Allen-Bradley Mini-PLC Mini-PLC-2/16 User manual

MiniPLC2/02, 2/16, 2/17 Processor
(cat. no. 1772LZ, LZP, LX, LXP,
LW, LWP)
User Manual

Because of the variety of uses for this product and because of the differences
between solid state products and electromechanical products, those responsible
for applying and using this product must satisfy themselves as to the
acceptability of each application and use of this product. For more information,
refer to publication SGI-1.1 (Safety Guidelines For The Application, Installation
and Maintenance of Solid State Control).
The illustrations, charts, and layout examples shown in this manual are intended
solely to illustrate the text of this manual. Because of the many variables and
requirements associated with any particular installation, Allen-Bradley Company
cannot assume responsibility or liability for actual use based upon the illustrative
uses and applications.
No patent liability is assumed by Allen-Bradley Company with respect to use of
information, circuits, equipment or software described in this text.
Reproduction of the contents of this manual, in whole or in part, without written
permission of the Allen-Bradley Company is prohibited.
Throughout this manual we make notes to alert you to possible injury to people
or damage to equipment under specific circumstances.
ATTENTION: Identifies information about practices or
circumstances that can lead to personal injury or death, property
damage or economic loss.
Attention helps you:
- Identify a hazard
- Avoid the hazard
- recognize the consequences
Important: Identifies information that is critical for successful application and
understanding of the product.
Important User Information

Summary of Changes
i
Summary of Changes
This release of the publication contains updated information:
For this updated information: See:
revised conventions chapter 1
clarified ATTENTION statement about using
1770XZ batteries
chapter 3
revised illustrations showing the new chassis
(1771A1B, A2B, A3B, A3B1, and A4B)
chapter 3
chapter 4
chapter 5
chapter 10
minor corrections to the structure for
2slot addressing
chapter 7
appendix E
added information about adding Branch Start and
Branch End instructions while programming
on line
chapter 9
corrected last counter address information for
counter instructions
chapter 11
minor corrections to Limit Test examples chapter 12
added more information about output alarms and
output limits
chapter 16
minor correction to FIFO ladder diagram examples chapter 15
appendix E
added warning about using Jump instructions;
corrections to programming examples
chapter 17
corrections to programming examples chapter 18
added warning about using selectable timed
interrupt routines
chapter 22
minor revisions to programming examples chapter 25
clarified the Important statement about
illegal opcodes
chapter 26
new format all chapters and appendices
To help you find new information in this publication, we have included
change bars as shows to the left of this paragraph.
Summary of Changes

Summary of Changes i . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using This Manual 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Differences 11
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
What's this User Manual Contains 12
. . . . . . . . . . . . . . . . . . . . . . . .
Vocabulary 12
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Conventions 13
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Related
Publications 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fundamentals of a Programmable Controller 21. . . . . . . . . . .
Chapter Objectives 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Traditional Controls 21
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programmable Systems 22
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Four Major Sections 22
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Sequence 29
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scan Sequence 210
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hardware Features 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Major Features 31
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Processor Features 31
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Series Changes 32
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special Features 33
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Processors 33
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional
Equipment 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing Y our Programmable Controller 41. . . . . . . . . . . . . .
Chapter Objectives 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Related Hardware 41
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Planning Your Processor System 42
. . . . . . . . . . . . . . . . . . . . . . . . .
How
to Install Y our Processor 413. . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 1 - Mounting the Backpanel 414
. . . . . . . . . . . . . . . . . . . . . . . .
Step 2 - Mounting and Grounding Components on the Backpanel 415
.
Step
3 - Setting the Switches within the Switch Group Assembly 422. .
Step 4 - Installing Keying Bands and Field Wiring Arms 424
. . . . . . . . .
Step
5 - Installing I/O Modules 426. . . . . . . . . . . . . . . . . . . . . . . . . .
Step 6 - Backup Battery 428
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step
7 - Installing the EEPROM Memory Module 429. . . . . . . . . . . . .
Step 8 - Installing the Processor 431
. . . . . . . . . . . . . . . . . . . . . . . . .
Step 9 - Installing the Power Supply 431
. . . . . . . . . . . . . . . . . . . . . .
Table of Contents

Table of Contentsii
Step 10 - Connecting to the Field Wiring Arms 432. . . . . . . . . . . . . . .
Step 11 - Connecting Power to the Processor or Power Supply 437
. . .
Step 12 - Connecting the Industrial Terminal 442
. . . . . . . . . . . . . . . .
Master Control Relay 443
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting Y our Processor 51. . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Verify Your System's Addresses 51
. . . . . . . . . . . . . . . . . . . . . . . . .
Status Indicators for I/O Modules 53
. . . . . . . . . . . . . . . . . . . . . . . . .
Addressing Your Hardware 54
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before You Supply AC Power 518
. . . . . . . . . . . . . . . . . . . . . . . . . . .
Testing Output Devices 518
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Testing Input Devices 520
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintaining and Troubleshooting Your Processor 61. . . . . . .
Chapter Objectives 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General 61
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Preventive Maintenance 61
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Memory Organization 71. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 71
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Memory Areas 72
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjusting the Data Table 77
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Expanding the Data Table Between 48 and 128 Words 77
. . . . . . . . .
Expanding the Data Table Between 130 and 256 Words 79
. . . . . . . .
User Program 711
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message Storage 711
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scan Theory 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scan Function 81
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Average Scan Time 83
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RelayLike Instructions 91. . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming Logic 91
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bit
Examining 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examine On and Examine Off 94
. . . . . . . . . . . . . . . . . . . . . . . . . . .
Bit
Controlling 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Energize 95
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output
Latch/Unlatch 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Branching Instructions 98
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents iii
Branch Start/End 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Nesting 911
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Control Instructions 101. . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 101
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Override Instructions 101
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Immediate
I/O Update Instructions 105. . . . . . . . . . . . . . . . . . . . . . . .
Timers and Counters 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 111
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timer Instructions 112
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timer On Delay 112
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timer
Of f Delay 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Retentive Timer On 114
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Retentive Timer Reset 115
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Counter Instructions 117
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Up Counter 117
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Down Counter 118
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Counter Reset 119
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Manipulation and Comparison Instructions 121. . . . . . . .
Chapter Objectives 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Get 121
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Put 122
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compare Instructions 123
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Equal To 123
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Less Than 124
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limit Test 125
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operations Involving Transfer and Comparison Instructions 128
. . . . . .
Equal To or Less Than 128
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Greater Than 129
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Equal To or Greater Than 1210
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Get Byte 1211
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Get
Byte/Put 1211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ThreeDigit Math Instructions 131. . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ThreeDigit
Math 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Entering a ThreeDigit Math Instruction 133
. . . . . . . . . . . . . . . . . . . .

Table of Contentsiv
EAF Math Instructions 141. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Two Operand EAFs 141
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Addition and Subtraction 146
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Multiplication and Division 148
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Y
to the X 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
One Operand EAFs 1410
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Exponential and Square Root 1414
. . . . . . . . . . . . . . . . . . . . . . . . . . .
10
to the X 1417. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reciprocal 1418
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCD to Binary 1419
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Binary
to BCD 1420. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EAF Logarithmic, T rigonometric, and FIFO Instructions 151. . .
Chapter Objectives 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
One Operand EAFs 151
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Log to Base 10 or Log to Base e 155
. . . . . . . . . . . . . . . . . . . . . . . . .
Sine and Cosine 156
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FIFO Load and FIFO Unload 157
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
EAF Process Control Instructions 161. . . . . . . . . . . . . . . . . . .
Chapter Objectives 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID Control 161
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Loop Considerations 165
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming 165
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Entry and Display of a Selectable Timed Interrupt
(STI) Controlled PID Function 1614
. . . . . . . . . . . . . . . . . . . . . . . .
Software
Manual Control Station 1620. . . . . . . . . . . . . . . . . . . . . . . . .
Cascading Loops 1621
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DeScaling
Inputs 1623. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Averaging and Standard Deviation Functions 1634
. . . . . . . . . . . . . . . .
Difference Between ThreeDigit and SixDigit Functions 1634
. . . . . . . . .
Wall Clock/Calendar 1645
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jump Instructions and Subroutine Programming 171. . . . . . . .
Chapter Objectives 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jump 171
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jump to Subroutine 172
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Label 172
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Return 173
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Entering Jump Instructions 173
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Subroutine Area Instruction 173
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents v
Block Transfer 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Basic Operation 181
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block Transfer Format 184
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block Transfer Read 188
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block Transfer Write 1811
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BiDirectional Block Transfer 1812
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Multiple
Reads of Dif ferent Block Lengths 1816. . . . . . . . . . . . . . . . . . .
Buffering
Data 1817. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Two
Get Method 1820. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Support Rungs 1823
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Transfer File Instructions 191. . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FiletoFile Move Instruction 192
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
WordtoFile Move Instruction 1913
. . . . . . . . . . . . . . . . . . . . . . . . . . .
FiletoWord Move Instruction 1914
. . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Monitor Display 1916
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjusting the Data Table Size 1918
. . . . . . . . . . . . . . . . . . . . . . . . . . .
Bit Shift Registers 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bit
Shift Left 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bit
Shift Right 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examine
Of f Bit Shift 207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examine
On Bit Shift 209. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set
Bit Shift 2011. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reset
Bit Shift 2013. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequencers 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comparison
with File Instructions 211. . . . . . . . . . . . . . . . . . . . . . . .
Mask 212
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming
Limitations 213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequencer Instructions 213
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequencer
Input 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequencer
Output 2113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequencer Load 2120
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contentsvi
Selectable Timed Interrupt 221. . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 221
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selectable Timed Interrupt 223
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operational Overview 224
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Report Generation 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Report Generation Commands 232
. . . . . . . . . . . . . . . . . . . . . . . . . .
Entering a Message 238
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Graphic Programming 2316
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Editing 241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Editing a Program 241
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Online Data Change 246
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Search Functions 247
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clearing Memory 2411
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special Programming Aids 2413
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Online Programming 2415
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data
Initialization Key 2416. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming Techniques 251. . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OneShot Programming 251
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Restart 253
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cascading Timers 254
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temperature Conversions 255
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Control 259
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Troubleshooting 261. . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objective 261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Run Time Errors 261
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bit
Monitor/Manipulation 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contact Histogram 263
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Force Functions 265
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temporary End Instruction 267
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Testing Your Program 269
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ERR Message for an Illegal Opcode 2610
. . . . . . . . . . . . . . . . . . . . . .

Table of Contents vii
Specifications A1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Processor Comparison Chart B1. . . . . . . . . . . . . . . . . . . . . .
Number Systems C1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Objectives C1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Decimal Numbering System C1
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Octal Numbering System C2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Binary Numbering System C3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hexadecimal Numbering System C5
. . . . . . . . . . . . . . . . . . . . . . . . .
Glossary D1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction D1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quick Reference E1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of References E1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjusting the Data Table E2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block Transfer Instructions E4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clearing Memory E6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Counter Instructions E7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Monitor Functions E8
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Transfer File Instructions E9
. . . . . . . . . . . . . . . . . . . . . . . . . . .
EAF Function Numbers E10
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Editing Functions E11
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Execution Times and Words Per Instruction E12
. . . . . . . . . . . . . . . . .
FIFO Load and FIFO Unload E16
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Graphic Programming E17
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Help E19
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Memory Layout E20
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Memory Structure E21
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID Control Block E24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROC Indicator E28
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Report Generation E29
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Search E30
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequencer Instructions E31
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switch Group Assembly Settings E32
. . . . . . . . . . . . . . . . . . . . . . . . .
Timer Instructions E34
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic Word 027 E35
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1
1-1
Using This Manual
Read this chapter before you use your processor.
Important: This manual is for the series D Mini-PLC-2/02,
Mini-PLC-2/16 and Mini-PLC-2/17 processors. See the Series Changes on
page 3-2 for the differences with other processor series.
This manual describes the Mini-PLC-2/02, Mini-PLC-2/16 and
Mini-PLC-2/17 processors. Unless stated otherwise, assume the features
or instructions are common to all the processors.
Feature MiniPLC2/02 MiniPLC2/16 MiniPLC2/17
Size of memory (words) 2K 4K 7.75K
Size of EEPROM backup (words) 4K 4K 8K
Data table expansion (words) 1920 3968 7808
EAF instructions (up to 12 digits) Add
Subtract
Multiply
Divide
Add
Subtract
Multiply
Divide
Add
Subtract
Multiply
Divide
EAF instructions Square Root
BCD to Binary
Binary to BCD
FIFO Load
FIFO Unload
Log10
Sin X
Cos X
10x
Square Root
BCD to Binary
Binary to BCD
FIFO Load
FIFO Unload
Log10
Sin X
Cos X
10x
Square Root
BCD to Binary
Binary to BCD
FIFO Load
FIFO Unload
Log10
Sin X
Cos X
10x
Additional EAF instructions none none Loge
y+/x
e+/x
Reciprocal of x
Averaging
Standard
Deviation
PID
Wall Clock/Calendar
Chapter Objectives
Differences

Using This Manual
Chapter 1
1-2
This manual is divided into eight sections (Table 1.A):
Table 1.A
Sections of the MiniPLC2/02, MiniPLC2/16, and MiniPLC2/17
Processor User Manual
Information Sections What's Covered In Chapters
Overview how to use this manual; fundamentals of
programmable controllers
12
Hardware the processor's hardware features; how to assemble,
install, start, maintain, and troubleshoot the processor
3
Basic instruction set how to use basic instructions common to all PLC2
family processors
413
Advanced instruction set how to use advanced instructions unique to some
the processors
1422
Programming procedures and
troubleshooting
how to use special programming techniques and follow
a troubleshooting guide so you can minimize production
down time
2326
Specifications, comparison chart,
number systems, and glossary
specifications; PLC2 family comparison chart;
explanation of number systems; and list of processor
terms used in this manual
Appendices AD
Quick reference selected tables in this manual Appendix E
This manual is procedure oriented. It tells you how to program and
operate your Mini-PLC-2/02, Mini-PLC-2/16, and Mini-PLC-2/17
processor. If you need to learn more about these processors, contact your
local Allen-Bradley representative or distributor.
To make this manual easier to read and understand, we refer to the:
We Refer to the: As the:
MiniPLC2/02, MiniPLC2/16, and
MiniPLC2/17 Processors
processors
Electrically Erasable Programmable
Read Only Memory
EEPROM
Programmable Read Only Memory PROM
Execute Auxiliary Function EAF
Complementary Metal Oxide
Semiconductor Random Access Memory
CMOS RAM
Industrial Terminal (cat. no. 1770T3) 1770T3 terminal
A glossary at the back of this manual clarifies technical terms.
What's this User
Manual Contains
Vocabulary

Using This Manual
Chapter 1
1-3
A word equals 16 bits; a byte equals 8 bits (1/2 of a word).
Words in [ ] denote a key name or symbol. Words in < > denote
information that you must provide - for example, an address value.
All word addresses are displayed in the octal numbering system.
Therefore, references to base 8 are not displayed.
Word values are displayed in:
decimal (0-9) for timers, counters, and mathematics
CTU
010
00
030
PR 555
AC 123
Decimal
hexadecimal values (0-9, A-F) for Get and Put instructions
010
00
030
Hexadecimal
010
00
011 012
GG
00FFF 123
Important: Numbers 0-9 are displayed the same in decimal and
hexadecimal.
octal byte values for examine on and output energize instructions
0101 030
Octal
00
B
237
Keystroke directions are divided into two columns:
tells you what key or keys to press
tells you the processor’s action
Conventions

Using This Manual
Chapter 1
1-4
Figure 1.1 shows the keystrokes to produce a display.
Figure 1.1
Illustration
Showing Keystroke Conventions
Start by positioning your cursor on the words SEQUENCER INPUT.
Use the arrow keys to move the cursor.
The word display appears in the lower left hand corner of the screen.
DISPLAY
0
BINARY DATA MONITOR
SEQUENCER OUTPUT
COUNTER ADDR: 200 STEP: 001 SEQUENCER LENGTH: 006
FILE: 400- 413
OUTPUT ADDR: 110 201
DATA: 00000000 00000000 00000000 00000000
MASK ADDR: 070 071
DATA: 00000000 00000000 00000000 00000000
STEP WORD 1 WORD 2
00000000
00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
00000000 00000000
001
002
003
004
005
006
DAT
A: 00000000 00000000
The publication index, publication SD 499, lists all available publications
to further inform you about products related to the Mini-PLC-2/02,
Mini-PLC-2/16, and Mini-PLC-2/17 processors. Consult your local
Allen-Bradley distributor or sales engineer for information regarding this
publication or any needed information.
Related Publications

Chapter 2
2-1
Fundamentals of a Programmable Controller
In this chapter, you review general fundamentals common to our
programmable controllers. This chapter:
describes what a programmable controller does
describe the functions of a programmable controller
describes the four major sections of a programmable controller
gives an example of a simple program
You are probably familiar with the traditional methods of machine control.
Control Panel
Relays
Machine
Sensing
Devices Output
Devices 11591
Sensing devices located on the machine detect changes in the machine’s
condition. For instance, a part arriving at a work station contacts and
closes a limit switch, the sensing device. As a result, an electrical circuit is
completed and a signal is sent to the control panel.
At the control panel, the electrical signal enters a bank of relays or other
devices, such as solid state modules. Circuits within the control panel open
or close causing additional electrical signals to be sent to output devices at
the machine. For example, a relay energized by the limit switch closed by
the arriving part may complete another circuit energizing the output
device, a clamp, which secures the part at the work station.
Chapter Objectives
Traditional Controls

Fundamentals of a
Programmable Controller
Chapter 2
2-2
Systems run by programmable controllers operate in much the same way.
Programmable controllers can perform many of the functions of traditional
controls. Input sensing devices report machine conditions; output devices
respond to commands.
Control Panel
Programmable
Machine
Sensing
Devices Output
Devices 11592
Conditons
Controller
Action
Command
Wiring between the machine and the controller provides electrical paths
from the sensing devices to the controller and from the controller to the
output devices.
However, instead of wiring relays together to produce a desired response,
you simply tell your programmable controller how you want it to respond.
A program tells your programmable controller what you want it to do. A
program is nothing more than a set of instructions you give the
programmable controller telling it how to react to certain conditions within
the machine.
A typical programmable controller system usually consists of four
major sections:
processor
input modules
output modules
power supply
Programmable Systems
The Four Major Sections

Fundamentals of a
Programmable Controller
Chapter 2
2-3
Power Supply
Processor
Information
Limit, Proximity, Pressure,
Action
(Decision Making)
•Temperature Switches
Push Buttons
Logic
BCD
Analog
•
•
•
•
Solenoids•
Motor Starters
Indicators
Alarms
Logic
BCD
Analog
•
•
•
•
•
•
Input Output
Processor
The first section of a programmable controller is the processor. The
processor might be called the “brains” of the programmable controller. It
is divided into halves:
central processing unit
memory
CPU
Data
Table
Program
Storage
Message
Storage
Memory
Processor
Section
Central Processing Unit
The Central Processor Unit (CPU) makes decisions about what the
processor does according to the program you write.

Fundamentals of a
Programmable Controller
Chapter 2
2-4
Memory
Memory serves three functions:
stores information in the data table that the CPU may need
stores sets of instructions called a program
stores messages
Data Table
The area of memory where data is controlled and used, is called the data
table. The data table is divided into several smaller sections according to
the type of information to be remembered. These smaller sections are
called:
output image table
input image table
timer/counter storage
Output Image Table
Input Image Table
Timer/Counter
Storage
Data Table
This memory area: Serves this purpose:
output image tables The output image table controls the on or off status of the
output devices wired to the output module's terminals. If an
output image table bit is ON (1), its corresponding output
device is ON (energized). If a bit is OFF (0), its corresponding
output device is OFF (deenergized). Output image table bits
are controlled by the user's program.
input image tables The input image table duplicates the on or off status of the
input devices. If an input device is ON (closed), its
corresponding input image table bit is ON (1). If an input
image table bit is OFF (open), its corresponding input image
table bit is OFF (0). Input image table bits are monitored by the
user's program.
timer/counter storage Timer and Counter instructions are output instructions. They
provide many of the capabilities available with timing relays
and solidstate timing and counting devices. Usually
conditioned by examine instructions, they keep track of timed
intervals or counted events according to the logic of the rung.

Fundamentals of a
Programmable Controller
Chapter 2
2-5
I/O Image Tables
The input image table reflects the status of the input terminals. The output
image table reflects the status of bits controlled by the program.
Each image table is divided into a number of smaller units called bits. A
bit is the smallest unit of memory. A bit is a tiny electronic circuit that the
processor can turn on or off. Bits in the image table are associated with a
particular I/O terminal in the input or output section.
When the processor detects a voltage at an input terminal, it records that
information by turning the corresponding bit on. Likewise, when the
processor detects no voltage at an input terminal, it records that
information by turning the corresponding bit off. If, while executing your
program, the CPU decides that a particular output terminal should be
turned on or off, it records that decision by turning the corresponding bit
on or off. In other words, each bit in the I/O image tables corresponds to
the on or off status of an I/O terminal.
When people who work with personal computers talk about turning a bit
on, they use the term “set.” For example - “The processor sets the bit”
means “turns it on.” On the other hand, we use the term “reset” when we
talk about turning the bit off - for example, “The processor reset the bit.”
Picture memory as a page that has been divided into many blocks. Each
block represents one bit. Since each bit is either on or off, we could show
the state of each bit by writing “on” or “off” in each block. However, there
is an easier way. We can agree that the numeral one (1) means on and that
the numeral zero (0) means off. We can show the status of each bit by
writing 1 or 0 into the appropriate block. For example, you might hear
expressions like, “The CPU responded by writing a one into the bit when
the limit switch closed.” Of course, the processor didn’t really write a one
into memory: it simply set the bit by turning it on.
When the I/O device is: The bit status is said to be:
on
on
1
set
off
off
0
reset
If you heard the expression, “The processor wrote a zero into that bit
location.” What actually happened? If you said the processor merely reset
the bit by turning it off, you’re right.

Fundamentals of a
Programmable Controller
Chapter 2
2-6
Program Storage
Program storage takes up the largest portion of memory. This is where the
user’s program is stored. Each program is made up of a set of statements.
Each statement does two things:
It describes an action to be taken. For instance, it might say, “Energize
motor starter number one.”
It describes the conditions that must exist in order for the action to
take place.
Statement
Statement
Statement
Statement
Statement
Statement
Program Storage Area
of Memory
ActionConditions Program
Statement
Program
For example, you may want this action to take place: “Whenever a certain
limit switch closes.” So your condition could be: “If limit switch number
two is closed,...” The action would be: “energize motor starter number
one.” Therefore, when limit switch number two at the machine closes, the
programmable controller energizes the motor starter. If limit switch
number two does not close, the programmable controller does not energize
the motor starter. Thus, when limit switch number two opens, the
programmable controller de-energizes the motor starter because that action
is implied in the statement.
A program is made up of a number of similar statements. Typically, there
is one statement for each output device on the machine. Each statement
lists the conditions that must be met and then, states the action to be taken.
Each condition is represented by a specific instruction; therefore, each
action is represented by a specific instruction. These instructions tell the
processor to do something with the information stored in the data
table.Some instructions tell the processor to read what’s written in the
image table. When the processor is instructed to read from an image table,
it examines a specific bit to see if a certain I/O device is on or off.
Other instructions tell the processor to write information into the image
table. When the processor is instructed to write into the output image
table, it writes a one or a zero into a specific bit. The corresponding output
device will turn on or off as a result.