User Manual 1769 CompactLogix Controllers User Manual Catalog Numbers 1769-L31, 1769-L32C, 1769-L32E, 1769-L35CR, 1769-L35E
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://www.rockwellautomation.com/literature/) describes some important differences between solid-state equipment and hard-wired electromechanical devices.
Summary of Changes This manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph. New and Updated Information This table contains the changes made to this revision.
Summary of Changes Notes: 4 Rockwell Automation Publication 1769-UM011I-EN-P - February 2013
Table of Contents Preface Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 1 1769 CompactLogix Controllers Overview About the 1769 CompactLogix Controller . . . . . . . . . . . . . . . . . . . . . . . . . 11 Design a CompactLogix System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Chapter 2 Install the 1769-L3x Controllers Verify Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Chapter 4 Communicate over Networks EtherNet/IP Network Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connections over an EtherNet/IP Network . . . . . . . . . . . . . . . . . . . . ControlNet Network Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connections over ControlNet Network . . . . . . . . . . . . . . . . . . . . . . . . DeviceNet Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Chapter 7 Develop Applications Manage Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Develop Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 Define Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Define Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Appendix A Status Indicators 1769-L3xx Controllers Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . CompactFlash Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RS-232 Serial Port Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ControlNet Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Module Status (MS) Indicator . . . . . . . . . . . . . . . .
Preface Use this manual to become familiar with the CompactLogix™ controller and its features. This manual describes the necessary tasks to install, configure, program, and operate a CompactLogix system. In some cases, this manual includes references to additional documentation that provides the more comprehensive details. Additional Resources These documents contain additional information concerning related products from Rockwell Automation.
Preface Notes: 10 Rockwell Automation Publication 1769-UM011I-EN-P - February 2013
Chapter 1 1769 CompactLogix Controllers Overview This chapter introduces the 1769 CompactLogix controllers. These controllers offer state-of-the-art control, communication, and I/O elements in a distributed control package. About the 1769 CompactLogix Controller The 1769 CompactLogix controller offers state-of-the-art control, communication, and I/O elements in a distributed control package.
Chapter 1 1769 CompactLogix Controllers Overview For a more flexible system, use: • multiple controllers in a single chassis. • multiple controllers joined across networks. • I/O in multiple platforms that is distributed in many locations and connected over multiple I/O links.
1769 CompactLogix Controllers Overview Chapter 1 Table 1 - CompactLogix Controller Combinations Controller Available Memory Communication Options Number of Tasks Supported Number of Local I/O Modules Supported 1769-L35CR 1.
Chapter 1 1769 CompactLogix Controllers Overview Notes: 14 Rockwell Automation Publication 1769-UM011I-EN-P - February 2013
Chapter 2 Install the 1769-L3x Controllers Topic Page Verify Compatibility 18 Before You Begin 19 Set the Node Address (ControlNet only) 19 Connect the 1769-BA Battery 20 Install a CompactFlash Card (optional) 21 Assemble the System 22 Mount the System 23 Make RS-232 Connections to the Controller 26 Make Ethernet Connections to the Controller 28 Make ControlNet Connections to the Controller 32 Install the Appropriate EDS Files 36 Load the Controller Firmware 36 Select the Contro
Chapter 2 Install the 1769-L3x Controllers WARNING: This equipment is intended for use in a Pollution Degree 2 industrial environment, in overvoltage Category II applications (as defined in IEC publication 60664-1), at altitudes up to 2000 meters (6562 ft) without derating. This equipment is considered Group 1, Class A industrial equipment according to IEC/CISPR Publication 11.
Install the 1769-L3x Controllers Chapter 2 Table 2 - North American Hazardous Location Approval The following information applies when operating this equipment in hazardous locations. Products marked "CL I, DIV 2, GP A, B, C, D" are suitable for use in Class I Division 2 Groups A, B, C, D, Hazardous Locations and nonhazardous locations only. Each product is supplied with markings on the rating nameplate indicating the hazardous location temperature code.
Chapter 2 Install the 1769-L3x Controllers WARNING: • This equipment must be installed in an enclosure providing at least IP54 protection when applied in Zone 2 environments. • This equipment shall be used within its specified ratings defined by Allen-Bradley. • Provisions shall be made to prevent the rated voltage from being exceeded by transient disturbances of more than 40% when applied in Zone 2 environments.
Install the 1769-L3x Controllers Before You Begin Chapter 2 Consider the following when planning your CompactLogix system: • The CompactLogix controller is always the leftmost module in the system. • The controller must be within four modules of the system power supply. Some I/O modules may be up to eight modules away from the power supply. See the documentation for your 1769 I/O modules for details.
Chapter 2 Install the 1769-L3x Controllers Node address switches are set to the 99 position at shipment, as shown in the figure. 43868 Use these steps to set the node address. 1. Slide the side cover forward. 43860 6 7 01 2 34 5 2. Use a small screwdriver to set the node address via the controller switches. 6 7 01 2 5 8 9 34 89 31504-M 3. Write the node address on the front panel overlay after setting the node address switches.
Install the 1769-L3x Controllers Chapter 2 WARNING: When you connect or disconnect the battery, an electrical arc can occur. This could cause an explosion in hazardous location installations. Be sure that power is removed or the area is nonhazardous before proceeding. For safety information on the handling of lithium batteries, including handling and disposal of leaking batteries, see Guidelines for Handling Lithium Batteries Technical Data, publication AG-5.4NOV04. 1.
Chapter 2 Install the 1769-L3x Controllers The optional industrial CompactFlash card provides nonvolatile memory for a CompactLogix controller. The card is not required for controller operation. WARNING: When you insert or remove the CompactFlash card while power is on, an electrical arc can occur. This could cause an explosion in hazardous location installations. Be sure that power is removed or the area is nonhazardous before proceeding.
Install the 1769-L3x Controllers Chapter 2 3. Use the upper and lower tongue-and-groove slots (B) to secure the modules together. 4. Move the module back along the tongue-and-groove slots until the bus connectors line up with each other. 5. Use your fingers or a small screwdriver to push the module’s bus lever back slightly to clear the positioning tab (C). 6. Move the module’s bus lever fully to the left (D) until it clicks, being sure it is locked firmly in place.
Chapter 2 Install the 1769-L3x Controllers Dimensions 15 (.58) 67.5 (2.68) 52.5 (2.06) 70 (2.76) 35 (1.38) 132 (5.20) 118 (4.65) 52.5 (2.06) 35 (1.38) All dimensions are in mm (in.). IMPORTANT 35 (1.38) 35 (1.38) 35 (1.38) 44734 Compact I/O expansion cables have the same dimensions as the end caps. Expansion cables can be used on either the right or left end. A 1769-ECR right-end cap or 1769-ECL left-end cap terminates the end of the communication bus.
Install the 1769-L3x Controllers Chapter 2 Mount the Panel Mount the controller to a panel by using two screws per module. Use M4 or #8 panhead screws. Mounting screws are required on every module. This procedure lets you use the assembled modules as a template for drilling holes in the panel. IMPORTANT Due to module-mounting hole tolerance, it is important to follow these procedures. 1. On a clean work surface, assemble no more than three modules. 2.
Chapter 2 Install the 1769-L3x Controllers Make RS-232 Connections to the Controller Connect the 9-pin female end of the serial cable to the serial port of the controller. 44735 WARNING: If you connect or disconnect the serial cable with power applied to this module or the serial device on the other end of the cable, an electrical arc can occur. This could cause an explosion in hazardous location installations. Be sure that power is removed or the area is nonhazardous before proceeding.
Install the 1769-L3x Controllers Chapter 2 Optical Isolator (1769-L31 only) Channel 0 is fully isolated and does not need a separate isolation device. Channel 1 is nonisolated. If you connect channel 1 to a device outside of the system’s enclosure, consider installing an isolator (such as the 1761-NET-AIC interface converter) between the controller and device.
Chapter 2 Install the 1769-L3x Controllers Parameter Default Control Lines No Handshaking Error Detection BCC Embedded Responses Auto Detect Duplicate Packet (Message) Detect Enabled ACK Timeout 50 (x 20 ms) NAK Receive Limit 3 Retries ENQ Transmit Limit 3 Retries Data Bits 8 Stop Bits 1 TIP Only Channel 0 has a default communication push button.
Install the 1769-L3x Controllers Chapter 2 Connect the RJ-45 connector of the Ethernet cable to the Ethernet port (top port) on the controller. ATTENTION: Do not plug a DH-485 network cable or a NAP cable into the Ethernet port. Undesirable behavior or damage to the port may result.
Chapter 2 Install the 1769-L3x Controllers 4. Click OK. In the BOOTP Request History dialog box, you see the hardware addresses of devices issuing BOOTP requests. 5. Double-click the hardware address of the device you want to configure. TIP The hardware address is on the sticker on the left-side circuit board of the controller next to the battery. The hardware address will be in this format: 00-0b-db-14-55-35. The New Entry dialog box displays the device’s Ethernet Address (MAC). 6.
Install the 1769-L3x Controllers Chapter 2 Use RSLinx Software to Set the IP Address 1. You can use RSLinx software, version 2.41 or later, to set the IP address. 2. Make sure the controller that uses the IP address is installed and running. 3. Connect to the controller via the serial connection (see page 26). 4. Start RSLinx software. The RSWho dialog box opens. 5. Navigate to the Ethernet network via the serial network. 6.
Chapter 2 Install the 1769-L3x Controllers Use RSLogix 5000 Software to Set the IP Address You can use RSLogix software to set the IP address. 1. Make sure the controller that uses the IP address is installed and running. 2. Connect to the controller via the serial connection (see page 26). 3. Start RSLogix 5000 software. 4. In the Controller Organizer, select properties for the Ethernet port. 5. Choose the Port Configuration tab. 6. Specify the IP address. 7. Click Apply. 8. Click OK.
Install the 1769-L3x Controllers Chapter 2 The figure shows an example ControlNet network using redundant media.
Chapter 2 Install the 1769-L3x Controllers 1. Remove and save the dust caps from the ControlNet taps. 2 1 3 Item Description 1 Segment 1 2 Segment 2 3 Dust caps 2. Connect the tap’s straight or right-angle connector to the module’s BNC connector as shown in the figure.
Install the 1769-L3x Controllers Chapter 2 Connect a Programming Terminal to the Network via a 1786-CP Cable You can use the CompactLogix controller’s network access port (NAP) to connect a programming terminal to the ControlNet network. The figure shows the 1786-CP cable connections.
Chapter 2 Install the 1769-L3x Controllers If you have RSLinx software, version 2.42 or later, the most current EDS files were installed with the software. If you are using an earlier version of RSLinx software, you might need to install EDS files. Install the Appropriate EDS Files You need EDS files for these devices: • 1769-L32E and 1769-L35E controllers • 1769 CompactBus • 1769 local adapter All of these EDS files, except for the 1769 CompactBus file, are updated for each firmware revision.
Install the 1769-L3x Controllers Chapter 2 Use the ControlFLASH Utility to Load Firmware You can use the ControlFLASH utility to load firmware through a serial connection. 1. Make sure the appropriate network connection is made before starting. 2. Start the ControlFLASH utility. 3. When the Welcome dialog box appears, click Next. 4. Choose the catalog number of the controller and click Next. 5. Expand the network until you see the controller. 6.
Chapter 2 Install the 1769-L3x Controllers 4. Select your controller and click Download. You may also choose to click Update Firmware to complete this process. If you do so, skip to step 8. A dialog box displays indicating that the project revision and controller firmware revision are different. 5. Click Update Firmware. 6. Use the checkbox and pull-down menu to select your controller and firmware revision. 7. Click Update. 8. Click Yes. The firmware upgrade begins.
Install the 1769-L3x Controllers Select the Controller’s Operating Mode Chapter 2 Use the keyswitch on the front panel of the controller to determine the controller’s operating mode. Keyswitch Position Description Run • Upload projects. • Run the program and enable outputs. • You cannot create or delete tasks, programs, or routines. You cannot create or delete tags or edit online while the keyswitch is in the Run position.
Chapter 2 Install the 1769-L3x Controllers Notes: 40 Rockwell Automation Publication 1769-UM011I-EN-P - February 2013
Chapter 3 Connect to the Controller via the Serial Port This chapter describes how to connect to the controller via the serial port so that you can configure the controller and upload or download a project to the controller. Topic Page Connect to the Controller via the Serial Port 41 Configure the Serial Driver 43 Select the Controller Path 45 For the CompactLogix controller to operate on a serial network, you need: • a workstation with a serial port.
Chapter 3 Connect to the Controller via the Serial Port To connect a serial cable, perform this procedure. 1. Obtain a 1747-CP3 or 1756-CP3 serial cable. TIP If you make your own serial cable, complete this procedure. • Limit the length to 15.2 m (50 ft). • Wire the connectors. Workstation Controller 1 CD 1 CD 2 RDX 2 RDX 3 TXD 3 TXD 4 DTR 4 DTR COMMON COMMON 6 DSR 6 DSR 7 RTS 7 RTS 8 CTS 8 CTS 9 9 2. Connect the cable to your controller and workstation.
Connect to the Controller via the Serial Port Configure the Serial Driver Chapter 3 Use RSLinx software to configure the RS-232 DF1 Device driver for serial communication. To configure the driver, perform this procedure. 1. From the communication pull-down menu, choose Configure Drivers. The Configure Drivers dialog box appears. 2. From the Available Driver Types pull-down menu, choose the RS-232 DF1 Device driver. 3. Click Add New to add the driver. The Add New RSLinx Driver dialog box appears. 4.
Chapter 3 Connect to the Controller via the Serial Port The Configure RS-232 DF1 Devices dialog box appears. 5. Specify the serial port settings. a. From the Comm Port pull-down menu, choose the serial port on the workstation to which the cable is connected. b. From the Device pull-down menu, choose Logix 5550-Serial Port. c. Click Auto-Configure. 6. Verify that the Auto-Configuration was successful. If Then Yes Click OK. No Go to step 5 and verify that you selected the correct communication port.
Connect to the Controller via the Serial Port Select the Controller Path Chapter 3 To select the controller path, perform this procedure. 1. In RSLogix 5000 programming software, open a project for the controller. 2. From the Communications pull-down menu, choose Who Active. The Who Active dialog box appears. 3. Expand the communication driver to the level of the controller. 4. Select the controller.
Chapter 3 Connect to the Controller via the Serial Port Controller Options Once you have selected a controller, you have several options.
Chapter 4 Communicate over Networks This chapter explains how CompactLogix controllers support additional networks to enable various functions. Table 4 - CompactLogix Controller Network Support Function Example Control distributed (remote) I/O. • EtherNet/IP • ControlNet • DeviceNet CompactLogix Controller DeviceNet Network Distributed (remote) I/O Platform Produce/consume (interlock) data between controllers.
Chapter 4 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. This combination of well-accepted standards provides the capability required to both support information data exchange and control applications.
Communicate over Networks Chapter 4 Figure 4 - CompactLogix EtherNet/IP Overview Workstation Distributed I/O Modules 1756-EN2T ControlLogix EtherNet/IP Communication Module with ControlLogix I/O Modules CompactLogix Controller with Integrated EtherNet/IP Port Switch PowerFlex 755 Drive 8 7 6 5 4 3 2 1 1738-AENT ArmorPoint EtherNet/IP Adapter with ArmorPoint I/O Modules CompactLogix Controller with Integrated EtherNet/IP Port 1734-AENT POINT I/O Adapter with POINT I/O Modules PanelView Plus Terminal
Chapter 4 Communicate over Networks The 1769-L32E and 1769-L35E controllers support 100 connections. However, the built-in EtherNet/IP port supports only 32 CIP connections over an EtherNet/IP network. With these controllers, the number of end-node connections they effectively support depends on a connection’s RPI.
Communicate over Networks Chapter 4 You can use these software products with a 1769 CompactLogix controller on a ControlNet network.
Chapter 4 Communicate over Networks Figure 5 - CompactLogix ControlNet Overview Personal Computer/Workstation Distributed I/O CompactLogix Controller PowerFlex 700S Drive 1756-CNB Module (as an adapter) with 1756 I/O Modules ControlNet Network FlexLogix Controller with 1788-CNC Card PanelView™ Terminal 1794-ACN15 Adapter with 1794 I/O Modules 1734-ACNR Adapter with 1734 I/O Modules PLC-5®/40C15 Controller Connections over ControlNet Network You indirectly determine the number of connections the con
Communicate over Networks Chapter 4 The 1769-L32C and 1769-L35CR controllers support 100 connections. However, the built-in ControlNet port only supports 32 communication connections. With these controllers, the number of end-node connections they effectively support depends on the connection’s NUT and RPI.
Chapter 4 Communicate over Networks Figure 6 - CompactLogix DeviceNet Overview CompactLogix Controller with 1769-SDN PLC-5 Controller with 1771-SDN Scanner Module ControlLogix® Controller with 1756-DNB Module DeviceNet Network Sensor CompactLogix System with 1769-ADN PanelView Terminal Pushbutton Cluster Motor Starter Laptop Ultra™ 5000 Servo Drive Input/Output Devices PowerFlex AC Drive Bar Code Scanner Indicator Lights You can use these software products with a 1769 CompactLogix controller
Communicate over Networks Chapter 4 You can use a linking device as a: • gateway to connect information. • control-level network to device-level network for programming, configuration, control or data collection. • router/bridge to connect the EtherNet/IP or ControlNet network to the DeviceNet network.
Chapter 4 Communicate over Networks Table 10 - CompactLogix Serial Port Configuration Mode Functions DF1 Point-to-Point Communicate between the controller and one other DF1-protocol-compatible device. This is the default system mode. Default parameters are: • Baud Rate: 19,200 • Data Bits: 8 • Parity: None • Stop Bits: 1 • Control Line: No Handshake • RTS send Delay: 0 • RTS Off Delay: 0 This mode is typically used to program the controller through its serial port.
Communicate over Networks Chapter 4 Configure an Isolator Channel 0 on the CompactLogix controllers is fully isolated and does not need a separate isolation device. Channel 1 on the 1769-L31 controller is not an isolated serial port. To configure an isolator, perform this procedure. 1. Determine whether you need an isolator. If you connect channel 1 of the 1769-L31 controller to a modem or an ASCII device, consider installing an isolator between the controller and modem or ASCII device.
Chapter 4 Communicate over Networks 2. Select the appropriate cable. Are you using an isolator? Then use this cable No The 1756-CP3 cable attaches the controller directly to the controller. 1 CD 1 CD 2 RDX 2 RDX 3 TXD 3 TXD 4 DTR 4 DTR COMMON COMMON 6 DSR 6 DSR 7 RTS 7 RTS 8 CTS 8 CTS 9 9 If you make your own cable, it must be shielded, and the shields must be tied to the metal shell (that surrounds the pins) on both ends of the cable.
Communicate over Networks Chapter 4 Communicate with DF1 Devices You can configure the controller as a master or slave on a serial communication network. Use serial communication when: • the system contains three or more stations. • communication occur regularly and require leased-line, radio, or power-line modem. ATTENTION: Only the 1769-L31 controller has more than one RS-232 port. All other 1769 controllers are limited to one RS-232 port. .
Chapter 4 Communicate over Networks The Controller Properties dialog box appears. 2. Click the Serial Port tab. 3. From the Mode pull-down menu, choose System. 4. Specify communication settings. 5. Click the System Protocol tab. 6. From the Protocol pull-down menu, choose a DF1 protocol. 7. Specify DF1 settings.
Communicate over Networks Chapter 4 DF1 Radio Modem Support Your ControlLogix controller includes a driver that lets it to communicate over the DF1 Radio Modem protocol. This driver implements a protocol, optimized for use with radio modem networks, that is a hybrid between DF1 full-duplex protocol and DF1 half-duplex protocol, and therefore is not compatible with either of these protocols.
Chapter 4 Communicate over Networks To configure the controller for DF1 Radio Modem communication, perform this procedure. 1. In the Controller Organizer of RSLogix 5000 programming software, right-click your controller and select Properties. The Controller Properties dialog box appears. 2. Click the System Protocol tab. 3. From the Protocol pull-down menu, choose DF1 Radio Modem.
Communicate over Networks Chapter 4 4. Specify DF1 Radio Modem system protocol settings. Setting Description Station Address Specifies the node address of the controller on the serial network. Select a number 1… 254 decimal, inclusive. To optimize network performance, assign node addresses in sequential order. Initiators, such as personal computers, should be assigned the lowest address numbers to minimize the time required to initialize the network.
Chapter 4 Communicate over Networks DF1 Radio Modem System Limitations The following questions need to be answered to determine if you can implement the new DF1 radio modem driver in your radio modem network. • If all of the devices on the network are ControlLogix controllers, you must configure them with the DF1 radio modem driver by using RSLogix 5000 programming software, version 17 or later. If not, then make sure that all of the nodes can support the DF1 radio modem protocol.
Communicate over Networks Chapter 4 Figure 8 - ASCII Device Serial Communication Connection from the Controller’s Serial Port to the ASCII Device To configure the controller for ASCII communication, perform this procedure. 1. In RSLogix 5000 programming software, right-click your controller and select Properties. The Controller Properties dialog box appears. 2. Click the Serial Port tab. 3. From the Mode pull-down menu, choose User. 4. Specify communication settings.
Chapter 4 Communicate over Networks 5. Click the User Protocol tab. 6. From the Protocol pull-down menu, choose ASCII. 7. Specify ASCII settings. The controller supports several instructions to manipulate ASCII characters. The instructions are available in ladder diagram (LD) and structured text (ST).
Communicate over Networks Chapter 4 Convert Data to or from ASCII Characters Instruction Code Description STOD Convert the ASCII representation of an integer value to a SINT, INT, DINT, or REAL value STOR Convert the ASCII representation of a floating-point value to a REAL value DTOS Convert a SINT, INT, DINT, or REAL value to a string of ASCII characters RTOS Convert a REAL value to a string of ASCII characters UPPER Convert the letters in a string of ASCII characters to upper case LOWER Con
Chapter 4 Communicate over Networks Step 1: Set Broadcast-Controller Properties First, set the System Protocol by following these steps. 1. In the Controller Organizer, right-click on the controller and choose Properties. 2. In the Controller Properties dialog box, from the System Protocol tab, choose the settings for the controller, then choose OK.
Communicate over Networks Chapter 4 Step 2: Set Broadcast - Create Controller Scope Message Tag Next, create a Message tag by following these steps. 1. In the Controller Organizer, right-click on the Controller Tags folder and choose New Tag. The new tag must be a ‘message’ tag. 2. Name the tag and select the Data Type ‘Message’, then choose OK. The Message tag in the Controller Scope’s Controller Tags folder will look similar to the following.
Chapter 4 Communicate over Networks 5. In the Message Configuration dialog box, from the Configuration tab, select the message type from the Message Type field. Valid ‘Write’ Message Types include the following: • CIP Generic • CIP Data Table Write • PLC2 Unprotected Write • PLC3 Typed Write • PLC3 Word Range Write • PLC5 Typed Write • PLC5 Word Range Write • SLC Typed Write 6. Fill in any other fields needed.
Communicate over Networks Chapter 4 7. From the Communication tab, select the Broadcast Radio button and the Channel from the pull-down, then choose OK. ATTENTION: When using structured text programming software, broadcast over serial is set by typing MSG(aMsg) and right-clicking on aMSG to display the Message Configuration dialog box.
Chapter 4 Communicate over Networks DH-485 Network Communication For DH-485 communication, use the controller’s serial port. However, with a CompactLogix controller, we recommend that you use NetLinx networks, such as EtherNet/IP, ControlNet, or DeviceNet, because excessive traffic on a DH-485 network may make it impractical to connect to a controller with RSLogix 5000 programming software. IMPORTANT If your application uses connections to DH-485 networks, select built-in serial ports.
Communicate over Networks Chapter 4 To establish DH-485 communication, perform this procedure. 1. Connect the serial port of the controller to either port 1 or port 2 of the 1761-NET-AIC converter. 2. Use the RS-485 port to connect the converter to the DH-485 network. The cable you use to connect the controller depends on the port you use on the 1761-NET-AIC converter.
Chapter 4 Communicate over Networks 7. Click the System Protocol tab. 8. From the Protocol pull-down menu, choose DH485. 9. Specify DH-485 settings. 10. From the Protocol pull-down menu, choose DF1 Radio. Table 11 - System Protocol Specifications Characteristic Description Station Address Specifies the node address of the controller on the DH-485 network. Select a number 1…31 decimal, inclusive. To optimize network performance, assign node addresses in sequential order.
Chapter 5 Manage Controller Communication This chapter explains how to manage controller communication. Produce and Consume Data Topic Page Produce and Consume Data 75 Send and Receive Messages 76 Connections 77 Calculate Total Connections 78 Connections Example 79 The controller supports the ability to produce (broadcast) and consume (receive) system-shared tags over ControlNet or EtherNet/IP networks. Produced and consumed tags each require connections.
Chapter 5 Manage Controller Communication The number of available connections limits the total number of tags that can be produced or consumed. If the controller uses all of its connections for I/O and communication devices, no connections are left for produced and consumed tags. Send and Receive Messages Messages transfer data to other devices, such as controllers or operator interfaces. Messages use unscheduled connections to send or receive data.
Manage Controller Communication Chapter 5 Determine Whether to Cache Message Connections When you configure a MSG instruction, you can cache or not cache the connection. Table 14 - Caching Messages Message Execution Function Repeatedly Cache the connection. This keeps the connection open and optimizes execution time. Opening a connection each time the message executes increases execution time. Infrequently Do not cache the connection.
Chapter 5 Manage Controller Communication Calculate Total Connections You can calculate the total number of local and remote connections the controller uses.
Manage Controller Communication Chapter 5 In this example system the 1769-L35E CompactLogix controller: • controls local digital I/O modules in the same chassis. • controls remote I/O devices on a DeviceNet network. • sends and receives messages to/from a ControlLogix controller on an EtherNet/IP network. • produces one tag that the 1794 FlexLogix controller consumes. • is programmed via RSLogix 5000 programming software.
Chapter 5 Manage Controller Communication Notes: 80 Rockwell Automation Publication 1769-UM011I-EN-P - February 2013
Chapter 6 Place, Configure, and Monitor I/O This chapter explains how to place, configure, and monitor CompactLogix I/O modules.
Chapter 6 Place, Configure, and Monitor I/O Validate I/O Layout After you have selected your I/O modules, you need to validate the system you want to design. Before you begin to place your I/O modules, consider that the minimum backplane RPI increases as you add modules. Also, the I/O modules must be distributed so that the current consumed from the left or right side of the power supply never exceeds 2.0 A at 5V DC or 1.0 A at 24V DC.
Place, Configure, and Monitor I/O Chapter 6 Calculate System Power Consumption To validate your proposed system, calculate the total 5V DC current and 24V DC to be consumed.
Chapter 6 Place, Configure, and Monitor I/O To validate the proposed placement of I/O modules in your CompactLogix system, perform this procedure. 1. Verify that your 1769-L3x controller resides on the leftmost side of the bank. Single-Bank System 1769-L3x Controller Bank 0 Power Supply Bank 1 End Cap 2. Verify that you have placed no more than three I/O modules between your controller and power supply (bank 0).
Place, Configure, and Monitor I/O Chapter 6 In this example, the I/O modules 12…30 could be arranged in any way as long as the power supplies’ capacity was not exceeded. In other words, the first additional bank could contain fewer than 16 I/O modules This is just 1 possible arrangement.
Chapter 6 Place, Configure, and Monitor I/O Place Local I/O Modules Use the 1769-CRR1/-CRR3 or 1769-CRL1/-CRL3 expansion cable to connect banks of I/O modules. Each I/O module also has a power supply distance rating, the number of modules from the power supply. The distance rating is printed on each module’s label. Each module must be located within its distance rating.
Place, Configure, and Monitor I/O Chapter 6 To communicate with an I/O module in your system, add the module to the I/O Configuration folder of the controller. Configure I/O Figure 12 - I/O Module Configuration Add I/O modules to the CompactBus. When you add a module, you also define a specific configuration for the module.
Chapter 6 Place, Configure, and Monitor I/O I/O Connections A Logix5000 system uses connections to transmit I/O data. Table 23 - Logix5000 I/O Connections 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.
Place, Configure, and Monitor I/O Chapter 6 To communicate with distributed I/O modules over a ControlNet network: Configure Distributed I/O on a ControlNet Network • choose a 1769-L32C or 1769-L35CR CompactLogix controller with a built-in ControlNet communication port. • add a ControlNet adapter, and I/O modules to the I/O Configuration folder of the controller. Within the I/O Configuration folder, organize the modules into a hierarchy of tree/branch and parent/child.
Chapter 6 Place, Configure, and Monitor I/O To communicate with the I/O modules over a DeviceNet network, add the DeviceNet bridge to the I/O Configuration folder of the controller. RSNetWorx for DeviceNet software is used to define the scanlist within the DeviceNet scanner to communicate data between the devices and the controller through the scanner.
Place, Configure, and Monitor I/O Chapter 6 I/O information is presented as a set of tags. • Each tag uses a structure of data, depending 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 Figure 16 - I/O Address Format Location :Slot :Type .Member .SubMember .Bit = Optional Where Is Location Network location. Local = same chassis or DIN rail as the controller.
Chapter 6 Place, Configure, and Monitor I/O CompactLogix controllers update data asynchronously with the execution of logic. This flowchart illustrates when producers send data. Controllers, input modules and bridge modules are producers.
Place, Configure, and Monitor I/O Monitor I/O Modules Chapter 6 With the CompactLogix controller, you can monitor I/O modules at different levels by: • using the programming software to display fault data. Refer to Display Fault Data on page 93. • programming 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.
Chapter 6 Place, Configure, and Monitor I/O Bit Description Fault_Bit This bit indicates that at least one bit in the fault word is set (1). If all the bits in the fault word are cleared (0), this bit is cleared (0). Connection_Closed This bit indicates whether the connection to the module is open (0) or closed (1). If the connection is closed (1), the Fault_Bit is set (1).
Place, Configure, and Monitor I/O Chapter 6 The Controller Properties dialog box appears. 2. Reconfigure the module. Reconfigure a Module via a MSG Instruction To reconfigure an I/O module, use a Module Reconfigure MSG instruction. During the reconfiguration: • input modules continue to send input data to the controller. • output modules continue to control their output devices. A Module Reconfigure message requires the property Message Type and a selection of Module Reconfigure.
Chapter 6 Place, Configure, and Monitor I/O Notes: 96 Rockwell Automation Publication 1769-UM011I-EN-P - February 2013
Chapter 7 Develop Applications This chapter explains how to develop applications. Manage Tasks Topic Page Manage Tasks 97 Develop Programs 98 Organize Tags 103 Select a Programming Language 104 Monitor Controller Status 106 Monitor Connections 107 Select a System Overhead Time Slice Percentage 109 With a Logix5000 controller, you can use multiple tasks to schedule and prioritize the execution of your programs based on specific criteria.
Chapter 7 Develop Applications The controller’s 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 Chapter 7 Define Tasks Tasks provide scheduling and priority information for programs. You can configure tasks as continuous, periodic, or event tasks. Only one task can be continuous. Table 24 - Task Support Controller Tasks Supported 1769-L35x 8 1769-L32x 6 1769-L31 4 A task can have as many as 32 separate programs, each with its own executable routines and program-scoped tags.
Chapter 7 Develop Applications However, if you schedule two high priority tasks 1…5 to run every millisecond, and they both require 500 s or more to execute, no CPU time would be left for the dedicated I/O task. Furthermore, if you have so much configured I/O that the execution time of the dedicated I/O task approaches 2 ms (or the combination of the high priority tasks and the dedicated I/O task approaches 2 ms) no CPU time is left for low priority tasks 7…15.
Develop Applications Chapter 7 Remember that: • the highest priority task interrupts all lower priority tasks. • the dedicated I/O task can be interrupted by tasks with priority levels 1…5. The dedicated I/O task interrupts tasks with priority levels 7…15. This task runs at the selected RPI rate scheduled for the CompactLogix system (2 ms in this example). • the continuous task runs at the lowest priority and is interrupted by all other tasks.
Chapter 7 Develop Applications Sample Controller Projects RSLogix 5000 Enterprise programming software includes sample projects that you can copy and then modify to fit your application. To view a set of sample controller projects, perform this procedure. 1. From the Help pull-down menu, choose Vendor Sample Projects. 2. Scroll down to select a set of sample projects.
Develop Applications Chapter 7 With a Logix5000 controller, you use a tag (alphanumeric name) to address data (variables). In Logix5000 controllers, there is no fixed, numeric format. The tag name itself identifies the data. This lets you: • organize your data to mirror your machinery. • document (through tag names) your application as you develop it.
Chapter 7 Develop Applications Select a Programming Language The CompactLogix controller supports these programming languages, both online and offline.
Develop Applications Chapter 7 Add-on Instructions With version 18 of RSLogix 5000 programming software, you can design and configure sets of commonly used instructions to increase project consistency. Similar to the built-in instructions contained in Logix5000 controllers, these instructions you create are called Add-on Instructions. Add-on Instructions reuse common control algorithms. With them, you can: • ease maintenance by animating logic for a single instance.
Chapter 7 Develop Applications Monitor Controller Status 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 • • • • • Monitor Connections Chapter 7 PROGRAM ROUTINE SERIALPORT TASK WALLCLOCKTIME If communication with a device in the I/O configuration of the controller does not occur for 100 ms or 4 times the RPI, whichever is less, the communication times out, and the controller produces these warnings: • The I/O status indicator on the front of the controller flashes green. • A displays over the I/O configuration folder and the device (s) that has timed out.
Chapter 7 Develop Applications Determine if I/O Module Communication Has Timed Out 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 Chapter 7 Interrupt the Execution of Logic and Execute the Fault Handler To interrupt the execution of logic and execute the fault handler, perform this procedure. 1. In the Controller Organizer of RSLogix 5000 programming software, right-click the module and choose Properties. The Module Properties dialog box appears. 2. Click the Connection and check Major Fault On Controller If Connection Fails While in Run Mode checkbox. 3. Click OK. 4.
Chapter 7 Develop Applications Service communication is any communication that you do not configure through the I/O configuration folder of the project. • The system overhead time slice specifies the percentage of time (excluding the time for periodic or event tasks) that the controller devotes to service communication. • The controller performs service communication for up to 1 ms at a time and then resumes the continuous task. To select a system overhead percentage, perform this procedure. 1.
Develop Applications Chapter 7 As the system overhead time slice percentage increases, time allocated to executing the continuous task decreases. If there are no communication for the controller to manage, the controller uses the communication time to execute the continuous task. While increasing the system overhead percentage does increase communication performance, it also increases the amount of time it takes to execute a continuous task, increasing overall scan time.
Chapter 7 Develop Applications If you use the default time slice of 20%, the system overhead interrupts the continuous task every 4 ms. 1 ms 1 ms 1 ms 1 ms 1 ms System Overhead 4 ms 4 ms 4 ms 4 ms 4 ms Continuous Task 5 10 15 20 25 Elapsed Time (ms) If you increase the time slice to 50%, the system overhead interrupts the continuous task every 1 ms.
Chapter 8 Configure PhaseManager Application This chapter explains how to configure a PhaseManager™ application. The PhaseManager option of RSLogix 5000 programming software gives you a state model for your equipment.
Chapter 8 Configure PhaseManager Application Figure 22 - PhaseManager Overview A PHASE tag gives you the status of an equipment phase. Controller Controller Tags Tasks MainTask An equipment phase directs 1 activity of your equipment. A state model divides the activity into a series of states. Add Water Phase 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 Application Chapter 8 In a state model, you define what your equipment does under different conditions, such as run, hold, and stop. You don’t need to use all the states for your equipment. Use only needed states. Table 27 - Types of States State Description Acting Does something or several things for a certain time or until certain conditions are met. An acting state runs one time or repeatedly.
Chapter 8 Configure PhaseManager Application How Equipment Changes States The arrows in the state model show how your equipment can transition from one state to another. • Each arrow is called a transition. • A state model lets the equipment make only certain transitions. This transition restriction standardizes equipment behavior so that another piece of equipment using the same model will behave the same way. Table 28 - PhaseManager Transitions Overview = Transition Command Done — No command.
Configure PhaseManager Application Chapter 8 Manually Change States With RSLogix 5000 programming software, you can monitor and command an equipment phase. To manually change states, perform this procedure. Current State of Equipment Phase Take ownership of the equipment phase. Give a command. Compare PhaseManager to Other State Models You can compare PhaseManager’s state models to other common state models.
Chapter 8 Configure PhaseManager Application Minimum System Requirements To develop PhaseManager programs, you need: • a CompactLogix controller with firmware revision 16.0 or later. • a communication path to the controller. • RSLogix 5000 programming software, version 15.0 or later. To enable PhaseManager support, you need the full or professional editions of RSLogix 5000 programming software or the optional PhaseManager add-on (9324-RLDPMENE) to your RSLogix 5000 programming software package.
Chapter 9 Use a CompactFlash Card This chapter explains how to use a CompactFlash card for nonvolatile memory or data storage. Topic Page Use a CompactFlash Card to Load/Store a User Application 122 Use a CompactFlash Card for Data Storage 125 Read and Write User Data to the CompactFlash Card 125 CompactLogix controllers only support nonvolatile storage through CompactFlash removable media.
Chapter 9 Use a CompactFlash Card 2. Right-click on the controller in the RSWho browse window and select Device Properties. The Device Properties dialog box displays, showing the serial number. The serial number shown in this example is in hexadecimal format.
Use a CompactFlash Card Chapter 9 Locate the Controller Serial Number Via the RSLogix 5000 Project To find the controller’s serial number in your RSLogix 5000 project when using ladder logic or structured text, use the Get System Value (GSV) instruction to obtain the value of the Serial Number attribute of the ControllerDevice object. Ladder Logic Structured Text The value can be shown in RSLogix 5000 programming software’s data monitor.
Chapter 9 Use a CompactFlash Card Use a CompactFlash Card to Load/Store a User Application You can load the user application/project from nonvolatile memory/ CompactFlash to the user memory of the controller: • on every power-up. • on corrupt memory. • anytime through RSLogix 5000 programming software. ATTENTION: Fault conditions can occur if the controller types do not match.
Use a CompactFlash Card Chapter 9 To assign a different project to load from the CompactFlash card, edit the Load.xml file on the card. 1. CompactFlash reader Logix folder 2. 1. To change which project loads from the card, open Load.xml. Use a text editor to open the file. 2. Edit the name of the project that you want to load. • Use the name of an XML file that is in the CurrentApp folder. • In the CurrentApp folder, a project is comprised of an XML file and a P5K file.
Chapter 9 Use a CompactFlash Card Manually Change the Load Parameters When you store a project to a CompactFlash card, you define: • when the project is to load (On Power Up, On Corrupt Memory, User Initiated). • mode to which to set the controller (if the keyswitch is in REM and the load mode is not User Initiated). IMPORTANT Be aware that when loading a different project, the firmware revisions must be the same. To assign a different project to load from the CompactFlash card, edit the Load.
Use a CompactFlash Card Chapter 9 2. Edit the Load Image option of the project. If you want to set the Load Image option to Then enter On Power Up ALWAYS On Corrupt Memory CORRUPT_RAM User Initiated USER_INITIATED 3. Edit the Load Mode option of the project (doesn’t apply if the Load Image option is User Initiated).
Chapter 9 Use a CompactFlash Card Notes: 126 Rockwell Automation Publication 1769-UM011I-EN-P - February 2013
Chapter 10 Maintain the Battery This chapter explains how to maintain your battery. Topic Page Battery Handling 127 Check If the Battery Is Low 128 Estimate 1769-BA Battery Life 128 Store Lithium Batteries 129 Battery Removal 129 CompactLogix controllers support the 1769-BA battery. ATTENTION: The 1769-BA battery is the only battery you can use with the CompactLogix controllers. The 1747-BA battery is not compatible with the CompactLogix controllers and may cause problems.
Chapter 10 Maintain the Battery The battery indicator (BAT) warns when the battery is low. Once the controller is powered down, the battery retains controller memory as long as the BAT indicator remains on. Temperature dictates how long the BAT indicator remains on.
Maintain the Battery Chapter 10 Store Lithium Batteries ATTENTION: Follow these general rules to store your batteries. • Store batteries in a cool, dry environment. We recommend 25 °C (77 °F) with 40…60% relative humidity. • Regularly monitor the temperature and humidity of the storage area. • Use a first-in/first-out system for handling stored batteries. • Store in the original containers away from flammable materials. • Keep track of storage time. Reference storage time to the date of manufacture.
Chapter 10 Maintain the Battery Additional Resources For additional information, consult this publication. Resource Description Guidelines for Handling Batteries, publication AG 5-4 Detailed information on battery-handling procedures for the 1769-BA lithium battery.
Appendix A Status Indicators This appendix explains how to interpret the status indicators on your CompactLogix controllers. 1769-L3xx Controllers Status Indicators Topic Page 1769-L3xx Controllers Status Indicators 131 RS-232 Serial Port Status Indicators 133 ControlNet Indicators 133 EtherNet/IP Indicators 135 These are the 1769-L3xx CompactLogix controller status indicators. Indicator Condition Interpretation RUN Off The controller is in program or test mode.
Appendix A Status Indicators Indicator Condition Interpretation OK Off No power is applied. Flashing red • The controller requires a firmware update. • A major recoverable fault occurred on the controller. To clear the fault, perform this procedure. a. Turn the controller keyswitch from PROG to RUN to PROG. b. Go online with RSLogix 5000 programming software. • A nonrecoverable major fault occurred on the controller. In this case, the controller: a. initially displays a steady red status indicator.
Status Indicators CompactFlash Indicator Appendix A This is the CompactFlash card status indicator present on all CompactLogix controllers. 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 indicator. This could corrupt the data on the card or in the controller, as well as corrupt the latest firmware in the controller. .
Appendix A Status Indicators IMPORTANT Keep in mind that the Module Status indicator reflects the module state (for example, self-test, firmware update, normal operation but no connection established). The network status indicators, A and B, reflect network status. Remember that the host is able to engage in local messaging with the card although it is detached from the network. Therefore, the Module Status indicator is flashing green if the host has successfully started the card.
Status Indicators Appendix A Network Channel Indicators These are the ControlNet network channel indicators. 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 status indicator patterns as described below. Indicator Condition Recommended Action Off A channel is disabled. Program network for redundant media, if necessary. Steady green Normal operation is occurring. Normal operation - No action is required.
Appendix A Status Indicators Network Status (NS) Indicator These are the EtherNet/IP network indicators. Indicator Condition Recommended Action Off The port is not initialized; it does not have an IP address and is operating in BOOTP mode. Verify that the BOOTP server is running. Flashing green The port has an IP address, but no CIP connections are established. • If no connections are configured, no action is required.
Appendix B Dynamic Memory Allocation in CompactLogix Controllers This appendix explains the dynamic allocation of memory in CompactLogix controllers. Topic Page Messages 138 RSLinx Tag Optimization 138 Trends 139 DDE/OPC Topics 139 Certain operations cause the controller to dynamically allocate and remove useravailable memory, affecting the space available for program logic. As these functions become active, memory is allocated. Memory is then removed when these functions become inactive.
Appendix B Dynamic Memory Allocation in CompactLogix Controllers Messages Messages come in and go out of the controller via the Ethernet, ControlNet, and serial ports, causing memory allocation. The memory allocations for messages destined to I/O are accounted for in these allocations. To prevent message instructions from using too much memory, do not send messages simultaneously.
Dynamic Memory Allocation in CompactLogix Controllers Trends Appendix B Each trend created in a controller creates a trend object and allocates a buffer for logging.
Appendix B Dynamic Memory Allocation in CompactLogix Controllers The Configure CIP Options dialog box appears. 2. In the Max. Messaging Connections per PLC field, enter the maximum number of read connections you want a particular workstation to make to a ControlLogix controller. 3. Click OK. Specify Number of Connections Needed to Optimize Throughput To specify the number of connections needed to optimize throughput, perform this procedure. 1. Repeat step 1 from the previous procedure. 2.
Dynamic Memory Allocation in CompactLogix Controllers Appendix B Number of Connections Needed to Optimize Throughput RSLinx software only opens the number of connections required to optimize throughput. For example, if you have one tag on scan, but have configured RSLinx software to allow five connections as the maximum number of connections, RSLinx software only opens one connection for the tag.
Appendix B Dynamic Memory Allocation in CompactLogix Controllers 3. Click the Dispatching tab. In the Connections Established box you see the total number of connections open to the CompactLogix controller.
Index Numerics 1769-L3x controllers status indicator 131 A add-on instructions 105 address data 91 AOI 105 applications develop 97 architecture 12 ASCII devices serial communication 64 assemble the system 22 B battery connect 20 life 128 Lithium 129 maintenance 127 storage 129 before you begin 19 BOOTP 29 broadcast messages over serial 67 C cables 1769 expansion 86 serial 42 cache messages 77 calculate system power consumption 83 total connections 78 change equipment states 116 change of state 87 channel
Index connect battery 20 ControlNet 32 EtherNet/IP 28 programming terminal 35 RS-232 26 connections 77 calculate 78 consume data 75 ControlNet network 52 determine timeout with any device 107 determine timeout with I/O module 108 EtherNet/IP network 49 example 79 monitor 107 number needed to optimize throughput 141 produce data 75 view number of open 141 connections per PLC specify 139 consume data connection use 75 controller communication management 75 design 13 fault handler 109 firmware 36 operating mo
Index I I/O address data 91 communication format 87 configure 81, 87 connections 88 COS 87 electronic keying 87 layout validation 82 monitor 81 monitor connection 108 place 81 I/O modules display fault data 93 end cap detection 94 monitor 93 reconfigure 94 select 81 install 15 IP address 29 isolator 27 L ladder diagram 104 link status indicator status indicator 136 Lithium battery 129 LNK status indicator 136 load firmware 36 local I/O modules place 86 low battery 128 M maintain battery 127 manage contro
Index requested packet interval description 87 estimate 82 routines define 101 RS-232 connections 26 RS-232 serial port status indicator 133 RSLinx tag optimization 138 T tags organize 103 tasks define 99 manage 97 management 97 total connections calculate 78 trends 139 S select controller path 45 I/O modules 81 programming language 104 send messages 76 sequential function chart 104 serial cables 42 communication 55, 67 communication with ASCII devices 64 default configuration 27 driver 43 port configura
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1769 CompactLogix Controllers User Manual
