Allen-Bradley MicroLogix 1400 User manual

MicroLogix 1400

Programmable

Controllers

Bulletins 1766

Instruction Set Reference

Manual

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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. Because of this difference, and also because of the wide variety of

uses for solid state equipment, all persons responsible for applying this

equipment must satisfy themselves that each intended application of this

equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for

indirect or consequential damages resulting from the use or application of

this equipment.

The examples and diagrams in this manual are included solely for illustrative

purposes. Because of the many variables and requirements associated with

any particular installation, Rockwell Automation, Inc. cannot assume

responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to

use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without

written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware

of safety considerations.

Rockwell Automation, Allen-Bradley, TechConnect, SLC 5/02, SLC 5/03, PLC-5, MicroLogix, SLC 500, RSLogix, RSLogix Micro,

RSLinx, and RSLogix 500 are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

WARNING Identifies information about practices or circumstances that can

cause an explosion in a hazardous environment, which may lead to

personal injury or death, property damage, or economic loss.

IMPORTANT Identifies information that is critical for successful application and

understanding of the product.

ATTENTION Identifies information about practices or circumstances that can lead

to: personal injury or death, property damage, or economic loss.

Attentions help you identify a hazard, avoid a hazard, and recognize

the consequence.

SHOCK HAZARD Labels may be on or inside the equipment, such as a drive or motor,

to alert people that dangerous voltage may be present.

BURN HAZARD Labels may be on or inside the equipment, such as a drive or motor,

to alert people that surfaces may reach dangerous temperatures.

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3Publication 1766-RM001A-EN-P - October 2008

Summary of Changes

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 Upgrades

Enhanced features are added to the controllers through a firmware

upgrade. This firmware upgrade is not required, except to allow you

access to the latest features and corrected anomalies.To use the newest

features, be sure your controller’s firmware is at the following level:

To upgrade the firmware for a MicroLogix controller visit the MicroLogix

web site at http://www.ab.com/micrologix.

In order to use all of the latest features, RSLogix 500/RSLogix Micro

programming software must be version 8.10.00 or higher.

Programmable

Controller Firmware Revision Catalog Numbers

MicroLogix 1400 Series A, Revision A, FRN 3 1766-L32AWA, 1766-L32BWA, 1766-L32BXB,

1766-L32AWAA, 1766-L32BWAA and

1766-L32BXBA controllers

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4Summary of Changes

Notes:

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Table of Contents

Summary of Changes

Firmware Upgrades . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Preface

Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . 13

Purpose of this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Common Techniques Used in this Manual. . . . . . . . . . . . . . . . 13

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . . . 14

Chapter 1

I/O Configuration Embedded I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

MicroLogix 1400 Expansion I/O . . . . . . . . . . . . . . . . . . . . . . . 17

MicroLogix 1400 Expansion I/O Memory Mapping. . . . . . . . . . 18

I/O Addressing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

I/O Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Input Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Latching Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Configure Expansion

I/O Using RSLogix 500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Chapter 2

Controller Memory and File

Types Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Data Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Protecting Data Files During Download. . . . . . . . . . . . . . . . . . 47

Static File Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Password Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Clearing the Controller Memory . . . . . . . . . . . . . . . . . . . . . . . 51

Allow Future Access Setting (OEM Lock). . . . . . . . . . . . . . . . . 52

Web View Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

LCD Edit Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Chapter 3

Function Files Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Real-Time Clock Function File . . . . . . . . . . . . . . . . . . . . . . . . 57

RTA - Real Time Clock Adjust Instruction . . . . . . . . . . . . . . . . 59

Memory Module Information Function File . . . . . . . . . . . . . . . 60

Base Hardware Information Function File . . . . . . . . . . . . . . . . 62

Communications Status File . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Ethernet Communications Status File. . . . . . . . . . . . . . . . . . . . 80

Input/Output Status File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Chapter 4

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Programming Instructions

Overview Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Using the Instruction Descriptions . . . . . . . . . . . . . . . . . . . . . 92

Chapter 5

Using the High-Speed

Counter and Programmable

Limit Switch

High-Speed Counter Overview . . . . . . . . . . . . . . . . . . . . . . . . 99

Programmable Limit Switch Overview. . . . . . . . . . . . . . . . . . . 99

High-Speed Counter (HSC) Function File . . . . . . . . . . . . . . . 100

High-Speed Counter Function File Sub-Elements Summary . . 102

HSC Function File Sub-Elements. . . . . . . . . . . . . . . . . . . . . . 103

HSL - High-Speed Counter Load . . . . . . . . . . . . . . . . . . . . . . 130

RAC - Reset Accumulated Value . . . . . . . . . . . . . . . . . . . . . . 131

Programmable Limit Switch (PLS) File. . . . . . . . . . . . . . . . . . 132

Chapter 6

Using High-Speed Outputs PTO - Pulse Train Output. . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Pulse Train Output Function. . . . . . . . . . . . . . . . . . . . . . . . . 139

Pulse Train Outputs (PTOX) Function File . . . . . . . . . . . . . . 143

Pulse Train Output Function File Sub-Elements Summary . . . 144

PWM - Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . 158

PWM Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Pulse Width Modulation (PWMX) Function File. . . . . . . . . . . 159

Pulse Width Modulated Function File Elements Summary . . . 160

Chapter 7

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

XIO - Examine if Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

OTE - Output Energize. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

OTL - Output Latch

OTU - Output Unlatch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

ONS - One Shot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

OSR - One Shot Rising

OSF - One Shot Falling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Chapter 8

Timer and Counter

Instructions Timer Instructions Overview . . . . . . . . . . . . . . . . . . . . . . . . 175

TON - Timer, On-Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

TOF - Timer, Off-Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

RTO - Retentive Timer, On-Delay . . . . . . . . . . . . . . . . . . . . . 181

How Counters Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

CTU - Count Up

CTD - Count Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

RES - Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

Chapter 9

Compare Instructions Using the Compare Instructions . . . . . . . . . . . . . . . . . . . . . . 190

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EQU - Equal

NEQ - Not Equal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

GRT - Greater Than

LES - Less Than . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

GEQ - Greater Than or Equal To

LEQ - Less Than or Equal To . . . . . . . . . . . . . . . . . . . . . . . . 192

MEQ - Mask Compare for Equal . . . . . . . . . . . . . . . . . . . . . 193

LIM - Limit Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Chapter 10

Math Instructions Using the Math Instructions . . . . . . . . . . . . . . . . . . . . . . . . . 198

Updates to Math Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . 200

Using the Floating Point (F) Data File . . . . . . . . . . . . . . . . . . 201

ADD - Add

SUB - Subtract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

MUL - Multiply

DIV - Divide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

NEG - Negate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

CLR - Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

ABS - Absolute Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

SCL - Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

SCP - Scale with Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 209

SQR - Square Root . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

SIN - Sine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

COS - Cosine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

TAN - Tangent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

ASN - Arc Sine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

ACS - Arc Cosine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

ATN - Arc Tangent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

DEG - Radians to Degrees . . . . . . . . . . . . . . . . . . . . . . . . . . 223

RAD - Degrees to Radians . . . . . . . . . . . . . . . . . . . . . . . . . . 225

LN - Natural Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

LOG - Base 10 Logarithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

XPY - X Power Y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

CPT - Compute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

Chapter 11

Application Specific

Instructions RHC - Read High Speed Clock . . . . . . . . . . . . . . . . . . . . . . . 237

RPC - Read Program Checksum . . . . . . . . . . . . . . . . . . . . . . 239

TDF - Compute Time Difference. . . . . . . . . . . . . . . . . . . . . . 240

Chapter 12

Conversion Instructions Using Decode and Encode Instructions . . . . . . . . . . . . . . . . . 243

DCD - Decode 4 to 1-of-16 . . . . . . . . . . . . . . . . . . . . . . . . . 244

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ENC - Encode

1-of-16 to 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

FRD - Convert from Binary Coded Decimal (BCD) . . . . . . . . 246

TOD - Convert to Binary Coded Decimal (BCD) . . . . . . . . . 250

GCD - Gray Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Chapter 13

Logical Instructions Using Logical Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Updates to Math Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . 256

AND - Bit-Wise AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

OR - Logical OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

XOR - Exclusive OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

NOT - Logical NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

Chapter 14

Move Instructions MOV - Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

MVM - Masked Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

Chapter 15

File Instructions CPW - Copy Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

COP - Copy File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

FLL - Fill File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

BSL - Bit Shift Left . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

BSR - Bit Shift Right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

FFL - First In, First Out (FIFO) Load . . . . . . . . . . . . . . . . . . . 277

FFU - First In, First Out (FIFO) Unload . . . . . . . . . . . . . . . . 279

LFL - Last In, First Out (LIFO) Load . . . . . . . . . . . . . . . . . . . 282

LFU - Last In, First Out (LIFO) Unload . . . . . . . . . . . . . . . . . 284

SWP - Swap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

Chapter 16

Sequencer Instructions SQC- Sequencer Compare . . . . . . . . . . . . . . . . . . . . . . . . . . 288

SQO- Sequencer Output . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

SQL - Sequencer Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

Chapter 17

Program Control Instructions JMP - Jump to Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

LBL - Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

JSR - Jump to Subroutine . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

SBR - Subroutine Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

RET - Return from Subroutine . . . . . . . . . . . . . . . . . . . . . . . 299

SUS - Suspend . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

TND - Temporary End . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

END - Program End . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

MCR - Master Control Reset . . . . . . . . . . . . . . . . . . . . . . . . . 300

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Chapter 18

Input and Output Instructions IIM - Immediate Input with Mask . . . . . . . . . . . . . . . . . . . . . 303

IOM - Immediate Output with Mask . . . . . . . . . . . . . . . . . . . 305

REF- I/O Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

Chapter 19

Using Interrupts Information About Using Interrupts. . . . . . . . . . . . . . . . . . . . 307

User Interrupt Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 312

INT - Interrupt Subroutine . . . . . . . . . . . . . . . . . . . . . . . . . . 312

STS - Selectable Timed Start . . . . . . . . . . . . . . . . . . . . . . . . . 313

UID - User Interrupt Disable . . . . . . . . . . . . . . . . . . . . . . . . 314

UIE - User Interrupt Enable . . . . . . . . . . . . . . . . . . . . . . . . . 315

UIF - User Interrupt Flush . . . . . . . . . . . . . . . . . . . . . . . . . . 316

Using the Selectable Timed Interrupt (STI) Function File . . . . 318

Using the Event Input Interrupt (EII) Function File . . . . . . . . 322

Chapter 20

Process Control Instruction The PID Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

The PID Equation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330

PD Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

PID - Proportional Integral Derivative . . . . . . . . . . . . . . . . . 332

Input Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

Runtime Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

Analog I/O Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

Application Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

Application Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

Chapter 21

ASCII Instructions General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

ASCII Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

Instruction Types and Operation. . . . . . . . . . . . . . . . . . . . . . 362

Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

String (ST) Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

Control Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365

ACL - ASCII Clear Buffers . . . . . . . . . . . . . . . . . . . . . . . . . . 367

AIC - ASCII Integer to String . . . . . . . . . . . . . . . . . . . . . . . . 368

AWA - ASCII Write with Append . . . . . . . . . . . . . . . . . . . . . 369

AWT - ASCII Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372

ABL - Test Buffer for Line . . . . . . . . . . . . . . . . . . . . . . . . . . 374

ACB - Number of Characters in Buffer . . . . . . . . . . . . . . . . . 375

ACI - String to Integer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

ACN - String Concatenate . . . . . . . . . . . . . . . . . . . . . . . . . . 378

AEX - String Extract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

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AHL - ASCII Handshake Lines . . . . . . . . . . . . . . . . . . . . . . . 381

ARD - ASCII Read Characters . . . . . . . . . . . . . . . . . . . . . . . . 383

ARL - ASCII Read Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

ASC - String Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

ASR - ASCII String Compare . . . . . . . . . . . . . . . . . . . . . . . . 387

Timing Diagram for ARD, ARL, AWA, and AWT Instructions . 389

Using In-line Indirection. . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

ASCII Instruction Error Codes . . . . . . . . . . . . . . . . . . . . . . . . 390

ASCII Character Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392

Chapter 22

Communications Instructions Messaging Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

SVC - Service Communications . . . . . . . . . . . . . . . . . . . . . . 396

MSG - Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

The Message Element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399

Timing Diagram for the MSG Instruction. . . . . . . . . . . . . . . . 407

Communication Servicing Selection and Message Servicing

Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410

MSG Instruction Ladder Logic. . . . . . . . . . . . . . . . . . . . . . . . 411

Local Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413

Configuring a Local Message . . . . . . . . . . . . . . . . . . . . . . . . 414

Local Messaging Examples . . . . . . . . . . . . . . . . . . . . . . . . . . 423

Remote Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

Configuring a Remote Message. . . . . . . . . . . . . . . . . . . . . . . 442

Configuring a Multi-hop Remote Message on EtherNet/IP

Communication Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

Configuring a MicroLogix 1400 CIP Generic Message via Ethernet

461

MSG Instruction Error Codes . . . . . . . . . . . . . . . . . . . . . . . . 466

Special Function with MSG instruction . . . . . . . . . . . . . . . . . 468

Configure MSG Setup Screen to send SMTP message. . . . . . . 474

Chapter 23

Socket Interface Using CIP

Generic Messaging Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

Socket Interface Architecture . . . . . . . . . . . . . . . . . . . . . . . . 479

Communicate With the Socket Object Via a MSG Instruction . 485

Programming Considerations . . . . . . . . . . . . . . . . . . . . . . . . 489

Socket Object Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491

Possible Error Codes for Socket Services . . . . . . . . . . . . . . . . 508

Chapter 24

Recipe and Data Logging RCP - Recipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

Queues and Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

Configuring Data Log Queues . . . . . . . . . . . . . . . . . . . . . . . 523

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