks 25 CompactLogix EtherNet/IP Network Overview 1768-L43 or 1768-L45 CompactLogix Controller with 1768-ENBT Module Computer with Standard Ethernet Port ControlLogix Controller Ethernet Industrial Switch PowerFlex 70 Drive with 20-COMM-E Ethernet Adapter Distributed 1734 POINT I/O with 1734-AENT Ethernet Adapter PowerFlex 40 Drive with 22-COMM-E Ethernet Adapter PanelView Plus Terminal with Built-in EtherNet/IP Port Publication 1768-UM001C-EN-P - November 2007
Communicate over Networks 1768-EWEB Web Server Module The 1768-EWEB EtherNet/IP web server module supports: • • • • • the bridging and routing of messages, but no I/O control. data access (read and write) to controllers via a standard web browser. custom web pages. email. raw, open-socket interface. In this example: • you can route messages, upload/download programs, and flash upgrade modules by using the web server module as part of the communication path to access the target device.
Communicate over Networks 27 Connections Over an EtherNet/IP Network Each 1768-ENBT or 1768-EWEB module in an EtherNet/IP network can provide messaging support for 64 CIP connections and 32 TCP/IP connections. For more information, see the EtherNet/IP Modules in Logix5000 Control Systems User Manual, publication ENET-UM001.
Communicate over Networks 1768-CNB and 1768-CNBR ControlNet Modules CompactLogix ControlNet communication modules bridge ControlNet links to route messages to devices on other networks. The modules also monitor and control I/O modules located remotely from CompactLogix controllers. The 1768-CNB and 1768-CNBR ControlNet modules: • • • • • provide messaging data for configuration and programming. support operator interfaces and uploading and downloading. support I/O bridging.
Communicate over Networks 29 CompactLogix ControlNet Network Overview ControlLogix Controller 1768-L43 or 1768-L45 CompactLogix Controller with 1768-CNB or 1768-CNBR Module ControlNet Network with Taps Workstation with 1784-PCIC or 1784-PCICS ControlNet Communication Cards A B PowerFlex 70 Drive with 20-COMM-C ControlNet Adapter Distributed 1734 POINT I/O Modules with 1734-ACNR ControlNet Adapter PowerFlex 40 Drive with 22-COMM-C ControlNet Adapter PanelView Plus Terminal with ControlNet Communica
Communicate over Networks The DeviceNet network uses the Common Industrial Protocol (CIP) to provide the control, configuration, and data collection capabilities for industrial devices. The DeviceNet network uses the proven Controller Area Network (CAN) technology, which lowers installation costs and decreases installation time and costly downtime.
Communicate over Networks Catalog Number Adapter 1732 ArmorBlock I/O ArmorBlock I/O contains a built-in adapter in the base block 31 Specifications • 8 points • 8 in, 8 out, or 8 self-configuring • front or side mount • M12 or M8 I/O connector 1792 ArmorBlock MaXum I/O ArmorBlock MaXum I/O contains a built-in adapter in the base block • maximum value IP67 I/O • lowest overall installed cost on KwikLink • point-level diagnostics • 4...
Communicate over Networks Catalog Number Adapter 1794 FLEX I/O 1794-ADN Specifications • I/O can be removed and inserted under power (RIUP) • digital: 24/48V DC, 120/230V AC, relay contact, protected, diagnostic, isolated • analog: current/voltage selectable, temperature, isolated • specialty: counters and frequency modules • 4...
Communicate over Networks 33 The DeviceNet communication modules: • support messaging to a device, not controller to controller. • share a common application layer with ControlNet and EtherNet/IP networks. • offer diagnostics for improved data collection and fault detection. • require less wiring than traditional, hardwired systems.
Communicate over Networks Serial Network Communication The 1768 CompactLogix controllers have a built-in RS-232 serial port that you can configure. IMPORTANT Limit the length of serial (RS-232) cables to 15.2 m (50 ft). DF1 Modes for Logix5000 Controllers Mode Functions DF1 Communication between a controller and one other Point-to-Point DF1-protocol-compatible device. This is the Default System mode. Default parameters are: • Communication Rate: 19,200 bps. • Data Bits: 8. • Parity: None.
Communicate over Networks 35 Master and Slave Communication You can establish Modbus RTU Master and Slave communication via Application 129 provided in the samples directory of RSLogix 5000 programming software. Communicate with DF1 Devices You can configure a controller as a master or slave on a serial network. Use serial communication to get information to and from remote controllers (stations) when: • the system contains three or more stations.
Communicate over Networks The Controller Properties dialog appears. 2. Click the Serial Port tab. 3. From the Mode pull-down menu, choose System. 4. Specify DF1 communication settings. 5. Click the System Protocol tab. 6. From the Protocol pull-down menu, choose DF1 Point-to-Point. 7. Specify DF1 system protocol settings. 8. Click OK.
Communicate over Networks 37 Communicate with ASCII Devices When you configure the serial port for User mode, you can use it to: • read ASCII characters from a weigh scale module or bar code reader. • send and receive messages from an ASCII triggered device, such as a MessageView terminal. Connection from the Controller’s Serial Port to the ASCII Device To communicate with ASCII devices, perform this procedure. 1.
Communicate over Networks The Controller Properties dialog appears. 2. Click the Serial Port tab. 3. From the Mode pull-down menu, choose User. 4. Specify ASCII communication settings. 5. Click the User Protocol tab. 6. Specify ASCII user protocol settings. 7. Click OK.
Communicate over Networks 39 Each controller supports several ladder diagram (LD) and structured text (ST) instructions to manipulate ASCII characters. Read and Write ASCII Characters Instruction Command ABL Determine when the buffer contains termination characters. ACB Count the characters in the buffer. ACL Clear the buffer. Clear out ASCII serial port instructions that are currently executing or are in the queue. AHL Obtain the status of the serial port control lines.
Communicate over Networks Modbus Support To use Logix5000 controllers on the Modbus protocol, you will need to access two example programs in the samples directory of RSLogix 5000 programming software that emulate the Modbus protocol. These programs are entitled ModbusMaster and ModbusSlave. To execute these programs, you will need to use the CH0 serial port.
Communicate over Networks 41 CompactLogix DH-485 Network Communication Overview CompactLogix Controller Connection from CompactLogix Controller to Port 1 or Port 2 1761-NET-AIC+ Converter 1747-AIC Programmable Controller Isolated Link Coupler DH-485 Network SLC 5/03 Controller IMPORTANT A DH-485 network consists of multiple cable segments. Limit the total length of all the segments to 1219 m (4000 ft).
Communicate over Networks To communicate with DH-485 devices, perform this procedure. 1. In the Controller Organizer of RSLogix 5000 programming software, right-click your controller and select Properties. The Controller Properties dialog appears. 2. Click the Serial Port tab. a. From the Mode pull-down menu, choose System. b. From the Baud Rate pull-down menu, choose 9600 or 19200 bps.
Communicate over Networks 43 3. Click the System Protocol tab. c. From the Station Address pull-down menu, choose a station address number from 1...31, decimal. IMPORTANT The station address specifies the node address of the controller on the DH-485 network. To optimize network performance, assign station addresses in sequential order. Assign initiators, such as workstations, the lowest station address numbers to minimize the time required to initialize the network.
Communicate over Networks e. In the Token Hold Factor box, type a token hold factor value from 1...4. IMPORTANT The token hold factor is the number of transmissions (plus retries) that an address holding a token can send onto the data link each time that it receives the token. The default is 1. 4. Click OK. Additional Resources Publication 1768-UM001C-EN-P - November 2007 These documents contain additional information pertinent to communicating over networks.
Chapter 4 Manage Controller Communication Introduction Connection Overview 45 This chapter explains how to manage controller communication. Topic Page Connection Overview 45 Producing and Consuming (interlock) Data 46 Sending and Receiving Messages 47 Calculating Connection Use 48 Connections Example 49 Additional Resources 50 A Logix5000 system uses a connection to establish a communication link between two devices. There are several types of connections.
Manage Controller Communication Producing and Consuming (interlock) Data The controller supports the ability to produce (broadcast) and consume (receive) system-shared tags over EtherNet/IP and ControlNet networks. Produced and consumed tags each require connections. Produced and Consumed Tags Tag Type Description Produced A produced tag allows other controllers to consume the tag, which means that a controller can receive the tag data from another controller.
Manage Controller Communication Sending and Receiving Messages 47 Messages transfer data to other devices, such as other controllers or operator interfaces. Some messages use connections to send or receive data. These connected messages can leave the connection open (cache) or close the connection when the message is done transmitting. Each message uses one connection, regardless of how many devices are in the message path.
Manage Controller Communication Calculating Connection Use The total connection requirements for a 1768 CompactLogix system include both local and remote (distributed) connections. You do not have to tally local controller connections because the controllers support all of the connections required for the maximum number of I/O modules and 1769-SDN modules in one system.
Manage Controller Communication 49 Connections Example In this example system, the 1768-L43 or 1768-L45 CompactLogix controller: • monitor input or status data via the 1769-L35E CompactLogix controller. • sends and receives messages to and from a ControlLogix controller on an EtherNet/IP network. • produces a tag for the 1769-L35E CompactLogix controller, which the controller consumes. • is programmed via RSLogix 5000 programming software.
Manage Controller Communication Additional Resources Publication 1768-UM001C-EN-P - November 2007 These documents contain additional information pertinent to managing controller communication. Resource Description Logix5000 Controllers Common Procedures Programming Manual, publication 1756-PM001 Provides guidelines for the development of projects for Logix5000 controllers.
Chapter 5 Place 1768 and 1769 Modules Introduction This chapter explains the placement of 1768 and 1769 modules. The 1768 CompactLogix controllers combine a 1768 backplane with a 1769 backplane. This combination includes the advantages of the 1768 architecture while retaining the advantages of 1769 I/O support. 1768 Module Placement Topic Page 1768 Module Placement 51 1769 Module Placement 53 Follow these guidelines as you place modules in the 1768 backplane.
Place 1768 and 1769 Modules • The 1768 slots are numbered right to left, starting with the controller in slot 0. • The 1768 backplane requires one 1768 power supply. • The 1768-PA3 power supply is a dual input supply that operates in these ranges: • 86...265V ac • 108...132V dc The 1768-PB3 power supply is a single-input power supply whose power supply range is 16.8...31.2V dc. 1768 Power Supply Place 1768 modules in the 1768 backplane.
Place 1768 and 1769 Modules 1769 Module Placement 53 The CompactLogix controllers support the following: • 1768-L43, a maximum of 16 local 1769 I/O modules • 1768-L45, a maximum of 30 local 1769 I/O modules Follow these guidelines as you place 1769 modules to the right of the 1768 controller: • Up to eight 1769 modules can be attached to the right of the 1768 system. • The 1769 I/O modules connected directly to the 1768 controller do not need a 1769 power supply.
Place 1768 and 1769 Modules Notes: Publication 1768-UM001C-EN-P - November 2007
Chapter 6 Configure and Monitor I/O Introduction Selecting I/O Modules This chapter explains how to configure and monitor I/O. Topic Page Selecting I/O Modules 55 Configuring I/O 56 Configure Distributed I/O on an EtherNet/IP Network 59 Configuring Distributed I/O on a DeviceNet Network 60 Address I/O Data 61 Determine When Data is Updated 62 Reconfigure an I/O Module 65 Additional Resources 68 When selecting 1769 I/O modules, choose: • specialty I/O modules, when appropriate.
Configure and Monitor I/O Local I/O Performance For the best local I/O performance in a 1768 CompactLogix system: • set an individual requested packet interval (RPI) for each local 1769 I/O module. • use a faster RPI for time critical I/O without impacting overall 1769 I/O performance. I/O update times do not affect overall 1768 bus performance, such as motion performance or controller performance.
Configure and Monitor I/O 57 Configuration Options for I/O Modules Configuration Option Description Requested Packet Interval (RPI) The RPI specifies the period at which data updates over a connection. For example, an input module sends data to a controller at the RPI that you assign to the module. (applies to local 1769 I/O and distributed I/O) Change of State (COS) (only applies to distributed I/O) • Typically, you configure an RPI in milliseconds (ms).
Configure and Monitor I/O I/O Connections A Logix5000 system uses connections to transmit I/O data. Logix5000 Connection Types Connection Description Direct A direct connection is a real-time, data-transfer link between the controller and an I/O module. The controller maintains and monitors the connection between the controller and the I/O module.
Configure and Monitor I/O Configure Distributed I/O on an EtherNet/IP Network 59 To communicate with distributed I/O modules over an EtherNet/IP network, add an EtherNet/IP adapter and I/O modules to the controller’s I/O Configuration folder. Within the I/O Configuration folder, organize the modules into a hierarchy of tree/branch and parent/child.
Configure and Monitor I/O To communicate with the I/O modules over a DeviceNet network, add the DeviceNet scanner (catalog number 1769-SDN) to the I/O Configuration folder of the controller. You define a scanlist within the DeviceNet scanner to communicate data between devices and the controller.
Configure and Monitor I/O 61 I/O information is presented as a set of tags. • Each tag uses a structure of data. The structure depends on the specific features of the I/O module. • The name of the tags is based on the location of the I/O module in the system. Address I/O Data An I/O address follows this format. Location :Slot :Type .Member .SubMember .
Configure and Monitor I/O CompactLogix controllers update data asynchronously with the execution of logic. Use the flowchart to determine when a producer, such as a controller, input module, or bridge module, will send data. Determine When Data is Updated Overview - Updating Data Input or output data? Output Local or distributed? Distributed Input Local or distributed? Local Distributed Local Data is read from the module at the configured RPI.
Configure and Monitor I/O Monitor I/O Modules 63 To monitor I/O modules, you can: • use RSLogix 5000 programming software to display fault data. • program logic to monitor fault data so you can take appropriate action. Display Fault Data Fault data for certain types of module faults can be viewed through the programming software. To display fault data, perform this procedure. 1. In RSLogix 5000 programming software, right-click Controller Tags in the Controller Organizer and choose Monitor Tags.
Configure and Monitor I/O If the module faults but maintains an open connection to the controller, the controller tags database displays the fault value 16#0E01_0001. 31 31 27 23 19 27 23 11 7 3 7 03 Reserved Fault_Code_Value Reserved FaultCode 15 11 19 15 FaultInfo 0 = Connection Open 1 = Connection Closed } } Connection_Closed Fault_Bit Fault Word Bits Bit Description Fault_Bit This bit indicates that at least one bit in the fault word is set (1).
Configure and Monitor I/O 65 End-cap Detection and Module Faults If the module adjacent to the end cap faults, or any other fault that the controller interprets as bus integrity lost (such as power loss in an expansion I/O rack) occurs, communication with all of the local 1769 I/O ceases. If any of these 1769 I/O modules are configured as required, the controller faults.
Configure and Monitor I/O Reconfigure a Module via a MSG Instruction Use a MSG instruction of type Module Reconfigure to send new configuration information to an I/O module. During the reconfiguration: • input modules continue to send input data to the controller. • output modules continue to control their output devices. 1. Click in the MSG box. The Module Configuration dialog appears. a. From the Message Type pull-down menu, choose Module Reconfigure. b.
Configure and Monitor I/O 67 a. Specify the path of the module for which you sent the message instruction to the I/O configuration tree. If the module Then Has been added Click Browse to choose the path. Has not been added Type the path in the Path box. b. Click OK.
Configure and Monitor I/O Additional Resources These documents contain additional information pertinent to configuring and monitoring I/O. Resource Description Compact I/O Selection Guide, publication 1769-SG002 Details Compact I/O products for every application. Compact I/O Analog Modules User Manual, publication 1769-UM002 Explains how to design, program, and troubleshoot Compact I/O analog modules.
Chapter 7 Develop Applications Introduction Managing Tasks This chapter explains how to develop applications. Topic Page Managing Tasks 69 Developing Programs 70 Organizing Tags 74 Selecting a Programming Language 75 Monitoring Controller Status 77 Monitoring Connections 77 Select a System Overhead Percentage 80 Additional Resources 83 A Logix5000 controller lets you use multiple tasks to schedule and prioritize the execution of your programs based on specific criteria.
Develop Applications The controller operating system is a preemptive multitasking system that is IEC 1131-3 compliant. This environment provides: • tasks to configure controller execution. • programs to group data and logic. • routines to encapsulate executable code written in a single programming language.
Develop Applications 71 Defining Tasks A task provides scheduling and priority information for a set of one or more programs. You can configure tasks as continuous, periodic, or event. Types of Logix5000 Controller Tasks Task Execution Task Type Description All of the time Continuous The continuous task runs in the background. Any CPU time not allocated to other operations (such as motion, communication, and other tasks) is used to execute the programs in the continuous task.
Develop Applications Specifying Task Priorities Each task in the controller has a priority level. The operating system uses the priority level to determine which task to execute when multiple tasks are triggered. You can configure periodic tasks to execute from the lowest priority of 15 up to the highest priority of 1. Higher-priority tasks interrupt any lower-priority tasks. Periodic tasks take priority and always interrupt continuous tasks, which have the lowest priority.
Develop Applications 73 Sample Controller Projects RSLogix 5000 programming software includes sample projects that you can copy and then modify to fit your application. To obtain a list of sample projects, perform this procedure. 1. In RSlogix 5000 programming software, from the Help menu, choose Vendor Sample Projects. 2. Scroll down to select the appropriate set of sample projects.
Develop Applications With a Logix5000 controller, you use a tag (alphanumeric name) to address data (variables). In Logix5000 controllers, there is no fixed, numeric format. The tag name itself identifies the data. This naming convention lets you: • organize your data to mirror your machinery. • document your application as you develop it.
Develop Applications Selecting a Programming Language 75 The CompactLogix controller supports these programming languages, both online and offline.
Develop Applications Once defined in a project, Add-On Instructions behave similarly to the built-in instructions in Logix5000 controllers. They appear on the instruction tool bar for easy access, as do internal RSLogix 5000 software instructions. Saving Time With Add-On Instructions, you can combine your most commonly used logic into sets of reusable instructions. You save time when you create instructions for your projects and then share them with others.
Develop Applications Monitoring Controller Status 77 The CompactLogix controller uses Get System Value (GSV) and Set System Value (SSV) instructions to get and set (change) controller data. The controller stores system data in objects. There is no status file, as in the PLC-5 processor. The GSV instruction retrieves the specified information and places it in the destination. The SSV instruction sets the specified attribute with data from the source.
Develop Applications Determining if Communication has Timed Out with Any Device If communication times out with at least one device (module) in the I/O configuration of the controller, the I/O status indicator on the front of the controller flashes green.
Develop Applications 79 Determining if Communication has Timed Out with a Specific I/O Module If communication times out with a device (module) in the I/O configuration of the controller, the controller produces a fault code for the module. • The GSV instruction gets the fault code for Io_Module and stores it in the Module_Status tag. • If Module_Status is any value other than 4, the controller is not communicating with the module.
Develop Applications Select a System Overhead Percentage With RSLogix 5000 programming software, you can specify a percentage for the system overhead, or time slice. The system overhead time slice specifies the percentage of controller time, excluding the time for periodic tasks, devoted to communication and background functions. To select a system overhead percentage slice, perform this procedure. 1.
Develop Applications 81 c. From the System Overhead Time Slice pull-down menu, choose the percentage of time your controller spends running its system task, relative to running its user tasks. IMPORTANT System overhead tasks include: • communication with programming and HMI devices (such as RSLogix 5000 programming software). • responding to messages. • transmission of messages. 3. Click OK. The controller performs system overhead functions for up to 1 ms at a time.
Develop Applications At a time slice of 10%, system overhead interrupts the continuous task every 9 ms (of continuous task time). Legend: Task executes. Task is interrupted (suspended). Periodic 1 ms 1 ms System Overhead 9 ms 9 ms Continuous Task 0 5 10 15 20 25 Elapsed Time (ms) The interruption of a periodic task increases the elapsed time (clock time) between the execution of system overhead functions.
Develop Applications 83 If you increase the time slice to 50%, the system overhead interrupts the continuous task every millisecond. 1 ms System Overhead 1 ms Continuous Task 5 10 15 20 25 Elapsed Time (ms) If the controller only contains periodic tasks, the system overhead time slice value has no effect. System overhead runs whenever a periodic task is not running.
Develop Applications Notes: Publication 1768-UM001C-EN-P - November 2007
Chapter 8 Develop Motion Applications Introduction Motion Performance This chapter explains how to develop motion control applications.
Develop Motion Applications Make the Controller the Master Clock You must make one module in the chassis the master clock for motion control. This module is called the coordinated system time (CST) master. The motion modules set their clocks to the CST master. In most cases, make the controller the CST master. To make the controller the master clock for a motion control application, perform this procedure. 1.
Develop Motion Applications 87 Add the Motion Modules IMPORTANT For your motion modules, use the firmware revision that matches the firmware revision of your controller. See the release notes for your controller’s firmware revision. To add motion modules, perform this procedure. 1. In the I/O configuration tree in RSLogix 5000 programming software, right-click your module and choose New Module. The Select Module dialog appears. 2. Double-click Motion. 3. Select the 1768-M04SE interface module. 4.
Develop Motion Applications The New Module dialog appears. 5. In the Name box, type the module name. 6. In the Slot box, type the slot the new module will occupy. 7. Leave Open Module Properties unchecked. 8. Click OK. Add SERCOS Interface Modules With the addition of SERCOS interface modules to a controller’s I/O configuration, you can use RSLogix 5000 programming software to set up the modules. To add SERCOS interface modules, perform this procedure. 1.
Develop Motion Applications 89 The Select Module dialog appears. 2. Double-click By Category. 3. Double-click Other. 4. Select a module. 5. Click OK. The New Module dialog appears. 6. In the Name box, type a module name. 7. In the Node box, type the node number of the drive on the SERCOS ring. 8. Leave Open Module Properties unchecked. 9. Click OK.
Develop Motion Applications Set Up Each SERCOS Interface Module To set the data rate and cycle time for each SERCOS interface module in your project, perform this procedure. 1. In the I/O configuration tree in RSLogix 5000 programming software, right-click your module and choose Properties. The Module Properties dialog appears. 2. Click the SERCOS Interface tab. 3. From the Data Rate pull-down menu, choose Auto Detect. 4. From the Cycle Time pull-down menu, choose the cycle time.
Develop Motion Applications 91 You can add a motion group to set up the motion planner. Add the Motion Group Motion Group Overview Motion Planner Part of the controller that takes care of position and velocity information for your axes. Coarse Update Period How often the motion planner runs. When the motion planner runs, it interrupts all other tasks regardless of their priority. Motion Planner Scans of your code, system overhead, and so on.
Develop Motion Applications The New Tag dialog appears. 3. In the Name box, type the tag name. 4. From the Data Type pull-down menu, choose MOTION_GROUP. 5. Click OK. The Motion Group Wizard dialog appears. 6. Click Next.
Develop Motion Applications 93 The Motion Group Wizard Attributes dialog appears. 7. In the Coarse Update Period box, type the interval at which you want to run your motion planner. 8. Click Finish.
Develop Motion Applications Add Your Axes To add an axis for each of your drives, perform this procedure. 1. Decide which data type to use. Motion Module Data Type 1768-M04SE AXIS_SERVO_DRIVE No hardware AXIS_VIRTUAL 2. In Motion Groups within RSLogix 5000 programming software, right-click My Motion Group and choose New Axis and then the type of axis you want to add. SERCOS Interface No Hardware The New Tag dialog appears. 3. In the Name box, type the name of your new axis. 4.
Develop Motion Applications Set Up Each Axis 95 To set up the axis of a SERCOS interface drive, perform this procedure. 1. In Motion Groups within RSLogix 5000 programming software, click Motion_Group, and then right-click an axis and choose Properties. The Axis Properties Dialog appears. 2. From the Module pull-down menu, choose the name that you gave to the drive for this axis. 3. Click the Units tab. 4.
Develop Motion Applications 5. Click the Drive/Motor tab. a. From the Amplifier Catalog Number pull-down menu, choose the catalog number of your drive. b. Click Change Catalog to select your motor's catalog number. IMPORTANT The default, and only, setting for Loop Configuration is Position Servo. c. In the Drive Resolution box, type the number of feedback counts. You can collect data as the motor turns: • • • d. a revolution. a millimeter. an inch.
Develop Motion Applications 97 a. From the Positioning Mode pull-down menu, choose between the axis as either rotary or linear. IMPORTANT For an axis of the data type AXIS_CONSUMED, you cannot edit this parameter because it is set in and taken from a producing axis in a Logix processor connected to a network. • Linear - provides a maximum total linear travel of 1 billion feedback counts. This mode disables the unwind feature.
Develop Motion Applications Check the Wiring of Each Drive Use these tests to check a drive’s wiring. Wiring Tests Test Function Requirement Test marker Verify that the encoder A, B, and Z channels are connected and phased properly for marker detection. You must manually move the axis for this test. Test feedback Verify the polarity of the feedback. You must manually move the axis for this test. Test command and feedback Verify the polarity of the drive.
Develop Motion Applications 99 The Axis Properties Dialog appears. 2. Click the Hookup tab. a. In the Test Increment box, specify how many revolutions you want the axis to turn during each test. b. Click Test Marker to check the channels for proper connection and phasing. c. Click Test Feedback to test the polarity of the feedback. d. Click Test Command & Feedback to test the drive’s polarity. 3. Click OK.
Develop Motion Applications Tune Each Axis You need to tune each axis. ATTENTION When you tune an axis, it moves even with the controller in Remote Program mode. In that mode, your code is not in control of the axis. Before you tune an axis, make sure no one is in its path. To tune each axis, perform this procedure. 1. In Motion Groups within RSLogix 5000 programming software, click Motion_Group, and then right-click an axis and choose Properties. The Axis Properties dialog appears.
Develop Motion Applications 101 2. Click the Tune tab. a. In the Travel Limit box, type the number of revolutions to which you want to limit your axis during its tuning. b. In the Speed box, type the number of revolutions per second to which you want to limit your axis during its tuning. c. Click Start Tuning. 3. Click OK. You can obtain axis information through any one of several methods. Obtain Axis Information To obtain axis information, take any one, or all, of these steps.
Develop Motion Applications Programming Motion Control The controller gives you a set of motion control instructions for your axes and: • uses these instructions just like the rest of the Logix5000 instructions. You can program motion control in these programming languages: – Ladder diagram (LD) – Structured text (ST) – Sequential function chart (SFC) • each motion instruction works on one or more axes. • each motion instruction needs a motion control tag.
Develop Motion Applications 103 If Jog_Pushbutton = on and the axis = on (My_Axis_X.ServoActionStatus = on) then The MAJ instruction jogs the axis forward at 8 units/second. If Jog_Pushbutton = off then The MAS instruction stops the axis at 100 units/second2 Make sure that Change Decel is Yes. Otherwise, the axis decelerates at its maximum speed. If Move_Command = on and the axis = on (My_Axis_X.ServoActionStatus = on) then The MAM instruction moves the axis.
Develop Motion Applications Additional Resources Publication 1768-UM001C-EN-P - November 2007 These documents contain information pertinent to the development of motion applications. Resource Description Motion Modules in Logix5000 Control Systems User Manual, publication LOGIX-UM002 Explains how to set up and program motion control modules in Logix5000 control systems.
Chapter 9 Configure PhaseManager Introduction This chapter explains how to configure PhaseManager. Within RSLogix 5000 programming software, PhaseManager provides a state model for your equipment. PhaseManager Overview Topic Page PhaseManager Overview 105 State Model Overview 107 Comparing PhaseManager to Other State Models 109 Minimum System Requirements 110 Equipment Phase Instructions 110 Additional Resources 110 PhaseManager lets you add equipment phases to your controller.
Configure PhaseManager PhaseManager Overview A PHASE tag gives you the status of an equipment phase. Controller Controller Tags Tasks MainTask An equipment phase directs one activity of your equipment. Add Water Phase A state model divides the activity into a series of states. Mix Phase Running State Routine How to add water Drain Phase Space Parts Phase MainProgram Equipment phase instructions control the transitions between states and handle faults.
Configure PhaseManager 107 A state model defines what your equipment does under different conditions, such as run, hold, and stop. State Model Overview PhaseManager States State Description Acting Does something or several things for a certain time or until certain conditions are met. An acting state runs once or repeatedly. Waiting Shows that certain conditions are met and the equipment is waiting for the signal to go to the next state.
Configure PhaseManager How Equipment Changes States The state model’s arrows show the states through which your equipment progresses. • Each arrow is called a transition. • A state model lets the equipment make only certain transitions. This restriction standardizes the equipment’s behavior so that other equipment using the same model will behave the same way. PhaseManager State Model = Transition Command Done — No command. Use PSC instruction instead.
Configure PhaseManager 109 Manually Change States With RSLogix 5000 programming software, you can manually change an equipment phase. To manually change a PhaseManager state, perform this procedure. Current Equipment Phase 1. Take ownership of the equipment phase. 2. Give a command. Comparing PhaseManager to Other State Models You can compare PhaseManager state models to other state models.
Configure PhaseManager Minimum System Requirements To develop PhaseManager programs, you need: • a CompactLogix controller, firmware revision 15.0 or later. • a communication path to the controller. • RSLogix 5000 software, version 15.0 or later. The major revision of the controller and software must match. To enable PhaseManager support, you need the full or professional editions of RSLogix 5000 programming software or RSLogix 5000 with PhaseManager software (9324-RLDPMENE).
Chapter 10 Maintain Nonvolatile Memory Introduction This chapter explains how to maintain nonvolatile memory. CompactLogix controllers support the 1784-CF64 CompactFlash card for nonvolatile memory. Nonvolatile memory lets you keep a copy of your project on the controller. The controller does not need power to keep this copy.
Maintain Nonvolatile Memory Preventing a Major Fault During a Load If the major and minor revisions of the project in nonvolatile memory do not match the major and minor revisions of the controller, a major fault may occur during a load. Project Load and Controller Controller Consequences Does not use a CompactFlash card Make sure that the major and minor revisions of the project in nonvolatile memory match the major and minor revisions of the controller.
Appendix A 1768 CompactLogix Controller Specifications This appendix contains the specifications for the 1768-L43 and 1768-L45 CompactLogix controllers.
1768 CompactLogix Controller Specifications 1768-L43 and 1768-L45 CompactLogix Controller General Specifications Attribute Value Backplane current at 24 V 1.3 A Backplane current output 1769 Backplane: 2.0 A @ 5.2V 1.0 A @ 24V (sourced by 1768 power supply) 1768 Backplane: 2.8 A @ 5.2V Power consumption 31.3 W Power dissipation 6.3 W 8W Power Dissipated (Watts) 6W 6.3 W 4W 2W 0W 2.9 W 5W 10 W 15 W 20 W 25 W 1768 and 1769 Bus 5.
1768 CompactLogix Controller Specifications 115 1768-L43 and 1768-L45 CompactLogix Controller Environmental Specifications Attribute Value Radiated RF immunity IEC 61000-4-3: 10V/M with 1 kHz sine-wave 80%AM from 80…2000 MHz 10V/M with 200 Hz 50% Pulse 100%AM @ 900 MHz 10V/M with 200 Hz 50% Pulse 100%AM @ 1890 MHz 1V/M with 1 kHz sine-wave 80%AM from 2000…2700 MHz EFT/B immunity IEC61000-4-4: ±4 kV @ 5 kHz on communication ports Surge transient immunity IEC 61000-4-5: ±2 kV line-earth (CM) on co
1768 CompactLogix Controller Specifications Notes: Publication 1768-UM001C-EN-P - November 2007
Appendix B Status Indicators This appendix explains how to interpret the status indicators on your CompactLogix controllers. Introduction CompactLogix Controller Status Indicators Topic Page CompactLogix Controller Status Indicators 117 RS-232 Serial Port Status Indicators 122 Faceplate Pushbutton 122 The following table describes the CompactLogix controller status indicators The table also provides controller behavior interpretations and offers you recommended actions.
Status Indicators CompactLogix Controller Status Indicators Indicator Condition Interpretation MEM SAVE Off The user program and configuration data are not actively being saved to flash memory. Green The user program and configuration data are being saved to flash memory. I/O Off • There are no devices in the I/O configuration of the controller. Recommended Actions Normal Operation - No action is required. • The controller does not contain a project (controller memory is empty).
Status Indicators 119 CompactLogix Controller Status Indicators Indicator Condition Interpretation • A nonrecoverable major fault occurred on the controller and produces either Fault Code 60 or Fault Code 61. OK • Fault Code 60 indicates that the CompactFlash card is not installed. • Fault Code 61 means that the CompactFlash card is installed. To recover from this fault, perform this procedure. Recommended Actions To recover from Fault Code 60 or 61, perform this procedure. 1. Clear the fault. 2.
Status Indicators CompactLogix Controller Status Indicators Indicator Condition Interpretation Recommended Actions PWR Steady red The power supply cannot produce valid 24V power to the 1768 modules. To supply 24V power, perform this procedure. 1. Disconnect all modules from the system. 2. Reapply power. 3. Check the PWR status indicator. a. If the status indicator remains red, replace the power supply. b.
Status Indicators 121 CompactLogix Controller Status Indicators Indicator Condition Interpretation Recommended Actions I/O PWR Off Either the controller or the power supply is not operating properly. To recover from this fault, perform this procedure. 1. Make sure all modules in the system are installed properly and fully engaged with each other. a. If the controller PWR status indicator remains off, proceed to the next step. 2. Disconnect any 1768 communication or motion modules from the system.
Status Indicators CompactFlash Card Status Indicator ATTENTION Do not remove the CompactFlash card while the controller is reading from or writing to the card, as indicated by a flashing green CF status. This could corrupt the data on the card or in the controller, as well as corrupt the latest firmware in the controller. CompactFlash Status Indicators Indicator Condition Interpretation CF Off No activity. Flashing green The controller is reading from or writing to the CompactFlash card.
Index Symbols 69 Numerics 1768 CompactLogix controllers overview 11 1768 module placement 51 1768 power supply 52 1768-CNB and 1768-CNBR ControlNet modules 28 1768-ENBT EtherNet/IP communication module 22 1768-EWEB Web server module 26 1768-L43 CompactLogix controller 1769 I/O module placement and support 53 environmental specifications 113 general specifications 113 overview 11 status indicators 117 1768-L45 CompactLogix controller 1769 I/O module placement and support 53 overview 11 status indicators 117
Index develop programs 70 DeviceNet communication 33 DeviceNet network 30 DH-485 network communication 41 display fault data 63 EtherNet/IP network 22 EtherNet/IP Web network 26 I/O connections 58 local I/O performance 56 message types 47 monitor I/O modules 63 place 1768 and 1769 modules 51 produce and consume data 46 programming languages 75 reconfigure I/O module 65 select I/O modules 55 serial network 34 serial network DF1 modes 34 system design 13 complex CompactLogix system 12 configure distribu
Index E electronic keying 57 end cap detect 65 equipment phase 105 EtherNet/IP network communication 22 configure distributed I/O 59 connections 27, 29 example configuration 24, 28 interfaces 22 module capability 24 example configuration DH-485 network 40 EtherNet/IP network 24, 28 serial network with ASCII devices 37 F faceplate pushbutton 122 fault data display 63 fault word bits 64 FBD 75 function block diagram 75 G go online 15 I I/O address components 61 address data 61 configuration 56 configure a
Index O obtain axis information 101 organize tags 74 P performance motion 85 PHASE tag 105 PhaseManager 105 change states 109 compare to other state models 109 configure 105 equipment phase instructions 110 minimum system requirements 110 state model comparisions 109 state models 107 state transitions 107 states 107 transition commands 108 place 1768 module 51 1769 module 53 prevent major fault during a load 112 produce and consume data 46 produce data connection use 46 overview 21 produced tags 46 p
Index T tag organization 74 tag types 46 tags organize 74 task execution 71 tasks define 71 manage 69 127 tune axes 100 U update 62 data 62 Publication 1768-UM001C-EN-P - November 2007
Index Publication 1768-UM001C-EN-P - November 2007
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