Allen-Bradley MicroLogix 1200 User manual

MicroLogix™ 1200
andMicroLogix1500
Programmable
Controllers
(Bulletins 1762 and 1764)
Instruction Set
Reference Manual

Important User
Information
Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this control
equipment must satisfy themselves that all necessary steps have been
taken to assure that each application and use meets all performance and
safety requirements, including any applicable laws, regulations, codes
and standards.
The illustrations, charts, sample programs and layout examples shown in
this guide are intended solely for purposes of example. Since there are
many variables and requirements associated with any particular
installation, Rockwell International Corporation does not assume
responsibility or liability (to include intellectual property liability) for
actual use based upon the examples shown in this publication.
Rockwell Automation publication SGI-1.1, Safety Guidelines for the
Application, Installation and Maintenance of Solid-State Control
(available from your local Rockwell Automation office), describes some
important differences between solid-state equipment and
electromechanical devices that should be taken into consideration when
applying products such as those described in this publication.
Reproduction of the contents of this copyrighted publication, in whole or
part, without written permission of Rockwell Automation, is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations:
Attention statements help you to:
•identify a hazard
•avoid a hazard
•recognize the consequences
PLC-5 is a registered trademark; and MicroLogix, SLC 500, RSLogix, and RSLinx are trademarks of Rockwell Automation.
Modbus is a trademark of Schneider Electric Incorporated.
DeviceNet is a trademark of Open DeviceNet Vendor Association (ODVA).
ATTENTION
!
Identifies information about practices or circumstances
that can 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.

3Publication 1762-RM001C-EN-P - November 2000
Summary of Changes
The information below summarizes the changes to this manual since
the last printing as publication 1762-RM001B-US-P, April 2000.
To help you locate new and updated information in this release of the
manual, we have included change bars as shown to the right of this
paragraph.
Firmware Revision History
Features are added to the controllers through firmware upgrades. Use
the listing below to be sure that your controller’s firmware is at the
level you need. Firmware upgrades are not required, except to allow
you access to the new features.
MicroLogix 1200
Catalog
Number Series Letter Revision Letter Firmware Release No. Release Date Enhancement
1762-L24AWA
1762-L24BWA
1762-L40AWA
1762-L40BWA
A A FRN1 March 2000 Initial product release.
1762-L24AWA
1762-L24BWA
1762-L40AWA
1762-L40BWA
A B FRN2 May 2000 The trim pots (trimming potentiometers) on the controller
operated in reverse of the ladder logic. Corrected.
1762-L24AWA
1762-L24BWA
1762-L40AWA
1762-L40BWA
B A FRN3 November 2000 MicroLogix 1200 controllers now offer:
•Full ASCII (read/write)
•PTO Controlled Stop
•PWM Ramping
•RTC and String Messaging
•Static Data File Protection
•Comms Reset Pushbutton Bit
1762-L24BXB
1762-L40BXB B A FRN3 November 2000 Initial product release. Supports all the features listed above for the 1762-L24xWA and 1762-L40xWA controllers.

Publication 1762-RM001C-EN-P - November 2000
Summary of Changes 4
MicroLogix 1500
Catalog
Number Series Letter Revision Letter Firmware Release No. Release Date Enhancement
1764-LSP A B FRN2 February 1999 Initial product release.
1764-LSP A C FRN3 October 1999 MicroLogix 1500 Controllers with 1764-LSP Processor can now
be used with Compact I/O (Bulletin 1769) Expansion Cables and
Power Supplies.
1764-LSP B A FRN4 April 2000 MicroLogix 1500 Controllers with 1764-LSP Processor can now
use:
•String Data File Type
•ASCII Instruction Set Support
•Modbus RTU Slave protocol
•Ramping, when using PWM outputs
•Static Data File Protection
•RTC Messaging
1764-LRP B A FRN4 April 2000 Initial product release. MicroLogix 1500 Controllers with
1764-LRP Processor has all the features of the 1764-LSP, plus:
•Second communications port (isolated RS-232)
•Data Logging capability
1764-LSP B B FRN5 October 2000 For both the 1764-LSP and LRP processors:
•When using the PTO feature, the controller can now
perform a controlled stop when using PTO outputs. The
deceleration phase of the PTO can be initiated early via
ladder logic.
•Enhanced program compare bitfunctionality in the Memory
Module.
1764-LRP B B FRN5 October 2000

Publication 1762-RM001C-EN-P - November 2000
Summary of Changes 5
New Information
The table below lists sections that document new features and
additional information about existing features.
For This New Information See
Added MicroLogix 1200 1762-L24BXB and 1762-L40BXB Controllers Chapter 1, 5, 6
Added configuration information for several new I/O modules:
•1762-IQ16, -OA8, -OB8, -OB16, -OW16, -IF4
•1769-OB16P and -IT6
Chapter 1
Added section on Configuring Expansion I/O Using RSLogix 500 Chapter 1
Made minor changes to clarify data file numbering. Chapter 2
Modified section on Writing Data to the Real-Time Clock Chapter 3
In the Communications Status File, General Channel Status Block, Bit 15,
the Comms Toggle Push Button Bit, is now valid for MicroLogix 1200 and
MicroLogix 1500 (previously was only the MicroLogix 1500).
Chapter 3
Added IMPORTANT notes about using the High-Speed Counter (HSC). Chapter 5
Added IMPORTANT notes about using the High-Speed Outputs (PTO and
PWM). Chapter 6
Modified text that describes the PWM Accel/Decel Delay (ADD)
parameter. Chapter 6
Added PTO Controlled Stop (CS) parameter (MicroLogix 1500 only). Chapter 6
Modified text that describes the Scale (SCL) instruction. Chapter 10
Corrected text for the PID Reset Term (Ti). The last sentence now reads:
“A value of 1 adds the maximum integral term into the PID equation.”
(previously said that “a value of 1 adds theminimum integral term...”)
Chapter 19
MicroLogix 1200 Series B Controllers can use the entire set of ASCII
instructions Chapter 20
Added section on Programming ASCII Instructions with information on
how to prevent communications shut-down when using ASCII
instructions.
Chapter 20
Added Ctrl-characters to the ASCII Character Set chart. Chapter 20
Added MSG File Element description. Chapter 21
The ASCII String Manipulation Error bit (S:5/15) now applies to
MicroLogix 1200 Series B Controllers as well as the MicroLogix 1500. Appendix C
Added Fault Classification (non-user, recoverable, non-recoverable) to the
Fault Messages troubleshooting table. Appendix D
Added new Error Code:
001A - User Program Incompatible with OS at Power-Up Appendix D
Added alphabetical list of instructions for easy reference. Inside Back
Cover
ASCII Protocol can be used by MicroLogix 1200 Series B Controllers as
well as the MicroLogix 1500. Appendix E
Updated Instruction ExecutionTimes Appendix A
and B, and
throughout
manual

Publication 1762-RM001C-EN-P - November 2000
Summary of Changes 6

iPublication 1762-RM001C-EN-P
Table of Contents
Preface Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Common Techniques Used in this Manual. . . . . . . . . . . . . . . P-2
Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . . P-3
Chapter 1
I/O Configuration Embedded I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
MicroLogix 1200 Expansion I/O . . . . . . . . . . . . . . . . . . . . . . 1-3
MicroLogix 1200 Expansion I/O Memory Mapping. . . . . . . . . 1-4
MicroLogix 1500 Compact™Expansion I/O. . . . . . . . . . . . . . 1-7
MicroLogix 1500 Compact™Expansion I/O Memory Mapping 1-9
I/O Addressing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
I/O Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
Input Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
Latching Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Configuring Expansion I/O Using RSLogix 500 . . . . . . . . . . 1-18
Chapter 2
Controller Memory and File
Types Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Data Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Protecting Data Files During Download. . . . . . . . . . . . . . . . . 2-6
Static File Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Password Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Clearing the Controller Memory . . . . . . . . . . . . . . . . . . . . . 2-10
Allow Future Access Setting (OEM Lock). . . . . . . . . . . . . . . 2-10
Chapter 3
Function Files Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Real-Time Clock Function File . . . . . . . . . . . . . . . . . . . . . . . 3-3
Trim Pot Information Function File . . . . . . . . . . . . . . . . . . . . 3-5
Memory Module Information Function File . . . . . . . . . . . . . . 3-6
DAT Function File (MicroLogix 1500 only) . . . . . . . . . . . . . . 3-9
Base Hardware Information Function File . . . . . . . . . . . . . . 3-12
Communications Status File . . . . . . . . . . . . . . . . . . . . . . . . 3-13
Input/Output Status File . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Chapter 4
Programming Instructions
Overview Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Using the Instruction Descriptions. . . . . . . . . . . . . . . . . . . . . 4-2

Publication 1762-RM001C-EN-P
Table of Contents ii
Chapter 5
Using the High-Speed
Counter High-Speed Counter (HSC) Function File . . . . . . . . . . . . . . . 5-2 High-Speed Counter Function File Sub-Elements Summary . . 5-4
HSC Function File Sub-Elements. . . . . . . . . . . . . . . . . . . . . . 5-5
HSL - High-Speed Counter Load . . . . . . . . . . . . . . . . . . . . . 5-26
RAC - Reset Accumulated Value . . . . . . . . . . . . . . . . . . . . . 5-27
Chapter 6
Using High-Speed Outputs PTO - Pulse Train Output. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Pulse Train Output Function. . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Pulse Train Outputs (PTO) Function File. . . . . . . . . . . . . . . . 6-6
Pulse Train Output Function File Sub-Elements Summary . . . 6-7
PWM - Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . 6-18
PWM Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Pulse Width Modulation (PWM) Function File . . . . . . . . . . . 6-19
Pulse Width Modulated Function File Elements Summary . . 6-20
Chapter 7
Relay-Type (Bit) Instructions XIC - Examine if Closed
XIO - Examine if Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
OTE - Output Energize. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
OTL - Output Latch, OTU - Output Unlatch . . . . . . . . . . . . . 7-4
ONS - One Shot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
OSR - One Shot Rising, OSF - One Shot Falling. . . . . . . . . . . 7-6
Chapter 8
Timer and Counter
Instructions Timer Instructions Overview . . . . . . . . . . . . . . . . . . . . . . . . 8-1 TON - Timer, On-Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
TOF - Timer, Off-Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
RTO - Retentive Timer, On-Delay . . . . . . . . . . . . . . . . . . . . . 8-6
How Counters Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
CTU - Count Up, CTD - Count Down . . . . . . . . . . . . . . . . . . 8-9
RES - Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
Chapter 9
Compare Instructions Using the Compare Instructions . . . . . . . . . . . . . . . . . . . . . . 9-2
EQU - Equal, NEQ - Not Equal . . . . . . . . . . . . . . . . . . . . . . . 9-3
GRT - Greater Than, LES - Less Than . . . . . . . . . . . . . . . . . . 9-4
GEQ - Greater Than or Equal To, LEQ - Less Than or Equal To 9-5
MEQ - Mask Compare for Equal . . . . . . . . . . . . . . . . . . . . . . 9-6
LIM - Limit Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

Publication 1762-RM001C-EN-P
Table of Contents iii
Chapter 10
Math Instructions Using the Math Instructions . . . . . . . . . . . . . . . . . . . . . . . . 10-2
Updates to Math Status Bits . . . . . . . . . . . . . . . . . . . . . . . . 10-3
ADD - Add, SUB - Subtract . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
MUL - Multiply, DIV - Divide . . . . . . . . . . . . . . . . . . . . . . . 10-5
NEG - Negate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
CLR - Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
SCL - Scale. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
SCP - Scale with Parameters . . . . . . . . . . . . . . . . . . . . . . . . 10-8
SQR - Square Root . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9
SWP - Swap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10
Chapter 11
Conversion Instructions Using Decode and Encode Instructions . . . . . . . . . . . . . . . . 11-1
DCD - Decode 4 to 1-of-16. . . . . . . . . . . . . . . . . . . . . . . . . 11-2
ENC - Encode 1-of-16 to 4 . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
FRD - Convert from Binary Coded Decimal (BCD). . . . . . . . 11-4
TOD - Convert to Binary Coded Decimal (BCD) . . . . . . . . . 11-8
Chapter 12
Logical Instructions Using Logical Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
Updates to Math Status Bits . . . . . . . . . . . . . . . . . . . . . . . . 12-2
AND - Bit-Wise AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
OR - Logical OR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
XOR - Exclusive OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
NOT - Logical NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
Chapter 13
Move Instructions MOV - Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
MVM - Masked Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3
Chapter 14
File Instructions COP - Copy File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
FLL - Fill File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3
BSL - Bit Shift Left . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4
BSR - Bit Shift Right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6
FFL - First In, First Out (FIFO) Load . . . . . . . . . . . . . . . . . . 14-8
FFU - First In, First Out (FIFO) Unload . . . . . . . . . . . . . . . 14-11
LFL - Last In, First Out (LIFO) Load. . . . . . . . . . . . . . . . . . 14-14
LFU - Last In, First Out (LIFO) Unload. . . . . . . . . . . . . . . . 14-17

Publication 1762-RM001C-EN-P
Table of Contents iv
Chapter 15
Sequencer Instructions SQC- Sequencer Compare . . . . . . . . . . . . . . . . . . . . . . . . . 15-2
SQO- Sequencer Output. . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5
SQL - Sequencer Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-8
Chapter 16
Program Control Instructions JMP - Jump to Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-1
LBL - Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2
JSR - Jump to Subroutine . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2
SBR - Subroutine Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-3
RET - Return from Subroutine. . . . . . . . . . . . . . . . . . . . . . . 16-3
SUS - Suspend . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4
TND - Temporary End . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4
END - Program End . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-5
MCR - Master Control Reset . . . . . . . . . . . . . . . . . . . . . . . . 16-5
Chapter 17
Input and Output Instructions IIM - Immediate Input with Mask . . . . . . . . . . . . . . . . . . . . 17-1
IOM - Immediate Output with Mask . . . . . . . . . . . . . . . . . . 17-3
REF- I/O Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-4
Chapter 18
Using Interrupts Information About Using Interrupts . . . . . . . . . . . . . . . . . . 18-2
User Interrupt Instructions . . . . . . . . . . . . . . . . . . . . . . . . . 18-7
INT - Interrupt Subroutine . . . . . . . . . . . . . . . . . . . . . . . . . 18-7
STS - Selectable Timed Start . . . . . . . . . . . . . . . . . . . . . . . . 18-8
UID - User Interrupt Disable. . . . . . . . . . . . . . . . . . . . . . . . 18-9
UIE - User Interrupt Enable . . . . . . . . . . . . . . . . . . . . . . . 18-10
UIF - User Interrupt Flush . . . . . . . . . . . . . . . . . . . . . . . . 18-11
Using the Selectable Timed Interrupt (STI) Function File . . 18-12
Using the Event Input Interrupt (EII) Function File . . . . . . 18-17
Chapter 19
Process Control Instruction The PID Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-1
The PID Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-2
PD Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-2
PID - Proportional Integral Derivative . . . . . . . . . . . . . . . . . 19-3
Input Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-4
Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-7
Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-8
Runtime Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-16
Analog I/O Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-17
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-18
Application Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-22