Reference Manual for SLCs 501+502 - (Allen-Bradley)

582 Pages·2001·6.52 MB·English

SLC 500™
Instruction Set
Catalog Numbers 1747-L20x,
1747-L30x, 1747-L40x, 1747-L511,
1747-L514, 1747-L524, 1747-L531,
1747-L532, 1747-L541, 1747-L542,
1747-L543, 1747-L551, 1747-L552,
1747-L553
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, Allen-Bradley does not assume responsibility or liability
(to include intellectual property liability) for actual use based upon
the examples shown in this publication.
Allen-Bradley publication SGI-1.1, Safety Guidelines for the
Application, Installation and Maintenance of Solid-State Control
(available from your local Allen-Bradley 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:
Identifies information about practices or
ATTENTION
circumstances that can lead to personal injury or
death, property damage or economic loss
!
Attention statements help you to:
• identify a hazard
• avoid a hazard
• recognize the consequences
Identifies information that is critical for successful
IMPORTANT
application and understanding of the product.
PLC-2, PLC-3, and PLC-5 are registered trademarks of Rockwell Automation.
SLC 500, SLC 5/01, SLC 5/02, SLC 5/03, SLC 5/04, SLC 5/05 and Data Highway Plus are trademarks of Rockwell Automation.
WINtelligent EMULATE 500, WINtelligent LINX, RSLogix 500, RSLinx, and RSTune are trademarks of Rockwell Software, Inc.
Ethernet is a registered trademark of Digital Equipment Corporation, Intel, and Xerox Corporation.
MS-DOS and Windows 95 are registered trademarks and Windows NT is a trademark of Microsoft Corporation.
NEC Versa is a trademark of Nippon Electric Company Information Systems, Inc.
Gateway 2000 is a trademark of Gatemway 2000, Inc.
Summary of Changes
The information below summarizes the changes to this manual since
the last printing.
To help you find new and updated information in this release of the
manual, we have included change bars as shown next to this
paragraph.
The table below lists the sections that document new features and
additional or updated information about existing features.
For this information See
Removed references to MicroLogix 1000. Throughout
Created section explaining Data Files and Program Files Chapter 1
Removed Processor Files information. Revisions to the Basic Instructions. Chapter 2
Revisions to the Comparison Instructions. Chapter 3
Revisions to the Math Instructions. Added Ramp Instruction (RMP). Chapter 4
Revisions to the Data Handling Instructins. Added Encode 1 to 16 to 4 Instruction (ENC). Chapter 5
Revisions to the Program Flow Instructions Chapter 6
Revisions to the Application Specific Instructions. Added the following instructions: Read High-Speed Clock Chapter 7
Instruction (RHC), Compute Time Difference Instruction (TDF), File Bit Comparison Instruction (FBC) and Diagnostic
Detect (DDT).
Added Remote I/O Block Transfer Instructions (BTR and BTW). Chapter 8
Revisions to the PID Instruction. Chapter 9
Revisions to the ASCII Instructions. Chapter 10
Revisions to the Interrupt Routines. Chapter 11
Revisions to the Communication Instructions. Chapter 12
Created section for Communication Channels. Chapter 13
Created section for Messaging Examples. Chapter 14
Revisions to the Troubleshooting section. Chapter 15
Removed execution times, combined the memory usage tables for SLC 5/03, SLC 5/04 and SLC 5/05. Added Appendix C
memory usage for new instructions.
Removed the estimating scan time section. Added new instructions to the Programming Instruction References Appendix D
section.
Updated ladder diagrams for the application examples. Appendix G
Alphabetical list of all instructions. Inside Back Cover
1 Publication 1747-RM001C-EN-P - September 2001
Summary of Changes 2
Publication 1747-RM001C-EN-P - September 2001
Table of Contents
Preface Who Should Use this Manual. . . . . . . . . . . . . . . . . . . . . . . . . 1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Common Techniques Used in this Manual . . . . . . . . . . . . . . . 1
Rockwell Automation Support. . . . . . . . . . . . . . . . . . . . . . . . 2
Related Documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Chapter 1
Processor Files File Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Chapter 2
Basic Instructions About the Basic Instructions . . . . . . . . . . . . . . . . . . . . . . . 2-2
Bit Instructions Overview . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Examine if Closed (XIC) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Examine if Open (XIO). . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Output Energize (OTE) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Output Latch (OTL) and Output Unlatch (OTU). . . . . . . . . 2-4
One-Shot Rising (OSR) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Timer Instructions Overview . . . . . . . . . . . . . . . . . . . . . . . 2-7
Timer On-Delay (TON). . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Timer Off-Delay (TOF) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Retentive Timer (RTO) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Counter Instructions Overview . . . . . . . . . . . . . . . . . . . . . 2-13
Count Up (CTU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Count Down (CTD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
High-Speed Counter (HSC) . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Reset (RES). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Chapter 3
Comparison Instructions About the Comparison Instructions . . . . . . . . . . . . . . . . . . 3-1
Comparison Instructions Overview . . . . . . . . . . . . . . . . . . 3-2
Equal (EQU). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Not Equal (NEQ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Less Than (LES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Less Than or Equal (LEQ) . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Greater Than (GRT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Greater Than or Equal (GEQ) . . . . . . . . . . . . . . . . . . . . . . 3-4
Masked Comparison for Equal (MEQ) . . . . . . . . . . . . . . . . 3-4
Limit Test (LIM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Chapter 4
Math Instructions About the Math Instructions. . . . . . . . . . . . . . . . . . . . . . . . 4-2
Math Instructions Overview. . . . . . . . . . . . . . . . . . . . . . . . 4-2
Add (ADD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Subtract (SUB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
32-Bit Addition and Subtraction. . . . . . . . . . . . . . . . . . . . . 4-6
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Table of Contents ii
Multiply (MUL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Divide (DIV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
Double Divide (DDV). . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Clear (CLR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Square Root (SQR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Scale with Parameters (SCP) . . . . . . . . . . . . . . . . . . . . . . . 4-13
Scale Data (SCL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
Ramp Instruction (RMP) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Absolute (ABS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
Compute (CPT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
Swap (SWP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
Arc Sine (ASN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
Arc Cosine (ACS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
Arc Tangent (ATN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
Cosine (COS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
Natural Log (LN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
Log to the Base 10 (LOG) . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
Sine (SIN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
Tangent (TAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
X to the Power of Y (XPY) . . . . . . . . . . . . . . . . . . . . . . . . 4-32
Chapter 5
Data Handling Instructions Convert to BCD (TOD) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Convert from BCD (FRD) . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Radian to Degrees (DEG) . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Degrees to Radians (RAD). . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Decode 4 to 1 of 16 (DCD) . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Encode 1 of 16 to 4 (ENC). . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Copy File (COP) and Fill File (FLL) Instructions . . . . . . . . . 5-12
Move and Logical Instructions Overview . . . . . . . . . . . . . . 5-16
Move (MOV). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Masked Move (MVM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
And (AND). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
Or (OR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
Exclusive Or (XOR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
Not (NOT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
Negate (NEG). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
FIFO and LIFO Instructions Overview . . . . . . . . . . . . . . . . 5-24
FIFO Load (FFL) and FIFO Unload (FFU). . . . . . . . . . . . . . 5-26
LIFO Load (LFL) and LIFO Unload (LFU) . . . . . . . . . . . . . . 5-28
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Chapter 6
Program Flow Instructions About the Program Flow Control Instructions. . . . . . . . . . . 6-1
Jump (JMP) and Label (LBL) . . . . . . . . . . . . . . . . . . . . . . . 6-2
Jump to Subroutine (JSR),
Subroutine (SBR), and Return (RET). . . . . . . . . . . . . . . . . . 6-3
Master Control Reset (MCR). . . . . . . . . . . . . . . . . . . . . . . . 6-6
Temporary End (TND) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Suspend (SUS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Immediate Input with Mask (IIM) . . . . . . . . . . . . . . . . . . . 6-8
Immediate Output with Mask (IOM) . . . . . . . . . . . . . . . . . 6-9
I/O Refresh (REF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Chapter 7
Application Specific Instructions About the Application Specific Instructions . . . . . . . . . . . . 7-2
Bit Shift Instructions Overview. . . . . . . . . . . . . . . . . . . . . . 7-2
Bit Shift Left (BSL) Bit Shift Right (BSR) . . . . . . . . . . . . . . . 7-4
Sequencer Instructions Overview. . . . . . . . . . . . . . . . . . . . 7-5
Sequencer Output (SQO) Sequencer Compare (SQC). . . . . 7-6
Sequencer Load (SQL). . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Read High-Speed Clock and
Compute Time Difference Overview . . . . . . . . . . . . . . . . . 7-15
Read High-Speed Clock Instruction (RHC) . . . . . . . . . . . . . 7-17
Compute Time Difference Instruction (TDF). . . . . . . . . . . . 7-17
File Bit Comparison (FBC) and Diagnostic Detect (DDT) . . 7-18
Chapter 8
Block Transfer Instructions Block Transfer Instructions (BTR and BTW). . . . . . . . . . . . 8-1
Chapter 9
Proportional Integral Derivative Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Instruction The PID Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
The PID Equation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
The PID Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
PID Control Block Layout . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
Input Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
Runtime Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
PID and Analog I/O Scaling . . . . . . . . . . . . . . . . . . . . . . . 9-20
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
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Table of Contents iv
Chapter 10
ASCII Instructions ASCII Instruction Overview . . . . . . . . . . . . . . . . . . . . . . . . 10-2
Protocol Parameter Overview . . . . . . . . . . . . . . . . . . . . . . 10-2
Test Buffer for Line (ABL) . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
Number of Characters In Buffer (ACB). . . . . . . . . . . . . . . . 10-7
String to Integer (ACI). . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
ASCII Clear Receive and/or Send Buffer (ACL). . . . . . . . . . 10-9
String Concatenate (ACN) . . . . . . . . . . . . . . . . . . . . . . . . 10-10
String Extract (AEX) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10
ASCII Handshake Lines (AHL). . . . . . . . . . . . . . . . . . . . . 10-11
Integer to String (AIC). . . . . . . . . . . . . . . . . . . . . . . . . . . 10-13
ASCII Read Characters (ARD). . . . . . . . . . . . . . . . . . . . . . 10-13
ASCII Read Line (ARL). . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16
String Search (ASC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17
ASCII String Compare (ASR) . . . . . . . . . . . . . . . . . . . . . . 10-18
ASCII Write with Append (AWA). . . . . . . . . . . . . . . . . . . 10-19
ASCII Write (AWT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21
ASCII Instruction Error Codes . . . . . . . . . . . . . . . . . . . . . 10-23
ASCII Conversion Table. . . . . . . . . . . . . . . . . . . . . . . . . . 10-24
Chapter 11
Understanding Interrupt Routines User Fault Routine Overview. . . . . . . . . . . . . . . . . . . . . . . 11-2
Selectable Timed Interrupt Overview. . . . . . . . . . . . . . . . . 11-8
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
STI Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13
STD and STE Instructions . . . . . . . . . . . . . . . . . . . . . . . . 11-17
Selectable Timed Start (STS) . . . . . . . . . . . . . . . . . . . . . . 11-18
Discrete Input Interrupt Overview . . . . . . . . . . . . . . . . . . 11-19
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
DII Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-24
I/O Interrupt Overview. . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
I/O Interrupt Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
I/O Interrupt Disable (IID) and
I/O Interrupt Enable (IIE) . . . . . . . . . . . . . . . . . . . . . . . . 11-34
Reset Pending Interrupt (RPI) . . . . . . . . . . . . . . . . . . . . . 11-36
Interrupt Subroutine (INT). . . . . . . . . . . . . . . . . . . . . . . . 11-36
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Chapter 12
SLC Communication Instructions About the Communication Instructions . . . . . . . . . . . . . . . 12-1
Service Communications (SVC) . . . . . . . . . . . . . . . . . . . . . 12-2
Message Instruction Overview. . . . . . . . . . . . . . . . . . . . . . 12-3
Timing Diagram for SLC 5/03, SLC 5/04, and
SLC 5/05 MSG Instruction . . . . . . . . . . . . . . . . . . . . . . . . 12-25
MSG Instruction Error Codes . . . . . . . . . . . . . . . . . . . . . . 12-28
Chapter 13
SLC Communication Channels Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
DH-485 Communications. . . . . . . . . . . . . . . . . . . . . . . . . . 13-3
Configuring a Channel for DH-485 . . . . . . . . . . . . . . . . . . 13-6
Data Highway Plus Communications . . . . . . . . . . . . . . . . . 13-9
Configuring Channel 1 for DH+. . . . . . . . . . . . . . . . . . . . 13-11
Ethernet Communications . . . . . . . . . . . . . . . . . . . . . . . . 13-21
Configuring Channel 1 for Ethernet . . . . . . . . . . . . . . . . . 13-23
DF1 Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-37
Configuring Channel 0 for DF1 Full-Duplex. . . . . . . . . . . 13-39
Configuring Channel 0 for Standard-Mode
DF1 Half-Duplex Master . . . . . . . . . . . . . . . . . . . . . . . . . 13-43
Configuring Channel 0 for Message-based Mode DF1
Half-Duplex Master. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-51
Configuring Channel 0 for DF1 Half-Duplex Slave . . . . . . 13-54
Configuring Channel 0 Poll Timeout . . . . . . . . . . . . . . . . 13-57
Using Modems that Support DF1
Communication Protocols . . . . . . . . . . . . . . . . . . . . . . . . 13-58
Modem Control Line Operation in
SLC 5/03, SLC 5/04 and SLC 5/05 Processors . . . . . . . . . . 13-60
RTS Send Delay and RTS Off Delay Parameters . . . . . . . . 13-62
ASCII Communications . . . . . . . . . . . . . . . . . . . . . . . . . . 13-63
Configuring Channel 0 for ASCII Communications . . . . . . 13-64
SLC 5/05 Embedded Web Server Capability . . . . . . . . . . . 13-66
Chapter 14
Messaging Examples Local versus Remote type Message. . . . . . . . . . . . . . . . . . . 14-1
Remote Terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
Using the Passthru Features. . . . . . . . . . . . . . . . . . . . . . . . 14-3
DF1 and DH485 (RS232 port CH0) to Ethernet
Channel-to-Channel Passthru
(SLC 5/05 Processors OS501 FRN3 and above processors). . 14-4
SLC 5/04 Passthru Examples . . . . . . . . . . . . . . . . . . . . . . . 14-9
SLC 5/05 Passthru Examples . . . . . . . . . . . . . . . . . . . . . . 14-16
Remote Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-23
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Table of Contents vi
Chapter 15
Troubleshooting Faults Automatically Clearing Faults. . . . . . . . . . . . . . . . . . . . . . . 15-1
Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . 15-2
Troubleshooting SLC 5/03 and Higher Processors. . . . . . . 15-14
Appendix A
SLC 5/03 (OS30x), SLC 5/04 (OS40x) OS300, Series A, FRN 1
and SLC 5/05 (OS50x) Firmware released: June 1993. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
OS300, Series A, FRN 2
History
released: July 1993 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
OS300, Series A, FRN 3
released: March 1994. . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
OS300, Series A, FRN 4
released: May 1994 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
OS301, Series A, FRN 5
released: August 1994 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
OS400, Series A, FRN 1
released: August 1994 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
OS301, Series A, FRN 6
OS400, Series A, FRN 2
released: November 1994 . . . . . . . . . . . . . . . . . . . . . . . . . A-3
OS301, Series A, FRN 7
0S400, Series A, FRN 3
released: March 1995. . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
OS301, Series A, FRN 8
OS400, Series A, FRN 4
released: April 1995. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
OS302, Series A, FRN 9
OS401, Series A, FRN 5
released: December 1995. . . . . . . . . . . . . . . . . . . . . . . . . . A-4
OS401, Series A, FRN 6
released: May 1996 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
OS302, Series B, FRN 10
OS401, Series B, FRN 7
released: July 1997 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
OS500, Series A, FRN 1
released: October 1997 . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
OS302, Series B, FRN 11
OS401, Series B, FRN 8
OS500, Series A, FRN 2
released: November 1997 . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Publication 1747-RM001C-EN-P - September 2001