Allen-Bradley 5069 CompactLogix Reference guide

Reference Manual

Logix 5000 Advanced Process Control and Drives and

Equipment Phase and Sequence Instructions

1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789

SoftLogix, 5069 CompactLogix, Emulate 5570

Important user information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment

before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions

in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by

suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer,

the protection provided by the equipment may be impaired.

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.

WARNING: Identif

ies 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.

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

Important:

Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be

present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous

temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc

Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work

practices and for Personal Protective Equipment (PPE).

Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.

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

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 3

Summary of changes

This manual includes new and updated information. Use these reference tables to

locate changed information.

Global changes

None for this release.

New or enhanced features

Subject Reason

Common Attributes on page 537 Added link to the Elementary Data Types topic

Immediate values on page 540 Added Integer Immediate Values and Floating Point

Immediate Values tables.

Data Conversions on page 541 Changed Optimal data types to intermediate data types and

included extended data types USINT, INT, UINT, UDINT,

ULINT, LREAL. In the Convert SINT or INT to DINT section,

added converting DINT to LINT. Included converting data

for 32 and 64 bits.

Elementary data types on page 545 Changed the topic title from Data Types to Elementary Data

Types. Added LINT, USINT, UINT, UDINT, ULINT, REAL, and

LREAL.

LINT data types on page 548 Added a list of applicable controllers that support LINT data

types used in instructions.

Floating Point Values on page 548 Added a list of applicable controllers. Added LREAL tag

description.

Index Through Arrays on page 551 Added two new tips explaining Logix Designer allows

subscripts that are extended data type tags only. Also

explained using all available integer elementary data types

as a subscript index.

Bit Addressing on page 552 Added new definitions.

FOR_DO on page 525 Updated the description for loop ends.

Equipment Phase Instructions on page 415

The controllers that support Equipment Phase instructions

expanded to include the CompactLogix 5370 and

CompactLogix 5380, ControlLogix 5570 and ControlLogix

5580, and Compact GuardLogix 5370 and Compact

GuardLogix 5380 controllers.

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 5

Instruction Locator

Use this locator to find the applicable Logix5000 controllers instruction manual

for each instruction.

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003

Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Absolute Value (ABS) Alarm (ALM) Master Driven Coordinated Control (MDCC)

Add (ADD) Attach to Equipment Phase (PATT) Motion Apply Axis Tuning (MAAT)

Analog Alarm (ALMA) Attach to Equipment Sequence (SATT) Motion Apply Hookup Diagnostics (MAHD)

Always False (AFI) Coordinated Control (CC) Motion Arm Output Cam (MAOC)

Arc Cosine (ACS, ACOS) D Flip-Flop (DFF) Motion Arm Registration (MAR)

Arc Sine (ASN, ASIN) Deadtime (DEDT) Motion Arm Watch (MAW)

Arc Tangent (ATN, ATAN) Derivative (DERV) Motion Axis Fault Reset (MAFR)

ASCII Chars in Buffer (ACB) Detach from Equipment Phase (PDET) Motion Axis Gear (MAG)

ASCII Clear Buffer (ACL) Detach from Equipment Sequence (SDET) Motion Axis Home (MAH)

ASCII Handshake Lines (AHL) Discrete 3-State Device (D3SD) Motion Axis Jog (MAJ)

ASCII Read (ARD) Discrete 2-State Device (D2SD) Motion Axis Move (MAM)

ASCII Read Line (ARL) Enhanced PID (PIDE) Motion Axis Position Cam (MAPC)

ASCII Test for Buffer Line (ABL) Enhanced Select (ESEL) Motion Axis Stop (MAS)

ASCII Write (AWT) Equipment Phase Clear Failure (PCLF) Motion Axis Time Cam (MATC)

ASCII Write Append (AWA) Equipment Phase Command (PCMD) Motion Axis Shutdown (MASD)

Bit Field Distribute (BTD) Equipment Phase External Request (PXRQ) Motion Axis Shutdown Reset (MASR)

Bit Field Distribute with Target (BTDT) Equipment Phase Failure (PFL) Motion Calculate Cam Profile (MCCP)

Bit Shift Left (BSL) Equipment Phase New Parameters (PRNP) Motion Coordinated Path Move (MCPM)

Bit Shift Right (BSR) Equipment Phase Override Command (POVR) Motion Calculate Slave Values (MCSV)

Bitwise And (AND) Equipment Phase Paused (PPD) Motion Coordinated Transform with Orientation

(MCTO)

Bitwise (NOT) Equipment Sequence Assign Sequence Identifier

(SASI)

Motion Calculate Transform Position (MCTP)

Bitwise (OR) Equipment Sequence Clear Failure (SCLF) Motion Calculate Transform Position with

Orientation (MCTPO)

Boolean AND (BAND) Equipment Sequence command (SCMD) Motion Change Dynamics (MCD)

Boolean Exclusive OR (BXOR) Equipment Sequence Override (SOVR) Motion Coordinated Change Dynamics (MCCD)

Boolean NOT (BNOT) Function Generator (FGEN) Motion Coordinated Circular Move (MCCM)

Boolean OR (BOR) High Pass Filter (HPF) Motion Coordinated Linear Move (MCLM)

Break (BRK) High/Low Limit (HLL) Motion Coordinated Shutdown (MCSD)

Breakpoints (BPT) Integrator (INTG) Motion Coordinated Shutdown Reset (MCSR)

Clear (CLR) Internal Model Control (IMC) Motion Coordinated Stop (MCS)

Compare (CMP) JK Flip-Flop (JKFF) Motion Coordinated Transform (MCT)

Instruction Locator

6 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003

Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Convert to BCD (TOD) Lead-Lag (LDLG) Motion Direct Drive Off (MDF)

Convert to Integer (FRD) Low Pass Filter (LPF) Motion Direct Drive On (MDO)

Copy File (COP), Synchronous Copy File (CPS) Maximum Capture (MAXC) Motion Direct Start (MDS)

Cosine (COS) Minimum Capture (MINC) Motion Disarm Output Cam (MDOC)

Compute (CPT) Modular Multivariable Control (MMC) Motion Disarm Registration (MDR)

Count down (CTD) Moving Average (MAVE) Motion Disarm Watch (MDW)

Count up (CTU) Moving Standard Deviation (MSTD) Motion Group Shutdown (MGSD)

Count up/down CTUD Multiplexer (MUX) Motion Group Shutdown Reset (MGSR)

Data Transition (DTR) Notch Filter (NTCH) Motion Group Stop (MGS)

Degrees (DEG) Phase State Complete (PSC) Motion Group Strobe Position (MGSP)

Diagnostic Detect (DDT) Position Proportional (POSP) Motion Redefine Position (MRP)

Digital Alarm (ALMD) Proportional + Integral (PI) Motion Run Axis Tuning (MRAT)

DINT To String (DTOS) Pulse Multiplier (PMUL) Motion Run Hookup Diagnostics (MRHD)

Divide (DIV) Ramp/Soak (RMPS) Motion Servo Off (MSF)

End of Transition (EOT) Rate Limiter (RLIM) Motion Servo On (MSO)

Equal to (EQU) Reset Dominant (RESD)

File Arithmetic (FAL) Scale (SCL)

File Bit Comparison (FBC) S-Curve (SCRV)

FIFO Load (FFL) Second-Order Controller (SOC)

FIFO Unload (FFU) Second-Order Lead Lag (LDL2)

File Average (AVE) Select (SEL)

File Standard Deviation (STD) Selected Negate (SNEG)

File Fill (FLL) Selected Summer (SSUM)

File Sort (SRT) Set Dominant (SETD)

Find String (FIND) Split Range Time Proportional (SRTP)

For (FOR) Totalizer (TOT)

File Search and Compare (FSC) Up/Down Accumulator (UPDN)

Get System Value (GSV) and Set System Value

(SST)

Greater Than or Equal to (GEQ)

Greater than (GRT)

Insert String (INSERT)

Immediate Output (IOT)

Jump to Label (JMP) and Label (LBL)

Jump to Subroutine (JSR), Subroutine (SBR), and

Return (RET)

Jump to External Routine (JXR)

Less Than (LES)

Instruction Locator

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 7

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003

Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Less Than or Equal to (LEQ)

LIFO Load (LFL)

LIFO Unload (LFU)

License Validation (LV)

Limit (LIM)

Log Base (LOG)

Lower to Case (LOWER)

Masked Move (MVM)

Masked Move with Target (MVMT)

Master Control Reset (MCR)

Masked Equal to (MEQ)

Message (MSG)

Middle String (MID)

Modulo (MOD)

Move (MOV)

Multiply (MUL)

Natural Log (LN)

Negate (NEG)

Not Equal to (NEQ)

No Operation (NOP)

One Shot (ONS)

One Shot Falling (OSF)

One Shot Falling with Input (OSFI)

One Shot Rising (OSR)

One Shot Rising with Input (OSRI)

Output Energize (OTE)

Output Latch (OTL)

Output Unlatch (OTU)

Proportional Integral Derivative (PID)

Radian (RAD)

Real to String (RTOS)

Reset (RES)

Reset SFC (SFR)

Return (RET)

Retentive Timer On (RTO)

Retentive Timer On with Reset (RTOR)

Pause SFC (SFP)

Size In Elements (SIZE)

Sequencer Input (SQI)

Instruction Locator

8 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003

Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Sequencer Load (SQL)

Sequencer Output (SQO)

Sine (SIN)

Square Roost (SQR/SQRT)

String Concatenate (CONCAT)

String Delete (DELETE)

String to DINT (STOD)

String to REAL (STOR)

Swap Byte (SWPB)

Subtract (SUB)

Tangent (TAN)

Timer Off Delay (TOF)

Timer Off Delay with Reset (TOFR)

Timer On Delay (TON)

Timer On Delay with Reset (TONR)

Temporary End (TND)

Tracepoints (TPT)

Trigger Event Task (EVENT)

Truncate (TRN)

Unknown Instruction (UNK)

Upper Case (UPPER)

User Interrupt Disable (UID)/User Interrupt Enable

(UIE)

X to the Power of Y (XPY)

Examine if Closed (XIC)

Examine If Open (XIO)

Bitwise Exclusive (XOR)

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 9

Table of contents

Studio 5000 environment................................................................................................. 15

Additional resources .......................................................................................................... 16

Purpose of this manual ...................................................................................................... 16

Legal Notices ....................................................................................................................... 16

Chapter 1

Process Control Instructions ........................................................................................... 19

Alarm (ALM) ...................................................................................................................... 20

Discrete 3-State Device (D3SD) ..................................................................................... 26

Discrete 2-State Device (D2SD) ..................................................................................... 41

Deadtime (DEDT) ............................................................................................................ 51

Function Generator (FGEN) .......................................................................................... 56

Lead-Lag (LDLG) .............................................................................................................. 62

Enhanced PID (PIDE) ...................................................................................................... 67

Position Proportional (POSP) ...................................................................................... 102

Ramp/Soak (RMPS) ....................................................................................................... 111

Scale (SCL) ........................................................................................................................ 125

Split Range Time Proportional (SRTP) ...................................................................... 130

Totalizer (TOT) .............................................................................................................. 137

Coordinated Control (CC) ........................................................................................... 147

CC Function Block Configuration ...................................................................... 181

CC Function Block Model Initialization ............................................................ 182

CC Function Block Tuning ................................................................................... 183

CC Function Block Tuning Errors ...................................................................... 183

CC Function Block Tuning Procedure ............................................................... 184

Internal Model Control (IMC) .................................................................................... 184

IMC Fun

ction Block Configuration .................................................................... 201

IMC Function Block Model Initialization ......................................................... 202

IMC Function Block Tuning ................................................................................ 202

IMC Function Block Tuning Errors .................................................................... 203

IMC Function Block Tuning Procedure ............................................................. 204

Modular Multivariable Control (MMC) .................................................................... 204

MMC Function Block Configuration ................................................................. 243

MMC Function Block Model Initialization....................................................... 245

MMC Function Block Tuning .............................................................................. 245

Use an MMC Function Block for Splitter Control .......................................... 246

MMC Function Block Tuning Errors ................................................................. 246

MMC Function Block Tuning Procedure .......................................................... 247

Current SP

......................................................................................................................... 248

Use the Coordinated Control Function Block to Control ............................. 248

CV High/Low Limiting ................................................................................................. 250

CV Percent Limiting ....................................................................................................... 251

CV Rate-of-Change Limiting ........................................................................................ 252

Preface

Process Control Instructions

Table of contents

10 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

CV Windup Limiting ..................................................................................................... 253

Execution ........................................................................................................................... 254

Switch Between Program Control and Operator Control .............................. 254

Operating Modes ...................................................................................................... 255

Convert the PV and SP Values to Percent .......................................................... 257

Primary Loop Control ............................................................................................ 257

Processing Faults ....................................................................................................... 259

Select the Control Variable .................................................................................... 259

Update the CVOper and CVProg Values ........................................................... 260

Select the Setpoint .................................................................................................... 260

SP High/Low Limiting ........................................................................................... 261

Chapter 2

Drives Instructions .......................................................................................................... 263

Integrator (INTG) ........................................................................................................... 264

Proportional + Integral (PI) .......................................................................................... 270

Pulse Multiplier (PMUL) ............................................................................................... 281

S-Curve (SCRV) .............................................................................................................. 289

Second-Order Controller (SOC) ................................................................................. 298

Up/Down Accumulator (UPDN) ............................................................................... 308

HMI Button Control (HMIBC) ................................................................................. 312

Chapter 3

Filter Instructions ............................................................................................................ 319

Derivative (DERV) .......................................................................................................... 320

High Pass Filter (HPF) ................................................................................................... 324

Low Pass Filter (LPF) ...................................................................................................... 330

Notch Filter (NTCH) .................................................................................................... 336

Second-Order Lead Lag (LDL2) ................................................................................... 341

Chapter 4

Select/Limit Instructions ............................................................................................... 349

Enhanced Select (ESEL) ................................................................................................. 350

High/Low Limit (HLL) ................................................................................................. 357

Multiplexer (MUX) ......................................................................................................... 362

Rate Limiter (RLIM) ....................................................................................................... 365

Select (SEL) ....................................................................................................................... 370

Selected Negate (SNEG) ................................................................................................ 373

Selected Summer (SSUM) ............................................................................................. 376

Drives

Filter

Select_Limit Instructions

Table of contents

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 11

Chapter 5

Statistical Instructions ..................................................................................................... 381

Moving Average (MAVE) .............................................................................................. 382

Maximum Capture (MAXC) ........................................................................................ 388

Minimum Capture (MINC) ......................................................................................... 392

Moving Standard Deviation (MSTD) ......................................................................... 395

Chapter 6

Logical and Move Instructions ...................................................................................... 401

D Flip-Flop (DFF) ........................................................................................................... 401

JK Flip-Flop (JKFF) ......................................................................................................... 404

Reset Dominant (RESD) ................................................................................................ 407

Set Dominant (SETD) .................................................................................................... 411

Chapter 7

Equipment Phase Instructions ...................................................................................... 415

Attach to Equipment Phase (PATT) ........................................................................... 416

Detach from Equipment Phase (PDET) ..................................................................... 421

Equipment Phase Clear Failure (PCLF) ..................................................................... 424

Equipment Phase Command (PCMD) ...................................................................... 427

Equipment Phase External Request (PXRQ)............................................................. 433

Equipment Phase Failure (PFL) .................................................................................... 443

Equipment Phase New Parameters (PRNP) .............................................................. 448

Equipment Phase Override Command (POVR) ...................................................... 451

Equipment Phase Paused (PPD) ................................................................................... 455

Phase State Complete (PSC) ......................................................................................... 460

Chapter 8

Equipment Sequence instructions ................................................................................ 465

Attach to Equipment Sequence (SATT) .................................................................... 465

Detach from Equipment Sequence (SDET)............................................................... 468

Equipment Sequence Assign Sequence Identifier (SASI) ........................................ 470

Equipment Sequence Clear Failure (SCLF) ............................................................... 471

Equip

ment Sequence command (SCMD) .................................................................. 473

Equipment Sequence Diagram instructions ............................................................... 476

Equipment Sequence Override (SOVR) ..................................................................... 476

Guidelines for SATT instructions ................................................................................ 479

Guidelines for SCMD instructions .............................................................................. 480

Guidelines for SOVR instructions ................................................................................ 480

Result codes for SATT instructions ............................................................................. 481

Result codes for SCLF instructions .............................................................................. 482

Statistical Instructions

Logical and Move

Equipment Phase

Instructions

Equipment Sequence

Table of contents

12 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Result codes for SCMD instructions ........................................................................... 483

Result codes for SOVR instructions ............................................................................. 484

SASI instruction examples ............................................................................................. 485

SATT instruction examples ........................................................................................... 486

SCLF instruction examples ............................................................................................ 486

SCMD instruction examples ......................................................................................... 487

SDET instruction examples ........................................................................................... 487

SOVR instruction examples ........................................................................................... 488

When should I use an SOVR instruction instead of an SCMD instruction? ...... 489

Chapter 9

Choose the Function Block Elements.......................................................................... 492

Latching Data.................................................................................................................... 493

Function Block Responses to Overflow Conditions ................................................ 494

Order of Execution .......................................................................................................... 495

Timing Modes .................................................................................................................. 499

Program/Operator Control ........................................................................................... 502

Function Block States ...................................................................................................... 505

Chapter 10

Structured Text Syntax ................................................................................................... 508

Structured Text Components: Comments ................................................................ 509

Structured Text Components: Assignments .............................................................. 510

Specify a non-retentive assignment ....................................................................... 511

Assign an ASCII character to a string data member ......................................... 512

Structured Text Components: Expressions ................................................................ 513

Use arithmetic operators and functions .............................................................. 514

Use bitwise operators ............................................................................................... 516

Use logical operators ................................................................................................ 516

Use relational operators .......................................................................................... 517

Structured Text Components: Instructions ............................................................... 519

Struct

ured Text Components: Constructs ................................................................. 520

Character string literals ................................................................................................... 521

String Types ............................................................................................................... 522

CASE_OF ......................................................................................................................... 523

FOR_DO ........................................................................................................................... 525

IF_THEN .......................................................................................................................... 527

REPEAT_UNTIL ........................................................................................................... 530

WHILE_DO .................................................................................................................... 533

Structured Text Attributes............................................................................................. 535

Function Block Attributes

Structured Text

Programming

Table of contents

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 13

Chapter 11

Common Attributes ........................................................................................................ 537

Math Status Flags ............................................................................................................. 537

Immediate values .............................................................................................................. 540

Data Conversions ............................................................................................................. 541

Elementary data types ...................................................................................................... 545

LINT data types ............................................................................................................... 548

Floating Point Values ...................................................................................................... 548

Index Through Arrays ..................................................................................................... 551

Bit Addressing ................................................................................................................... 552

Function Block Faceplate Controls .............................................................................. 552

Faceplate Control Properties Dialog - General Tab ................................................. 553

Faceplate Control Properties Dialog - Display Tab .................................................. 554

Faceplate Control Properties Dialog - Font Tab ....................................................... 555

Faceplate Control Properties Dialog - LocaleTab ..................................................... 556

ASCII Character Codes .................................................................................................. 557

ASCII character codes ..................................................................................................... 557

Common Attributes for

Advanced Process Control

and Drives Instructions

Index

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 15

Preface

This manual provides a programmer with details about the available General,

Motion, Process, and Drives instruction set for a Logix-based controller.

If you design, program, or troubleshoot safety applications that use GuardLogix

controllers, refer to the

GuardLogix Safety Application Instruction Set Safety

Reference Manual, publication 1756-RM095.

This manual is one of a set of related manuals that show common procedures for

programming and operating Logix 5000 controllers.

For a complete list of common procedures manuals, refer to the

Logix 5000

Controllers Common Procedures Programming Manual, publication 1756-

PM001 .

The term Logix 5000 controller refers to any controller based on the Logix 5000

operating system.

The Studio 5000 Automation Engineering & Design Environment® combines

engineering and design elements into a common environment. The first element is

the Studio 5000 Logix Designer® application. The Logix Designer application is

the rebranding of RSLogix 5000® software and will continue to be the product to

program Logix 5000™ controllers for discrete, process, batch, motion, safety, and

drive-based solutions.

The Studio 5000® environment is the foundation for the future of

Rockwell Automation® engineering design tools and capabilities. The Studio 5000

environment is the one place for design engineers to develop all elements of their

control system.

Studio 5000 environment

Preface

16 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

These documents contain additional information concerning related Rockwell

Automation products.

Resource Description

Industrial Automation Wiring and Grounding Guidelines ,

publication 1770-4.1

Provides general guidelines for installing a Rockwell

Automation industrial system.

Product Certifications webpage, available

at http://ab.rockwellautomation.com

Provides declarations of conformity, certificates, and other

certification details.

View or download publications

at http://www.rockwellautomation.com/literature

. To order paper copies of

technical documentation, contact the local Rockwell Automation distributor or

sales representative.

This manual provides a programmer with details about each available instruction

for a Logix-based controller. This manual also gives you guidance and examples to

use equipment phase instructions to transition to different state, handle faults, set

up break points, and so forth.

Copyright Notice

Printed in USA.

This document and any accompanying Rockwell Software products are

copyrighted by Rockwell Automation Technologies, Inc. Any reproduction

and/or distribution without prior written consent from Rockwell Automation

Technologies, Inc. is strictly prohibited. Please refer to the license agreement for

details.

End User License Agreement (EULA)

You can view the Rockwell Automation End-User License Agreement ("EULA")

by opening the License.rtf file located in your product's install folder on your hard

drive.

Open source licenses

The software included in this product contains copyrighted software that is

licensed under one or more open source licenses. Copies of those licenses are

included with the software. Corresponding Source code for open source packages

included in this product are located at their respective web site(s).

Alternately, obtain complete Corresponding Source code by contacting Rockwell

Automation via the Contact form on the Rockwell Automation

website:

http://www.rockwellautomation.com/global/about-

Additional resources

Purpose of this manual

Legal Notices

Preface

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 17

us/contact/contact.page

Please include "Open Source" as part of the request text.

A full list of all open source software used in this product and their corresponding

licenses can be found in the OPENSOURCE folder

included with the Release

Notes. The default installed location of these licenses is C:\Program Files

(x86)\Common

Files\Rockwell\Help\

<Product>\ReleaseNotes\OPENSOURCE\index.htm.

Trademark Notices

Allen-Bradley, ControlBus, ControlFLASH, Compact GuardLogix, Compact

I/O, ControlLogix, CompactLogix, DCM, DH+, Data Highway Plus,

DriveLogix, DPI, DriveTools, Explorer, FactoryTalk, FactoryTalk Administration

Console, FactoryTalk Alarms and Events, FactoryTalk Batch, FactoryTalk

Directory, FactoryTalk Security, FactoryTalk Services Platform, FactoryTalk

View, FactoryTalk View SE, FLEX Ex, FlexLogix, FLEX I/O, Guard I/O, High

Performance Drive, Integrated Architecture, Kinetix, Logix5000, Logix 5000,

Logix5550, MicroLogix, DeviceNet, EtherNet/IP, PLC-2, PLC-3, PLC-5,

PanelBuilder, PowerFlex, PhaseManager, POINT I/O, PowerFlex, Rockwell

Automation, RSBizWare, Rockwell Software, RSEmulate, Historian,

RSFieldbus, RSLinx, RSLogix, RSNetWorx for DeviceNet, RSNetWorx for

EtherNet/IP, RSMACC, RSView, RSView32, Rockwell Software Studio 5000

Automation Engineering & Design Environment, Studio 5000 View Designer,

SCANport, SLC, SoftLogix, SMC Flex, Studio 5000, Ultra 100, Ultra 200,

VersaView, WINtelligent, XM, SequenceManager are trademarks of Rockwell

Automation, Inc.

Any Rockwell Automation logo, software or hardware product not mentioned

herein is also a trademark, registered or otherwise, of Rockwell Automation, Inc.

Other Trademarks

CmFAS Assistant, CmDongle, CmStick, CodeMeter, CodeMeter Control

Center, and WIBU are trademarks of WIBU-SYSTEMS AG in the United States

and/or other countries.

All other trademarks are the property of their respective holders and are hereby

acknowledged.

Warranty

This product is warranted in accordance with the product license. The product’s

performance may be affected by system configuration, the application being

performed, operator control, maintenance, and other related factors. Rockwell

Automation is not responsible for these intervening factors. The instructions in

this document do not cover all the details or variations in the equipment,

Preface

18 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

procedure, or process described, nor do they provide directions for meeting every

possible contingency during installation, operation, or maintenance. This

product’s implementation may vary among users.

This document is current as of the time of release of the product; however, the

accompanying software may have changed since the release. Rockwell Automation,

Inc. reserves the right to change any information contained in this document or

the software at any time without prior notice. It is your responsibility to obtain the

most current information available from Rockwell when installing or using this

product.

Environmental Compliance

Rockwell Automation maintains current product environmental information on

its website at

http://www.rockwellautomation.com/rockwellautomation/about-

us/sustainability-ethics/product-environmental-compliance.page

Contact Rockwell

Customer Support Telephone — 1.440.646.3434

Online Support — http://www.rockwellautomation.com/support/

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 19

Chapter 1

Process

The Process Control instructions include these instructions:

Available Instructions

Ladder Diagram

Not available

Function Block and Structured Text

ALM SCL PIDE RMPS POSP SRTP LDLG FGEN

TOT DEDT D2SD D3SD IMC CC MMC

If you want to Use this instruction

Provide alarming for any analog signal. ALM

Control discrete devices, such as solenoid valves, pumps, and motors, that

have only two possible states (e.g., on/off, open/closed, etc.).

D2SD

Control discrete devices, such as high/low/off feeders that have three

possible states (e.g., fast/slow/off, forward/stop/reverse, etc.).

D3SD

Perform a delay of a single input. You select the amount of deadtime

delay.

DEDT

Convert an input based on a piece-wise linear function. FGEN

Provide a phase lead-lag compensation for an input signal. LDLG

Regulate an analog output to maintain a process variable at a certain

setpoint, using a PID algorithm.

PIDE

Raise/lower or open/close a device, such as a motor-operated valve, by

pulsing open or close contacts.

POSP

Provide for alternating ramp and soak periods to follow a temperature

profile.

RMPS

Convert an unscaled input value to a floating point value in engineering

units.

SCL

Process Control

Instructions

Chapter 1

Process Control Instructions

20 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Take the 0-100% output of a PID loop and drive heating and cooling

digital output contacts with a periodic pulse.

SRTP

Provide a time-scaled accumulation of an analog input value, such as a

volumetric flow.

TOT

Control a single process variable by maintaining a single controller output. IMC

Control a single process variable by manipulating as many as three

different control variables.

CC

Control two process variables to their setpoints using up to three control

variables.

MMC

Allen-Bradley 5069 CompactLogix Reference guide

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