Allen-Bradley MicroLogix 1200 User manual

MicroLogix™ 1200

andMicroLogix1500

Programmable

Controllers

(Bulletins 1762 and 1764)

Instruction Set

Reference Manual

Important User

Information

Because of the variety of uses for the products described in this

publication, those responsible for the application and use of this control

equipment must satisfy themselves that all necessary steps have been

taken to assure that each application and use meets all performance and

safety requirements, including any applicable laws, regulations, codes

and standards.

The illustrations, charts, sample programs and layout examples shown in

this guide are intended solely for purposes of example. Since there are

many variables and requirements associated with any particular

installation, Rockwell International Corporation does not assume

responsibility or liability (to include intellectual property liability) for

actual use based upon the examples shown in this publication.

Rockwell Automation publication SGI-1.1, Safety Guidelines for the

Application, Installation and Maintenance of Solid-State Control

(available from your local Rockwell Automation office), describes some

important differences between solid-state equipment and

electromechanical devices that should be taken into consideration when

applying products such as those described in this publication.

Reproduction of the contents of this copyrighted publication, in whole or

part, without written permission of Rockwell Automation, is prohibited.

Throughout this manual we use notes to make you aware of safety

considerations:

Attention statements help you to:

•identify a hazard

•avoid a hazard

•recognize the consequences

PLC-5 is a registered trademark; and MicroLogix, SLC 500, RSLogix, and RSLinx are trademarks of Rockwell Automation.

Modbus is a trademark of Schneider Electric Incorporated.

DeviceNet is a trademark of Open DeviceNet Vendor Association (ODVA).

ATTENTION

Identifies information about practices or circumstances

that can lead to personal injury or death, property

damage or economic loss

IMPORTANT Identifies information that is critical for successful

application and understanding of the product.

3Publication 1762-RM001C-EN-P - November 2000

Summary of Changes

The information below summarizes the changes to this manual since

the last printing as publication 1762-RM001B-US-P, April 2000.

To help you locate new and updated information in this release of the

manual, we have included change bars as shown to the right of this

paragraph.

Firmware Revision History

Features are added to the controllers through firmware upgrades. Use

the listing below to be sure that your controller’s firmware is at the

level you need. Firmware upgrades are not required, except to allow

you access to the new features.

MicroLogix 1200

Catalog

Number Series

Letter Revision

Letter Firmware

Release No. Release Date Enhancement

1762-L24AWA

1762-L24BWA

1762-L40AWA

1762-L40BWA

A A FRN1 March 2000 Initial product release.

1762-L24AWA

1762-L24BWA

1762-L40AWA

1762-L40BWA

A B FRN2 May 2000 The trim pots (trimming potentiometers) on the controller

operated in reverse of the ladder logic. Corrected.

1762-L24AWA

1762-L24BWA

1762-L40AWA

1762-L40BWA

B A FRN3 November 2000 MicroLogix 1200 controllers now offer:

•Full ASCII (read/write)

•PTO Controlled Stop

•PWM Ramping

•RTC and String Messaging

•Static Data File Protection

•Comms Reset Pushbutton Bit

1762-L24BXB

1762-L40BXB B A FRN3 November 2000 Initial product release. Supports all the features listed above

for the 1762-L24xWA and 1762-L40xWA controllers.

Publication 1762-RM001C-EN-P - November 2000

Summary of Changes 4

MicroLogix 1500

Catalog

Number Series

Letter Revision

Letter Firmware

Release No. Release Date Enhancement

1764-LSP A B FRN2 February 1999 Initial product release.

1764-LSP A C FRN3 October 1999 MicroLogix 1500 Controllers with 1764-LSP Processor can now

be used with Compact I/O (Bulletin 1769) Expansion Cables and

Power Supplies.

1764-LSP B A FRN4 April 2000 MicroLogix 1500 Controllers with 1764-LSP Processor can now

use:

•String Data File Type

•ASCII Instruction Set Support

•Modbus RTU Slave protocol

•Ramping, when using PWM outputs

•Static Data File Protection

•RTC Messaging

1764-LRP B A FRN4 April 2000 Initial product release. MicroLogix 1500 Controllers with

1764-LRP Processor has all the features of the 1764-LSP, plus:

•Second communications port (isolated RS-232)

•Data Logging capability

1764-LSP B B FRN5 October 2000 For both the 1764-LSP and LRP processors:

•When using the PTO feature, the controller can now

perform a controlled stop when using PTO outputs. The

deceleration phase of the PTO can be initiated early via

ladder logic.

•Enhanced program compare bitfunctionality in the Memory

Module.

1764-LRP B B FRN5 October 2000

Publication 1762-RM001C-EN-P - November 2000

Summary of Changes 5

New Information

The table below lists sections that document new features and

additional information about existing features.

For This New Information See

Added MicroLogix 1200 1762-L24BXB and 1762-L40BXB Controllers Chapter 1, 5, 6

Added configuration information for several new I/O modules:

•1762-IQ16, -OA8, -OB8, -OB16, -OW16, -IF4

•1769-OB16P and -IT6

Chapter 1

Added section on Configuring Expansion I/O Using RSLogix 500 Chapter 1

Made minor changes to clarify data file numbering. Chapter 2

Modified section on Writing Data to the Real-Time Clock Chapter 3

In the Communications Status File, General Channel Status Block, Bit 15,

the Comms Toggle Push Button Bit, is now valid for MicroLogix 1200 and

MicroLogix 1500 (previously was only the MicroLogix 1500).

Chapter 3

Added IMPORTANT notes about using the High-Speed Counter (HSC). Chapter 5

Added IMPORTANT notes about using the High-Speed Outputs (PTO and

PWM). Chapter 6

Modified text that describes the PWM Accel/Decel Delay (ADD)

parameter. Chapter 6

Added PTO Controlled Stop (CS) parameter (MicroLogix 1500 only). Chapter 6

Modified text that describes the Scale (SCL) instruction. Chapter 10

Corrected text for the PID Reset Term (Ti). The last sentence now reads:

“A value of 1 adds the maximum integral term into the PID equation.”

(previously said that “a value of 1 adds theminimum integral term...”)

Chapter 19

MicroLogix 1200 Series B Controllers can use the entire set of ASCII

instructions Chapter 20

Added section on Programming ASCII Instructions with information on

how to prevent communications shut-down when using ASCII

instructions.

Chapter 20

Added Ctrl-characters to the ASCII Character Set chart. Chapter 20

Added MSG File Element description. Chapter 21

The ASCII String Manipulation Error bit (S:5/15) now applies to

MicroLogix 1200 Series B Controllers as well as the MicroLogix 1500. Appendix C

Added Fault Classification (non-user, recoverable, non-recoverable) to the

Fault Messages troubleshooting table. Appendix D

Added new Error Code:

001A - User Program Incompatible with OS at Power-Up Appendix D

Added alphabetical list of instructions for easy reference. Inside Back

Cover

ASCII Protocol can be used by MicroLogix 1200 Series B Controllers as

well as the MicroLogix 1500. Appendix E

Updated Instruction ExecutionTimes Appendix A

and B, and

throughout

manual

Publication 1762-RM001C-EN-P - November 2000

Summary of Changes 6

iPublication 1762-RM001C-EN-P

Table of Contents

Preface Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . P-1

Purpose of this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Common Techniques Used in this Manual. . . . . . . . . . . . . . . P-2

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . . P-3

Chapter 1

I/O Configuration Embedded I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

MicroLogix 1200 Expansion I/O . . . . . . . . . . . . . . . . . . . . . . 1-3

MicroLogix 1200 Expansion I/O Memory Mapping. . . . . . . . . 1-4

MicroLogix 1500 Compact™Expansion I/O. . . . . . . . . . . . . . 1-7

MicroLogix 1500 Compact™Expansion I/O Memory Mapping 1-9

I/O Addressing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

I/O Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

Input Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

Latching Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

Configuring Expansion I/O Using RSLogix 500 . . . . . . . . . . 1-18

Chapter 2

Controller Memory and File

Types Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Data Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

Protecting Data Files During Download. . . . . . . . . . . . . . . . . 2-6

Static File Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Password Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Clearing the Controller Memory . . . . . . . . . . . . . . . . . . . . . 2-10

Allow Future Access Setting (OEM Lock). . . . . . . . . . . . . . . 2-10

Chapter 3

Function Files Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Real-Time Clock Function File . . . . . . . . . . . . . . . . . . . . . . . 3-3

Trim Pot Information Function File . . . . . . . . . . . . . . . . . . . . 3-5

Memory Module Information Function File . . . . . . . . . . . . . . 3-6

DAT Function File (MicroLogix 1500 only) . . . . . . . . . . . . . . 3-9

Base Hardware Information Function File . . . . . . . . . . . . . . 3-12

Communications Status File . . . . . . . . . . . . . . . . . . . . . . . . 3-13

Input/Output Status File . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

Chapter 4

Programming Instructions

Overview Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Using the Instruction Descriptions. . . . . . . . . . . . . . . . . . . . . 4-2

Publication 1762-RM001C-EN-P

Table of Contents ii

Chapter 5

Using the High-Speed

Counter High-Speed Counter (HSC) Function File . . . . . . . . . . . . . . . 5-2

High-Speed Counter Function File Sub-Elements Summary . . 5-4

HSC Function File Sub-Elements. . . . . . . . . . . . . . . . . . . . . . 5-5

HSL - High-Speed Counter Load . . . . . . . . . . . . . . . . . . . . . 5-26

RAC - Reset Accumulated Value . . . . . . . . . . . . . . . . . . . . . 5-27

Chapter 6

Using High-Speed Outputs PTO - Pulse Train Output. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Pulse Train Output Function. . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Pulse Train Outputs (PTO) Function File. . . . . . . . . . . . . . . . 6-6

Pulse Train Output Function File Sub-Elements Summary . . . 6-7

PWM - Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . 6-18

PWM Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

Pulse Width Modulation (PWM) Function File . . . . . . . . . . . 6-19

Pulse Width Modulated Function File Elements Summary . . 6-20

Chapter 7

Relay-Type (Bit) Instructions XIC - Examine if Closed

XIO - Examine if Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

OTE - Output Energize. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

OTL - Output Latch, OTU - Output Unlatch . . . . . . . . . . . . . 7-4

ONS - One Shot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

OSR - One Shot Rising, OSF - One Shot Falling. . . . . . . . . . . 7-6

Chapter 8

Timer and Counter

Instructions Timer Instructions Overview . . . . . . . . . . . . . . . . . . . . . . . . 8-1

TON - Timer, On-Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

TOF - Timer, Off-Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

RTO - Retentive Timer, On-Delay . . . . . . . . . . . . . . . . . . . . . 8-6

How Counters Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

CTU - Count Up, CTD - Count Down . . . . . . . . . . . . . . . . . . 8-9

RES - Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10

Chapter 9

Compare Instructions Using the Compare Instructions . . . . . . . . . . . . . . . . . . . . . . 9-2

EQU - Equal, NEQ - Not Equal . . . . . . . . . . . . . . . . . . . . . . . 9-3

GRT - Greater Than, LES - Less Than . . . . . . . . . . . . . . . . . . 9-4

GEQ - Greater Than or Equal To, LEQ - Less Than or Equal To 9-5

MEQ - Mask Compare for Equal . . . . . . . . . . . . . . . . . . . . . . 9-6

LIM - Limit Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

Publication 1762-RM001C-EN-P

Table of Contents iii

Chapter 10

Math Instructions Using the Math Instructions . . . . . . . . . . . . . . . . . . . . . . . . 10-2

Updates to Math Status Bits . . . . . . . . . . . . . . . . . . . . . . . . 10-3

ADD - Add, SUB - Subtract . . . . . . . . . . . . . . . . . . . . . . . . . 10-4

MUL - Multiply, DIV - Divide . . . . . . . . . . . . . . . . . . . . . . . 10-5

NEG - Negate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

CLR - Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

SCL - Scale. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7

SCP - Scale with Parameters . . . . . . . . . . . . . . . . . . . . . . . . 10-8

SQR - Square Root . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9

SWP - Swap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10

Chapter 11

Conversion Instructions Using Decode and Encode Instructions . . . . . . . . . . . . . . . . 11-1

DCD - Decode 4 to 1-of-16. . . . . . . . . . . . . . . . . . . . . . . . . 11-2

ENC - Encode 1-of-16 to 4 . . . . . . . . . . . . . . . . . . . . . . . . . 11-3

FRD - Convert from Binary Coded Decimal (BCD). . . . . . . . 11-4

TOD - Convert to Binary Coded Decimal (BCD) . . . . . . . . . 11-8

Chapter 12

Logical Instructions Using Logical Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

Updates to Math Status Bits . . . . . . . . . . . . . . . . . . . . . . . . 12-2

AND - Bit-Wise AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3

OR - Logical OR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4

XOR - Exclusive OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5

NOT - Logical NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6

Chapter 13

Move Instructions MOV - Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1

MVM - Masked Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3

Chapter 14

File Instructions COP - Copy File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2

FLL - Fill File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3

BSL - Bit Shift Left . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4

BSR - Bit Shift Right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6

FFL - First In, First Out (FIFO) Load . . . . . . . . . . . . . . . . . . 14-8

FFU - First In, First Out (FIFO) Unload . . . . . . . . . . . . . . . 14-11

LFL - Last In, First Out (LIFO) Load. . . . . . . . . . . . . . . . . . 14-14

LFU - Last In, First Out (LIFO) Unload. . . . . . . . . . . . . . . . 14-17

Publication 1762-RM001C-EN-P

Table of Contents iv

Chapter 15

Sequencer Instructions SQC- Sequencer Compare . . . . . . . . . . . . . . . . . . . . . . . . . 15-2

SQO- Sequencer Output. . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5

SQL - Sequencer Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-8

Chapter 16

Program Control Instructions JMP - Jump to Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-1

LBL - Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2

JSR - Jump to Subroutine . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2

SBR - Subroutine Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-3

RET - Return from Subroutine. . . . . . . . . . . . . . . . . . . . . . . 16-3

SUS - Suspend . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4

TND - Temporary End . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4

END - Program End . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-5

MCR - Master Control Reset . . . . . . . . . . . . . . . . . . . . . . . . 16-5

Chapter 17

Input and Output Instructions IIM - Immediate Input with Mask . . . . . . . . . . . . . . . . . . . . 17-1

IOM - Immediate Output with Mask . . . . . . . . . . . . . . . . . . 17-3

REF- I/O Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-4

Chapter 18

Using Interrupts Information About Using Interrupts . . . . . . . . . . . . . . . . . . 18-2

User Interrupt Instructions . . . . . . . . . . . . . . . . . . . . . . . . . 18-7

INT - Interrupt Subroutine . . . . . . . . . . . . . . . . . . . . . . . . . 18-7

STS - Selectable Timed Start . . . . . . . . . . . . . . . . . . . . . . . . 18-8

UID - User Interrupt Disable. . . . . . . . . . . . . . . . . . . . . . . . 18-9

UIE - User Interrupt Enable . . . . . . . . . . . . . . . . . . . . . . . 18-10

UIF - User Interrupt Flush . . . . . . . . . . . . . . . . . . . . . . . . 18-11

Using the Selectable Timed Interrupt (STI) Function File . . 18-12

Using the Event Input Interrupt (EII) Function File . . . . . . 18-17

Chapter 19

Process Control Instruction The PID Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-1

The PID Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-2

PD Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-2

PID - Proportional Integral Derivative . . . . . . . . . . . . . . . . . 19-3

Input Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-4

Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-7

Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-8

Runtime Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-16

Analog I/O Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-17

Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-18

Application Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-22

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