Allen-Bradley controllogix 1756-L55M12 User manual

ControlLogix
Controllers
1756-L55M12, 1756-L55M13,
1756-L55M14, 1756-L55M16,
1756-L55M22, 1756-L55M23,
1756-L55M24, 1756-L61, 1756-L62,
1756-L63, 1756-L64,
1756-L60M03SE
Firmware Revision 16
User Manual

Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Safety Guidelines for the Application,
Installation and Maintenance of Solid State Controls (Publication SGI-1.1
available from your local Rockwell Automation sales office or online at
http://literature.rockwellautomation.com) describes some important
differences between solid state equipment and hard-wired electromechanical
devices. Because of this difference, and also because of the wide variety of
uses for solid state equipment, all persons responsible for applying this
equipment must satisfy themselves that each intended application of this
equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for
indirect or consequential damages resulting from the use or application of
this equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with
any particular installation, Rockwell Automation, Inc. cannot assume
responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to
use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without
written permission of Rockwell Automation, Inc. is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations.
WARNING Identifies information about practices or circumstances that can cause
an explosion in a hazardous environment, which may lead to personal
injury or death, property damage, or economic loss.
IMPORTANT Identifies information that is critical for successful application and
understanding of the product.
ATTENTION Identifies information about practices or circumstances that can lead
to personal injury or death, property damage, or economic loss.
Attentions help you identify a hazard, avoid a hazard, and recognize
the consequence
SHOCK HAZARD Labels may be on or inside the equipment, 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.

3Publication 1756-UM001G-EN-P - January 2007
Summary of Changes
Introduction
The release of this document contains new and updated information.
To find new and updated information, look for change bars, as shown
next to this paragraph.
Updated Information
The document contains these changes.
Topic Page
1756-L64 ControlLogix Controller Throughout manual
Add-On Instructions 73
Select a System Overhead Percentage 79
Add Your Axes 100
Obtain Axis Information 108

Publication 1756-UM001G-EN-P - January 2007
Summary of Changes 4
Notes:

5Publication 1756-UM001G-EN-P - January 2007
Table of Contents
Preface
About this Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Who Should Use This Publication . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
ControlLogix System Overview
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Install Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 2
Directly Connect to the Controller
via the Serial Port
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Connect the Controller to via the Serial Port. . . . . . . . . . . . . 15
Configure the Serial Driver . . . . . . . . . . . . . . . . . . . . . . . . . 17
Select the Controller Path . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Chapter 3
Communicate over Networks
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
EtherNet/IP Network Communication . . . . . . . . . . . . . . . . . 22
Connections Over an EtherNet/IP Network . . . . . . . . . . . 24
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
ControlNet Network Communication . . . . . . . . . . . . . . . . . . 25
Connections Over a ControlNet Network . . . . . . . . . . . . 27
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
DeviceNet Network Communication . . . . . . . . . . . . . . . . . . 28
Connections over DeviceNet . . . . . . . . . . . . . . . . . . . . . 30
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Serial Network Communication . . . . . . . . . . . . . . . . . . . . . . 31
Communicate with DF1 Devices. . . . . . . . . . . . . . . . . . . 32
Communicate with ASCII Devices. . . . . . . . . . . . . . . . . . 34
Modbus Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
DH-485 Network Communication . . . . . . . . . . . . . . . . . . . . 37
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
DH+ Network Communication. . . . . . . . . . . . . . . . . . . . . . . 41
Communicate over a DH+ Network . . . . . . . . . . . . . . . . 42
Universal Remote I/O Communication . . . . . . . . . . . . . . . . . 43
Communicate Over a Universal Remote I/O Network . . . 44
Foundation Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
HART (Highway Addressable Remote Transducer) Protocol . 46
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Chapter 4
Manage Controller
Communication
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

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6Table of Contents
Produce and Consume (Interlock) Data . . . . . . . . . . . . . . . . 48
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Send and Receive Messages. . . . . . . . . . . . . . . . . . . . . . . . . 49
Determine Whether to Cache Message Connections . . . . 49
Calculate Connection Use . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Connections Example. . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Chapter 5
Place, Configure, and Monitor I/O
Modules
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Select I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Place Local I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Configure I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Configure Distributed I/O on an EtherNet/IP Network . . . . . 57
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Configure Distributed I/O on a ControlNet Network . . . . . . . 58
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Configure Distributed I/O on a DeviceNet Network . . . . . . . 59
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Address I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Add 1756 I/O at Runtime. . . . . . . . . . . . . . . . . . . . . . . . . . . 61
ControlNet I/O Considerations . . . . . . . . . . . . . . . . . . . . 61
EtherNet/IP I/O Considerations . . . . . . . . . . . . . . . . . . . 62
Determine When Data Is Updated . . . . . . . . . . . . . . . . . . . . 63
Reconfigure an I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . 64
Reconfigure a Module via RSLogix 5000
Programming Software . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Reconfigure an I/O Module via a MSG Instruction. . . . . . 65
Chapter 6
Develop Applications
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Manage Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
DevelopPrograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Define Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Define Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Define Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Sample Controller Projects . . . . . . . . . . . . . . . . . . . . . . . 71
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Organize Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Select a Programming Language . . . . . . . . . . . . . . . . . . . . . 73
Add-On Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

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Table of Contents 7
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Monitor Controller Status. . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Monitor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Determine if Communication Has Timed Out with
Any Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Determine if Communication Has Timed Out with
a Specific I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Interrupt the Execution of Logic and Execute the
Fault Handler. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Select a System Overhead Percentage . . . . . . . . . . . . . . . . . 79
Chapter7
Configure PhaseManager
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
PhaseManager Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
State Model Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
How Equipment Changes States . . . . . . . . . . . . . . . . . . . 86
Manually Change States . . . . . . . . . . . . . . . . . . . . . . . . . 87
Compare PhaseManager to Other State Models. . . . . . . . . . . 87
Minimum System Requirements . . . . . . . . . . . . . . . . . . . . . . 88
Equipment Phase Instructions . . . . . . . . . . . . . . . . . . . . . . . 88
Chapter 8
Develop Motion Applications
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Make the Controller the CST Master . . . . . . . . . . . . . . . . . . . 90
Multiple Controllers in the Chassis . . . . . . . . . . . . . . . . . 90
Add the Motion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Add SERCOS Interface Drives . . . . . . . . . . . . . . . . . . . . . . . 93
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Set Up Each SERCOS Interface Module . . . . . . . . . . . . . . . . 95
Add the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Add Your Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Set Up Each Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Check the Wiring of Each Drive. . . . . . . . . . . . . . . . . . . . . 104
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Tune Each Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Obtain Axis Information . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Program Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 110

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8Table of Contents
Chapter 9
Configure Redundancy
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 111
ControlLogix Redundancy Overview . . . . . . . . . . . . . . . . . 111
Build a Redundant System. . . . . . . . . . . . . . . . . . . . . . . . . 113
System Considerations . . . . . . . . . . . . . . . . . . . . . . . . . 114
ControlNet Considerations in Redundant Systems . . . . . . . . 114
EtherNet/IP Considerations in Redundant Systems . . . . . . . 115
IP Address Swapping . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Redundancy and Scan Time. . . . . . . . . . . . . . . . . . . . . . . . 116
Minimum System Requirements . . . . . . . . . . . . . . . . . . . . . 116
Chapter 10
SIL 2 Certification
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
SIL 2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
SIL 2 Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Chapter 11
Maintain Nonvolatile Memory
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Choose a Controller That Has Nonvolatile Memory. . . . . . . 120
Prevent a Major Fault During a Load. . . . . . . . . . . . . . . 120
Use a CompactFlash Reader. . . . . . . . . . . . . . . . . . . . . . . . 121
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Chapter 12
Maintain the Battery
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Check If the Battery Is Low . . . . . . . . . . . . . . . . . . . . . . . . 124
Estimate 1756-BA1 Battery Life . . . . . . . . . . . . . . . . . . . . . 124
Estimate 1756-BA2 Battery Life
(1756-L6x series B controllers only) . . . . . . . . . . . . . . . . . . 126
Estimate Warning Time . . . . . . . . . . . . . . . . . . . . . . . . 127
Maintain a 1756-BATM Battery Module . . . . . . . . . . . . . . . 128
Check the BAT LED Indicator. . . . . . . . . . . . . . . . . . . . 128
Store Batteries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Appendix A
LED Indicators
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Index

9Publication 1756-UM001G-EN-P - January 2007
Preface
About this Publication
Use this manual to become familiar with the ControlLogix controller
and its features. This version of the manual corresponds to controller
firmware revision 15.
Who Should Use This
Publication
This manual describes the necessary tasks to install, configure,
program, and operate a ControlLogix system. In some cases, this
manual includes references to additional documentation that provides
the more comprehensive details.
Additional Resources
These core documents address the Logix5000 family of controllers:
To view or download manuals, visit
http://literature.rockwellautomation.com/literature.
To obtain a hard copy of a manual, contact your local Rockwell
Automation distributor or sales representative.
Catalog Number Title Publication
1756-L55Mx
1756-L6x
Logix5000 Controllers Quick Start 1756-QS001
Logix5000 Controllers Common Procedures Programming Manual 1756-PM001
Logix5000 Controllers System Reference 1756-QR107
Logix5000 Process Control and Drives Instructions Reference
Manual
1756-RM003
Logix5000 Process Control and Drives Instructions Reference
Manual
1756-RM006
Logix5000 Controllers Motion Instructions 1756-RM007

Publication 1756-UM001G-EN-P - January 2007
10
Notes:

11 Publication 1756-UM001G-EN-P - January 2007
Chapter 1
ControlLogix System Overview
Introduction
This chapter provides an overview of the ControlLogix system. The
ControlLogix system provides sequential, process, motion, and drive
control together with communication and I/O in a chassis-based
system. A simple ControlLogix system consists of a stand-alone
controller and I/O modules in a single chassis.
For a more flexible system, use:
•multiple controllers in a single chassis.
•multiple controllers joined across networks.
•I/O from multiple platforms that is distributed in many locations
and connected over multiple I/O links.
ControlLogix System Overview
ControlLogix Controller 1756 I/O modules in the
Same chassis as the
ControlLogix Controller
Computers
Other Controllers
EtherNet/IP Link
ControlNet Link
1756 I/O Modules in the
Same Chassis as the
ControlLogix Controller Communication Interface
Modules in the Same
Chassis as the
ControlLogix Controller
Remote I/O Modules
Drives
}
EtherNet/IP Link
ControlNet Link
DeviceNet Link
Universal remote I/O Link
SERCOS Drives
SERCOS Link

Publication 1756-UM001G-EN-P - January 2007
12 ControlLogix System Overview
The ControlLogix controller is part of the Logix5000 family of
controllers. A ControlLogix system includes:
•the ControlLogix controller is available in different combinations
of user memory.
•RSLogix 5000 programming software.
•1756 ControlLogix I/O modules that reside in a 1756 chassis.
•different communication modules for EtherNet/IP, ControlNet,
DeviceNet, DH+, and Universal remote I/O networks.
•other networks via third-party devices, such as Foundation
Fieldbus and the Highway Addressable Remote Transducer
(HART).
•a built-in serial port on every ControlLogix controller.
Controller Memory for Data
and Logic
I/O Nonvolatile
Backup Memory
1756-L55M12 750 KB 208 KB no
1756-L55M13 1.5 MB 208 KB no
1756-L55M14 3.5 MB 208 KB no
1756-L55M16 7.5 MB
≤3.5 MB of data
208 KB no
1756-L55M22 750 KB 208 KB Integrated
1756-L55M23 1.5 KB 208 KB Integrated
1756-L55M24 3.5 KB 208 KB Integrated
1756-L61 2 MB 478 KB CompactFlash(1) card
(1) CompactFlash is optional and does not come with the controller.
1756-L62 4 MB 478 KB CompactFlash(1) card
1756-L63 8 MB 478 KB CompactFlash(1) card
1756-L64 16 MB 478 KB CompactFlash(1) card
1756-L60M03SE 750 KB 478 KB CompactFlash(1) card

Publication 1756-UM001G-EN-P - January 2007
ControlLogix System Overview 13
The ControlLogix controller divides resources between a Logix CPU
and a backplane CPU.
Logix CPU and Backplane CPU
•The Logix CPU executes application code and messages.
•The backplane CPU communicates with I/O and sends and
receives data from the backplane. This CPU operates
independently from the Logix CPU, so it sends and receives I/O
information asynchronous to program execution.
Design
When you design a ControlLogix system, select:
•I/O devices.
•motion control and drives requirements.
•communication modules.
•controllers.
•chassis.
•power supplies.
•software.
Install Hardware
To install a ControlLogix controller:
•install memory options.
–on a 1756-L55, install a memory board for additional memory.
–on a 1756-L6x, install a 1784-CF64 CompactFlash card for
nonvolatile memory.
See the chapter Maintain Nonvolatile Memory.
•connect the battery.
See the chapter Maintain the Battery.
•install the controller in the chassis.
Logic and Data Memory
Logix
CPU
Backplane
CPU
I/O Memory
Program Source Code
Tag Data
RSLinx Tag Group Lists
I/O Data
I/O Force Tables
Message Buffers
Produced/consumed Tags

Publication 1756-UM001G-EN-P - January 2007
14 ControlLogix System Overview
•make serial connections.
See the chapter Directly Connect to the Controller via the Serial
Port.
•load controller firmware.
•make additional network connections.
See the chapter Communicate over Networks.

15 Publication 1756-UM001G-EN-P - January 2007
Chapter 2
Directly Connect to the Controller via the
Serial Port
Introduction
This chapter explains how to connect the controller to the serial port
and how to upload and download a project to the controller.
Connect the Controller to
via the Serial Port
To connect a serial cable, perform this procedure.
1. Obtain a 1756-CP3 serial cable.
You can also use a 1747-CP3 cable from the SLC product family,
but once the cable is connected you cannot close the controller
door.
Topic Page
Connect the Controller to via the Serial Port 15
Configure the Serial Driver 17
Select the Controller Path 19

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16 Directly Connect to the Controller via the Serial Port
2. Connect the cable to the controller and to your workstation.
TIP
I
If you make your own serial cable:
•Limit the length to 15.2m (50 ft).
•Wire the connectors this way.
•Attach the shield to both connectors.
2 RDX
3 TXD
4 DTR
COMMON
6 DSR
7 RTS
8 CTS
9
1 CD
2 RDX
3 TXD
4 DTR
COMMON
6 DSR
7 RTS
8 CTS
9
1 CD
Workstation Controller
CP3 Cable

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Directly Connect to the Controller via the Serial Port 17
Configure the Serial Driver
Use RSLinx software to configure the RS-232 DF1 Device driver for
serial communication.
To configure the driver, perform this procedure.
1. From the Communications pull-down menu in RSLinx software,
choose Configure Drivers.
The Configure Drivers dialog appears.
2. From the Available Driver Types pull-down menu, choose the
RS-232 DF1 Device driver.
3. Click Add New.
The Add New RSLinx Driver dialog appears.
4. Type the driver name and click OK.

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18 Directly Connect to the Controller via the Serial Port
5. Specify the serial port settings.
a. From the Comm Port pull-down menu, choose the serial port
on the workstation to which the cable is connected.
b. From the Device pull-down menu, choose Logix 5550-Serial
Port.
c. Click Auto-Configure.
6. Was the auto configuration successful?
7. Click Close.
If Then
Yes Click OK.
No Go to step 5. and verify that you selected the correct Comm Port.

Publication 1756-UM001G-EN-P - January 2007
Directly Connect to the Controller via the Serial Port 19
Select the Controller Path
In RSLogix 5000 programming software, to select the controller path,
perform this procedure.
1. Open an RSLogix 5000 project for the controller.
2. From the Communications pull-down menu, choose Who
Active.
3. Expand the communication driver to the level of the controller.
4. Select the controller.
To Choose
Monitor the project in the controller Go Online
Transfer a copy of the project from the controller to
RSLogix 5000 software
Upload
Transfer the open project to the controller Download

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20 Directly Connect to the Controller via the Serial Port
Notes: