Rockwell Automation Allen-Bradley 5069 Compact GuardLogix Programming Manual

Programming Manual

Logix 5000 Controllers Tasks, Programs, and Routines

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

1789 SoftLogix, 5069 CompactLogix, 5069 Compact GuardLogix, Studio 5000 Logix Emulate

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

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WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to

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ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic

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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

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Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 3

Summary of changes

This manual contains new and updated information. There are a number of minor

changes throughout this publication that were made to clarify existing

information. The major changes are listed in the following table.

Change Topic

Updated the list of supported controllers. Cover

Updated screen shots. Throughout

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 5

Table of contents

Studio 5000 environment.................................................................................................... 7

Additional resources ............................................................................................................. 7

Legal notices ........................................................................................................................... 8

Chapter 1

Introduction ........................................................................................................................ 11

Select Controller Tasks ..................................................................................................... 11

Use Caution in the Number of Tasks That You Use ......................................... 13

Prioritize Periodic and Event tasks ................................................................................. 13

Additional Considerations ....................................................................................... 14

Example ........................................................................................................................ 15

Leave Enough Time for Unscheduled Communication ............................................ 16

Avoid Overlaps ................................................................................................................... 17

Manually Check for Overlaps .................................................................................. 18

Programmatically Check for Overlaps ................................................................... 19

Configure Output Processing for a Task....................................................................... 21

Manually Configure Output Processing ............................................................... 23

Programmatically Configure Output Processing ................................................ 24

Inhibit a Task ...................................................................................................................... 25

Manually Inhibit or Uninhibit a Task ................................................................... 25

Programmatically Inhibit or Uninhibit a Task .................................................... 26

Create a Task ....................................................................................................................... 27

Create a Periodic Task............................................................................................... 29

Language Switching ................................................................................................... 30

Adjust the System-overhead Time Slice ........................................................................ 31

Configure the System-overhead Time Slice .......................................................... 32

Adjust the System Watchdog Time ............................................................................... 34

Adjust the Watchdog Timer for a Task ................................................................. 34

Chapter 2

Introduction ........................................................................................................................ 37

Choose the trigger for an event task ............................................................................... 37

Module Input Data State Change Trigger .................................................................... 40

How an I/O Module Triggers an Event Task ...................................................... 40

Make Sure Your Module Can Trigger an Event Task ........................................ 43

Checklist for an Input Event Task.......................................................................... 43

Example – Input Event Task ................................................................................... 45

Estimate Throughput ................................................................................................ 46

Example - Estimate Throughput ............................................................................. 47

Additional Considerations ....................................................................................... 48

Motion Group Trigger ...................................................................................................... 49

Preface

Manage Tasks

Manage Event Tasks

Table of contents

6 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

Checklist for a Motion Group Task ....................................................................... 51

Axis Registration Trigger .................................................................................................. 51

Checklist for an Axis Registration Task ................................................................ 52

Example - Axis Registration Trigger ....................................................................... 53

Axis Watch Trigger ............................................................................................................ 55

Checklist for an Axis Watch Task .......................................................................... 56

Example - Axis Watch Trigger................................................................................. 56

Consumed Tag Trigger ..................................................................................................... 59

Maintain the Integrity of Data ................................................................................ 61

Synchronize multiple controllers ............................................................................ 62

Checklist for the Producer Controller ................................................................... 62

Checklist for the Consumer Controller ................................................................ 63

Example - Producer Controller and Consumer Controller .............................. 64

Producer Controller .................................................................................................. 64

Produced Tag Properties ................................................................................... 65

Ladder Logic ........................................................................................................ 65

Consumer Controller ................................................................................................ 65

Event Task Properties ........................................................................................ 65

Ladder Diagram in the Event Task ................................................................. 66

EVENT Instruction Trigger ............................................................................................ 67

Programmatically Determine if EVENT Instruction Triggered Task ............ 68

Checklist for an EVENT Instruction Task .......................................................... 68

Example – EVENT Instruction Trigger ................................................................ 69

Event Task Properties ........................................................................................ 69

Ladder Diagram in Program_A ....................................................................... 69

Ladder Diagram in Program_B ....................................................................... 69

Define a Timeout Value for an Event Task .................................................................. 70

Assign a Timeout Value to an Event Task ............................................................ 71

Programmatically Configure a Timeout ................................................................ 72

Programmatically determine if a timeout occurs ................................................. 72

Index

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 7

Preface

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 that is 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.

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.

Studio 5000 environment

Additional resources

Preface

8 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

You can view or download publications at

http://www.rockwellautomation.com/literature. To order paper copies of

technical documentation, contact your local Rockwell Automation distributor or

sales representative.

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You may alternately obtain complete Corresponding Source code by contacting

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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

Legal notices

Preface

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 9

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, CodeMeter, CodeMeter Control Center, and

WIBU are trademarks of WIBU-SYSTEMS AG in the United States and/or

other countries. Microsoft is a registered trademark of Microsoft Corporation in

the United States and/or other countries. ControlNet is a trademark of

ControlNet International. DeviceNet is a trademark of the Open DeviceNet

Vendors Association (ODVA). Ethernet/IP is a trademark of ControlNet

International under license by ODVA.

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,

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.

Preface

10 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

Environmental compliance

Rockwell Automation maintains current product environmental information on

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

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

Contact Rockwell Automation

Customer Support Telephone — 1.440.646.3434

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

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 11

Chapter 1

Manage Tasks

The default project provides a single task for all your logic. Although this is

sufficient for many applications, some situations may require more than one task.

A Logix 5000 controller supports multiple tasks to schedule and prioritize the

running of your programs based on specific criteria. This balances the processing

time of the controller.

• The controller runs only one task at one time.

• A different task can interrupt a task that is running and take control.

• In any given task, only one program runs at one time.

A Logix 5000 controller supports the following types of tasks.

If you want to run a section of

your logic

Then use this type

of task

Description

All the time Continuous Task The continuous task runs in the background. Any CPU time not allocated to other

operations (such as motion, communication, and periodic or event tasks) is used to run the

programs within the continuous task.

• The continuous task runs all the time. When the continuous task completes a full scan,

it restarts immediately.

• A project does not require a continuous task. If used, there can be only one continuous

task.

Introduction

Select Controller Tasks

Chapter 1

Manage Tasks

12 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

If you want to run a section of

your logic

Then use this type

of task

Description

• At a constant period (for

example, every 100 ms)

• Multiple times within the scan

of your other logic

Periodic Task

A periodic task performs a function at a specific period. When the time for the periodic task

expires, the periodic task:

• Interrupts any lower priority tasks.

• Runs one time.

• Returns control to where the previous task left off.

You can configure the time period from 0.1 ms…2000 s. The default is 10 ms.

Immediately when an event occurs Event Task An event task performs a function only when a specific event (trigger) occurs. When the

trigger for the event task occurs, the event task:

• Interrupts any lower priority tasks.

• Runs one time.

• Returns control to where the previous task left off.

The trigger can be a:

• Change of a digital input.

• New sample of analog data.

• Certain motion operations.

• Consumed tag.

• EVENT instruction.

Important: Some Logix 5000 controllers do not support all triggers.

The following table lists example situations for the tasks.

For this example situation Use this type of task

Fill a tank to its maximum level and then open a drain valve. Continuous task

Collect and process system parameters and send them to a display. Continuous task

Complete step 3 in a control sequence—reposition the bin diverter. Continuous task

Your system must check the position of a field arm each 0.1 s and calculate the average rate of

change in its position. This is used to determine braking pressure.

Periodic task

Read the thickness of a paper roll every 20 ms. Periodic task

A packaging line glues boxes closed. When a box arrives at the gluing position, the controller

must immediately run the gluing routine.

Event task

In a high-speed assembly operation, an optical sensor detects a certain type of reject. When the

sensor detects a reject, the machine must immediately divert the reject.

Event task

In an engine test stand, you want to capture and archive each analog data immediately after

each sample of data.

Event task

Immediately after receiving new production data, load the data into the station. Event task

In a line that packages candy bars, you have to make sure that the perforation occurs in the

correct location on each bar. Each time the registration sensor detects the registration mark,

check the accuracy of an axis and perform any required adjustment.

Event task

A gluing station must adjust the amount of glue it applies to compensate for changes in the

speed of the axis. After the motion planner runs, check the command speed of the axis and vary

the amount of glue, if needed.

Event task

In a production line, if any of the programs detect an unsafe condition the entire line must shut

down. The shutdown procedure is the same regardless of the unsafe condition.

Event task

The number of tasks supported depends on the controller.

Manage Tasks

Chapter 1

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 13

This controller

Supports this number of

tasks

Notes

ControlLogix

1756-L71

1756-L72

1756-L73

1756-L74

1756-L75

GuardLogix

1756-L71S

1756-L72S

1756-L73S

SoftLogix5800

1756-L7SP

32

Only one task can be

continuous.

CompactLogix

1769-L2x

1769-L31

1769-L32x

1769-L35x

1768-L43

1768-L45

1769-L16x

1769-L18x

1769-L19x

1769-L24x

1769-L27x

1769-L30x

1769-L33x

1769-L36x

1769-L37x

3

4

6

8

16

32

Typically, each task takes controller time away from the other tasks. If you have

too many tasks, then:

• The continuous task may take too long to complete.

• Other tasks may overlap. If a task is interrupted too frequently or too long,

it may not finish running before it is triggered again.

Although a project can contain multiple tasks, the controller runs only one task at

a time. If a periodic or event task is triggered while another task is running, the

priority of each task indicates what the controller should do.

The number of priority levels depends on the controller.

This Logix 5000 controller Has this many priority levels

CompactLogix 15

ControlLogix 15

Use Caution in the Number of

Tasks That You Use

Prioritize Periodic and

Event tasks

Chapter 1

Manage Tasks

14 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

This Logix 5000 controller Has this many priority levels

DriveLogix 15

FlexLogix 15

SoftLogix5800 3

To assign a priority to a task, use the following guidelines.

If you want Then Notes

This task to interrupt

another task

Assign a priority number that is less than

(higher priority) the priority number of the

other task.

•

A higher priority task interrupts all

lower priority tasks.

• A higher priority task can interrupt a

lower priority task multiple times.

Another task to interrupt

this task

Assign a priority number that is greater than

(lower priority) the priority number of the other

task.

This task to share controller

time with another task

Assign the same priority number to both tasks. The controller switches back and forth

between each task and runs each task

for 1 ms.

As you estimate the execution interrupts for a task, consider the following.

Consideration Description

Motion planner The motion planner interrupts all user tasks, regardless of their priority.

• The number of axes and coarse update period for the motion group affect how long and how

often the motion planner runs.

• If the motion planner is running when a task is triggered, the task waits until the motion

planner is done.

• If the coarse update period occurs while a task is running, the task pauses to let the motion

planner run.

I/O task

Tip: CompactLogix controllers do not have I/O tasks.

FlexLogix, and DriveLogix controllers use a dedicated periodic task to process I/O data. This I/O

task:

• Does not show up in the Tasks folder of the controller.

• Does not count toward the task limits for the controller.

• Operates at priority 6.

• Runs at the fastest RPI you have scheduled for the system.

• Runs for as long as it takes to scan the configured I/O modules.

As you assign priorities to your tasks, consider the I/O task.

If you want a task to Then assign one of these priorities

Interrupt or delay I/O processing 1…5

Share controller time with I/O processing 6

Let I/O processing interrupt or delay the task 7…15

Additional Considerations

Manage Tasks

Chapter 1

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 15

System overhead System overhead is the time that the controller spends on unscheduled communication.

• Unscheduled communication is any communication that you do not configure through the

I/O configuration folder of the project, such as Message (MSG) instructions and

communication with HMIs or workstations.

• System overhead interrupts only the continuous task.

• The system overhead time slice specifies the percentage of time (excluding the time for

periodic or event tasks) that the controller devotes to unscheduled communication.

• The controller performs unscheduled communication for up to 1 ms at a time and then

resumes the continuous task.

Continuous task You do not assign a priority to the continuous task. It always runs at the lowest priority. All

other tasks interrupt the continuous task.

The following example shows the execution of a project with three user tasks.

Task Priority Period Execution time Duration

Motion planner N/A 8 ms (base update

rate)

1 ms 1 ms

Event task 1 1 N/A 1 ms 1…2 ms

Periodic task 1 2 12 ms 2 ms 2…4 ms

I/O task—n/a to CompactLogix,

ControlLogix and SoftLogix

controllers. See

Additional

Considerations on page 14.

7 5 ms (fastest RPI) 1 ms 1…5 ms

System overhead N/A Time slice = 20% 1 ms 1…6 ms

Continuous task N/A N/A 20 ms 48 ms

Example

Chapter 1

Manage Tasks

16 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

Description

Initially, the controller runs the motion planner and the I/O task (if one exists).

After running the continuous task for 4 ms, the controller triggers the system overhead.

The period for periodic task 1 expires (12 ms), so the task interrupts the continuous task.

After running the continuous task again for 4 ms, the controller triggers the system overhead.

The trigger occurs for event task 1.

Event task 1 waits until the motion planner is done.

Lower priority tasks are delayed.

The continuous task automatically restarts.

The Studio 5000 environment includes a task monitor tool on the distribution

CD. You can use this tool to analyze how tasks are running.

Unscheduled communication occurs only when a periodic or event task is not

running. If you use multiple tasks, make sure that the scan times and execution

intervals leave enough time for unscheduled communication. Use the following

methods to plan enough unscheduled communication time.

1. Verify that the execution time of a highest priority task is significantly less

than its specified period.

2. Verify that the total execution time of all your tasks is significantly less than

the period of the lowest priority tasks.

For example, the following is true in this configuration.

Task Priority Execution Time Period Specified

1 Higher 20 ms 80 ms

2 Lower 30 ms 100 ms

Total execution time: 50 ms

• The execution time of the highest priority task (Task 1) is significantly less

than its specified period (20 ms is less than 80 ms).

• The total execution time of all tasks is significantly less than the specified

period of the lowest priority task (50 ms is less than 100 ms).

The following guidelines generally leave enough time for unscheduled

communication.

Leave Enough Time for

Unscheduled

Communication

Manage Tasks

Chapter 1

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 17

• Adjust the period of the tasks as needed to get the best balance between

running your logic and servicing unscheduled communication.

• If your project has a continuous task, unscheduled communication occurs as

a percentage of controller time (excluding the time for periodic or event

tasks).

An overlap is a condition where a task (periodic or event) is triggered while the

task is still running from the previous trigger.

Important:

If an overlap occurs, the controller disregards the trigger that caused the overlap. In other words, you might miss an important execution of the task.

Description

Task trigger occurs.

Task runs.

Task trigger occurs.

Task runs.

Task trigger occurs.

Task runs.

Overlap occurs. Task is triggered while it is still running.

The trigger does not restart the task. The trigger is ignored.

Each task requires enough time to finish before it is triggered again. Make sure that

the scan time of the task is significantly less than the rate at which the trigger

occurs. If an overlap occurs, reduce the frequency at which you trigger the task.

If the type of task is Then

Periodic Increase the period of the task.

Event Adjust the configuration of your system to trigger the task less frequently.

Avoid Overlaps

Chapter 1

Manage Tasks

18 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

Follow these steps to manually see if overlaps are occurring for a task.

1. In the Controller Organizer, right-click MainTask and choose Properties.

Manually Check for Overlaps

Manage Tasks

Chapter 1

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 19

2. On the Task Properties dialog box, click the Monitor tab.

The Task Overlap Count shows the number of overlaps since the counter

was last reset.

3. Click OK.

When an overlap occurs, the controller:

• Logs a minor fault to the FAULTLOG object.

• Stores overlap information in the Task object for the task.

To write logic to check for an overlap, use a Get System Value (GSV) instruction

to monitor either of these objects.

If you want to Then access the object and attribute

Object Attribute Data Type Description

Determine if an overlap occurred for any

task

FaultLog MinorFaultBits DINT Individual bits that indicate a minor fault:

To determine if Examine this bit

An instruction produced a minor fault. 4

An overlap occurred for a task. 6

The serial port produced a minor fault. 9

The battery/ESM is not present or needs

replacement.(1)

10

Determine if an overlap occurred for a

specific task

Task Status DINT Status information about the task. Once the controller sets one of these

bits, you must manually clear the bit.

Programmatically Check for

Overlaps

Chapter 1

Manage Tasks

20 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018

If you want to Then access the object and attribute

Object Attribute Data Type Description

To determine if Examine this bit

An EVENT instruction triggered the task

(event task only).

0

A timeout triggered the task (event task

only).

1

An overlap occurred for this task. 2

Determine the number of times that an

overlap occurred.

Task OverlapCount DINT Valid for an event or a periodic task.

To clear the count, set the attribute to 0.

(1) Battery for 1756-L6X, 1769-L2X, and 1769-L3X controllers. ESM for 1756-

L7X and CompactLogix 5370 series controllers.

Example:

1. The GSV instruction sets Task_2_Status = Status attribute for Task_2 (DINT value).

2. If Task_2_Status.2 = 1, then an overlap occurred, so get the count of overlaps:

The GSV instruction sets Task_2_Overlap_Count (DINT tag) = OverlapCount attribute of Task_2.

3. If Condition_1 = 1, then clear the bits of the Status attribute for Task_2:

The SSV instruction sets the Status attribute of Task_2 = Zero. Zero is a DINT tag with a value of 0.

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