Allen-Bradley Studio 5000 Logix Emulate User manual

Reference Manual
Logix 5000 Advanced Process Control and Drives and
Equipment Phase and Sequence Instructions
1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789
SoftLogix, 5069 CompactLogix, Emulate 5570

Important user information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment
before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions
in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by
suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer,
the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated
with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and
diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this
manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identif
ies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic
loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence
Important: Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be
present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous
temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc
Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work
practices and for Personal Protective Equipment (PPE).
Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 3
Summary of changes
This manual includes new and updated information. Use these reference tables to
locate changed information.
Global changes
None for this release.
New or enhanced features
Subject Reason
Common Attributes on page 537 Added link to the Elementary Data Types topic
Immediate values on page 540 Added Integer Immediate Values and Floating Point
Immediate Values tables.
Data Conversions on page 541 Changed Optimal data types to intermediate data types and
included extended data types USINT, INT, UINT, UDINT,
ULINT, LREAL. In the Convert SINT or INT to DINT section,
added converting DINT to LINT. Included converting data
for 32 and 64 bits.
Elementary data types on page 545 Changed the topic title from Data Types to Elementary Data
Types. Added LINT, USINT, UINT, UDINT, ULINT, REAL, and
LREAL.
LINT data types on page 548 Added a list of applicable controllers that support LINT data
types used in instructions.
Floating Point Values on page 548 Added a list of applicable controllers. Added LREAL tag
description.
Index Through Arrays on page 551 Added two new tips explaining Logix Designer allows
subscripts that are extended data type tags only. Also
explained using all available integer elementary data types
as a subscript index.
Bit Addressing on page 552 Added new definitions.
FOR_DO on page 525 Updated the description for loop ends.
Equipment Phase Instructions on page 415
The controllers that support Equipment Phase instructions
expanded to include the CompactLogix 5370 and
CompactLogix 5380, ControlLogix 5570 and ControlLogix
5580, and Compact GuardLogix 5370 and Compact
GuardLogix 5380 controllers.

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 5
Instruction Locator
Use this locator to find the applicable Logix5000 controllers instruction manual
for each instruction.
Logix5000 Controllers General Instructions
Reference Manual 1756-RM003
Logix5000 Controllers Advanced Process
Control and Drives and Equipment Phase
and Sequence Instructions Reference
Manual 1756-RM006
Logix5000 Controllers Motion Instructions
Reference Manual MOTION-RM002
Absolute Value (ABS) Alarm (ALM) Master Driven Coordinated Control (MDCC)
Add (ADD) Attach to Equipment Phase (PATT) Motion Apply Axis Tuning (MAAT)
Analog Alarm (ALMA) Attach to Equipment Sequence (SATT) Motion Apply Hookup Diagnostics (MAHD)
Always False (AFI) Coordinated Control (CC) Motion Arm Output Cam (MAOC)
Arc Cosine (ACS, ACOS) D Flip-Flop (DFF) Motion Arm Registration (MAR)
Arc Sine (ASN, ASIN) Deadtime (DEDT) Motion Arm Watch (MAW)
Arc Tangent (ATN, ATAN) Derivative (DERV) Motion Axis Fault Reset (MAFR)
ASCII Chars in Buffer (ACB) Detach from Equipment Phase (PDET) Motion Axis Gear (MAG)
ASCII Clear Buffer (ACL) Detach from Equipment Sequence (SDET) Motion Axis Home (MAH)
ASCII Handshake Lines (AHL) Discrete 3-State Device (D3SD) Motion Axis Jog (MAJ)
ASCII Read (ARD) Discrete 2-State Device (D2SD) Motion Axis Move (MAM)
ASCII Read Line (ARL) Enhanced PID (PIDE) Motion Axis Position Cam (MAPC)
ASCII Test for Buffer Line (ABL) Enhanced Select (ESEL) Motion Axis Stop (MAS)
ASCII Write (AWT) Equipment Phase Clear Failure (PCLF) Motion Axis Time Cam (MATC)
ASCII Write Append (AWA) Equipment Phase Command (PCMD) Motion Axis Shutdown (MASD)
Bit Field Distribute (BTD) Equipment Phase External Request (PXRQ) Motion Axis Shutdown Reset (MASR)
Bit Field Distribute with Target (BTDT) Equipment Phase Failure (PFL) Motion Calculate Cam Profile (MCCP)
Bit Shift Left (BSL) Equipment Phase New Parameters (PRNP) Motion Coordinated Path Move (MCPM)
Bit Shift Right (BSR) Equipment Phase Override Command (POVR) Motion Calculate Slave Values (MCSV)
Bitwise And (AND) Equipment Phase Paused (PPD) Motion Coordinated Transform with Orientation
(MCTO)
Bitwise (NOT) Equipment Sequence Assign Sequence Identifier
(SASI)
Motion Calculate Transform Position (MCTP)
Bitwise (OR) Equipment Sequence Clear Failure (SCLF) Motion Calculate Transform Position with
Orientation (MCTPO)
Boolean AND (BAND) Equipment Sequence command (SCMD) Motion Change Dynamics (MCD)
Boolean Exclusive OR (BXOR) Equipment Sequence Override (SOVR) Motion Coordinated Change Dynamics (MCCD)
Boolean NOT (BNOT) Function Generator (FGEN) Motion Coordinated Circular Move (MCCM)
Boolean OR (BOR) High Pass Filter (HPF) Motion Coordinated Linear Move (MCLM)
Break (BRK) High/Low Limit (HLL) Motion Coordinated Shutdown (MCSD)
Breakpoints (BPT) Integrator (INTG) Motion Coordinated Shutdown Reset (MCSR)
Clear (CLR) Internal Model Control (IMC) Motion Coordinated Stop (MCS)
Compare (CMP) JK Flip-Flop (JKFF) Motion Coordinated Transform (MCT)

Instruction Locator
6 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Logix5000 Controllers General Instructions
Reference Manual 1756-RM003
Logix5000 Controllers Advanced Process
Control and Drives and Equipment Phase
and Sequence Instructions Reference
Manual 1756-RM006
Logix5000 Controllers Motion Instructions
Reference Manual MOTION-RM002
Convert to BCD (TOD) Lead-Lag (LDLG) Motion Direct Drive Off (MDF)
Convert to Integer (FRD) Low Pass Filter (LPF) Motion Direct Drive On (MDO)
Copy File (COP), Synchronous Copy File (CPS) Maximum Capture (MAXC) Motion Direct Start (MDS)
Cosine (COS) Minimum Capture (MINC) Motion Disarm Output Cam (MDOC)
Compute (CPT) Modular Multivariable Control (MMC) Motion Disarm Registration (MDR)
Count down (CTD) Moving Average (MAVE) Motion Disarm Watch (MDW)
Count up (CTU) Moving Standard Deviation (MSTD) Motion Group Shutdown (MGSD)
Count up/down CTUD Multiplexer (MUX) Motion Group Shutdown Reset (MGSR)
Data Transition (DTR) Notch Filter (NTCH) Motion Group Stop (MGS)
Degrees (DEG) Phase State Complete (PSC) Motion Group Strobe Position (MGSP)
Diagnostic Detect (DDT) Position Proportional (POSP) Motion Redefine Position (MRP)
Digital Alarm (ALMD) Proportional + Integral (PI) Motion Run Axis Tuning (MRAT)
DINT To String (DTOS) Pulse Multiplier (PMUL) Motion Run Hookup Diagnostics (MRHD)
Divide (DIV) Ramp/Soak (RMPS) Motion Servo Off (MSF)
End of Transition (EOT) Rate Limiter (RLIM) Motion Servo On (MSO)
Equal to (EQU) Reset Dominant (RESD)
File Arithmetic (FAL) Scale (SCL)
File Bit Comparison (FBC) S-Curve (SCRV)
FIFO Load (FFL) Second-Order Controller (SOC)
FIFO Unload (FFU) Second-Order Lead Lag (LDL2)
File Average (AVE) Select (SEL)
File Standard Deviation (STD) Selected Negate (SNEG)
File Fill (FLL) Selected Summer (SSUM)
File Sort (SRT) Set Dominant (SETD)
Find String (FIND) Split Range Time Proportional (SRTP)
For (FOR) Totalizer (TOT)
File Search and Compare (FSC) Up/Down Accumulator (UPDN)
Get System Value (GSV) and Set System Value
(SST)
Greater Than or Equal to (GEQ)
Greater than (GRT)
Insert String (INSERT)
Immediate Output (IOT)
Jump to Label (JMP) and Label (LBL)
Jump to Subroutine (JSR), Subroutine (SBR), and
Return (RET)
Jump to External Routine (JXR)
Less Than (LES)

Instruction Locator
Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 7
Logix5000 Controllers General Instructions
Reference Manual 1756-RM003
Logix5000 Controllers Advanced Process
Control and Drives and Equipment Phase
and Sequence Instructions Reference
Manual 1756-RM006
Logix5000 Controllers Motion Instructions
Reference Manual MOTION-RM002
Less Than or Equal to (LEQ)
LIFO Load (LFL)
LIFO Unload (LFU)
License Validation (LV)
Limit (LIM)
Log Base (LOG)
Lower to Case (LOWER)
Masked Move (MVM)
Masked Move with Target (MVMT)
Master Control Reset (MCR)
Masked Equal to (MEQ)
Message (MSG)
Middle String (MID)
Modulo (MOD)
Move (MOV)
Multiply (MUL)
Natural Log (LN)
Negate (NEG)
Not Equal to (NEQ)
No Operation (NOP)
One Shot (ONS)
One Shot Falling (OSF)
One Shot Falling with Input (OSFI)
One Shot Rising (OSR)
One Shot Rising with Input (OSRI)
Output Energize (OTE)
Output Latch (OTL)
Output Unlatch (OTU)
Proportional Integral Derivative (PID)
Radian (RAD)
Real to String (RTOS)
Reset (RES)
Reset SFC (SFR)
Return (RET)
Retentive Timer On (RTO)
Retentive Timer On with Reset (RTOR)
Pause SFC (SFP)
Size In Elements (SIZE)
Sequencer Input (SQI)

Instruction Locator
8 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Logix5000 Controllers General Instructions
Reference Manual 1756-RM003
Logix5000 Controllers Advanced Process
Control and Drives and Equipment Phase
and Sequence Instructions Reference
Manual 1756-RM006
Logix5000 Controllers Motion Instructions
Reference Manual MOTION-RM002
Sequencer Load (SQL)
Sequencer Output (SQO)
Sine (SIN)
Square Roost (SQR/SQRT)
String Concatenate (CONCAT)
String Delete (DELETE)
String to DINT (STOD)
String to REAL (STOR)
Swap Byte (SWPB)
Subtract (SUB)
Tangent (TAN)
Timer Off Delay (TOF)
Timer Off Delay with Reset (TOFR)
Timer On Delay (TON)
Timer On Delay with Reset (TONR)
Temporary End (TND)
Tracepoints (TPT)
Trigger Event Task (EVENT)
Truncate (TRN)
Unknown Instruction (UNK)
Upper Case (UPPER)
User Interrupt Disable (UID)/User Interrupt Enable
(UIE)
X to the Power of Y (XPY)
Examine if Closed (XIC)
Examine If Open (XIO)
Bitwise Exclusive (XOR)

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 9
Table of contents
Studio 5000 environment.................................................................................................15
Additional resources ..........................................................................................................16
Purpose of this manual......................................................................................................16
Legal Notices.......................................................................................................................16
Chapter 1
Process Control Instructions...........................................................................................19
Alarm (ALM)......................................................................................................................20
Discrete 3-State Device (D3SD).....................................................................................26
Discrete 2-State Device (D2SD).....................................................................................41
Deadtime (DEDT) ............................................................................................................ 51
Function Generator (FGEN) .......................................................................................... 56
Lead-Lag (LDLG).............................................................................................................. 62
Enhanced PID (PIDE)...................................................................................................... 67
Position Proportional (POSP) ......................................................................................102
Ramp/Soak (RMPS) .......................................................................................................111
Scale (SCL)........................................................................................................................125
Split Range Time Proportional (SRTP)......................................................................130
Totalizer (TOT) ..............................................................................................................137
Coordinated Control (CC)...........................................................................................147
CC Function Block Configuration ......................................................................181
CC Function Block Model Initialization............................................................182
CC Function Block Tuning...................................................................................183
CC Function Block Tuning Errors ......................................................................183
CC Function Block Tuning Procedure ...............................................................184
Internal Model Control (IMC) ....................................................................................184
IMC Function Block Configuration....................................................................201
IMC Function Block Model Initialization .........................................................202
IMC Function Block Tuning ................................................................................202
IMC Function Block Tuning Errors....................................................................203
IMC Function Block Tuning Procedure.............................................................204
Modular Multivariable Control (MMC)....................................................................204
MMC Function Block Configuration.................................................................243
MMC Function Block Model Initialization.......................................................245
MMC Function Block Tuning..............................................................................245
Use an MMC Function Block for Splitter Control..........................................246
MMC Function Block Tuning Errors .................................................................246
MMC Function Block Tuning Procedure..........................................................247
Current SP.........................................................................................................................248
Use the Coordinated Control Function Block to Control .............................248
CV High/Low Limiting .................................................................................................250
CV Percent Limiting .......................................................................................................251
CV Rate-of-Change Limiting........................................................................................252
Preface
Process Control Instructions

Table of contents
10 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
CV Windup Limiting .....................................................................................................253
Execution ...........................................................................................................................254
Switch Between Program Control and Operator Control..............................254
Operating Modes......................................................................................................255
Convert the PV and SP Values to Percent ..........................................................257
Primary Loop Control ............................................................................................257
Processing Faults.......................................................................................................259
Select the Control Variable ....................................................................................259
Update the CVOper and CVProg Values...........................................................260
Select the Setpoint....................................................................................................260
SP High/Low Limiting ...........................................................................................261
Chapter 2
Drives Instructions ..........................................................................................................263
Integrator (INTG)...........................................................................................................264
Proportional + Integral (PI) ..........................................................................................270
Pulse Multiplier (PMUL)...............................................................................................281
S-Curve (SCRV) ..............................................................................................................289
Second-Order Controller (SOC) .................................................................................298
Up/Down Accumulator (UPDN) ...............................................................................308
HMI Button Control (HMIBC) .................................................................................312
Chapter 3
Filter Instructions ............................................................................................................319
Derivative (DERV)..........................................................................................................320
High Pass Filter (HPF) ...................................................................................................324
Low Pass Filter (LPF)......................................................................................................330
Notch Filter (NTCH) ....................................................................................................336
Second-Order Lead Lag (LDL2)...................................................................................341
Chapter 4
Select/Limit Instructions ...............................................................................................349
Enhanced Select (ESEL) .................................................................................................350
High/Low Limit (HLL) .................................................................................................357
Multiplexer (MUX).........................................................................................................362
Rate Limiter (RLIM).......................................................................................................365
Select (SEL) .......................................................................................................................370
Selected Negate (SNEG) ................................................................................................373
Selected Summer (SSUM) .............................................................................................376
Drives
Filter
Select_Limit Instructions

Table of contents
Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 11
Chapter 5
Statistical Instructions.....................................................................................................381
Moving Average (MAVE)..............................................................................................382
Maximum Capture (MAXC)........................................................................................388
Minimum Capture (MINC) .........................................................................................392
Moving Standard Deviation (MSTD).........................................................................395
Chapter 6
Logical and Move Instructions......................................................................................401
D Flip-Flop (DFF)...........................................................................................................401
JK Flip-Flop (JKFF).........................................................................................................404
Reset Dominant (RESD)................................................................................................407
Set Dominant (SETD)....................................................................................................411
Chapter 7
Equipment Phase Instructions ......................................................................................415
Attach to Equipment Phase (PATT)...........................................................................416
Detach from Equipment Phase (PDET).....................................................................421
Equipment Phase Clear Failure (PCLF) .....................................................................424
Equipment Phase Command (PCMD) ......................................................................427
Equipment Phase External Request (PXRQ).............................................................433
Equipment Phase Failure (PFL)....................................................................................443
Equipment Phase New Parameters (PRNP) ..............................................................448
Equipment Phase Override Command (POVR) ......................................................451
Equipment Phase Paused (PPD)...................................................................................455
Phase State Complete (PSC) .........................................................................................460
Chapter 8
Equipment Sequence instructions................................................................................465
Attach to Equipment Sequence (SATT) ....................................................................465
Detach from Equipment Sequence (SDET)...............................................................468
Equipment Sequence Assign Sequence Identifier (SASI)........................................470
Equipment Sequence Clear Failure (SCLF)...............................................................471
Equipment Sequence command (SCMD)..................................................................473
Equipment Sequence Diagram instructions ...............................................................476
Equipment Sequence Override (SOVR).....................................................................476
Guidelines for SATT instructions................................................................................479
Guidelines for SCMD instructions ..............................................................................480
Guidelines for SOVR instructions................................................................................480
Result codes for SATT instructions.............................................................................481
Result codes for SCLF instructions..............................................................................482
Statistical Instructions
Logical and Move
Equipment Phase
Instructions
Equipment Sequence

Table of contents
12 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Result codes for SCMD instructions ...........................................................................483
Result codes for SOVR instructions.............................................................................484
SASI instruction examples .............................................................................................485
SATT instruction examples...........................................................................................486
SCLF instruction examples............................................................................................486
SCMD instruction examples .........................................................................................487
SDET instruction examples ...........................................................................................487
SOVR instruction examples...........................................................................................488
When should I use an SOVR instruction instead of an SCMD instruction?......489
Chapter 9
Choose the Function Block Elements..........................................................................492
Latching Data....................................................................................................................493
Function Block Responses to Overflow Conditions ................................................494
Order of Execution ..........................................................................................................495
Timing Modes ..................................................................................................................499
Program/Operator Control...........................................................................................502
Function Block States......................................................................................................505
Chapter 10
Structured Text Syntax ...................................................................................................508
Structured Text Components: Comments ................................................................509
Structured Text Components: Assignments..............................................................510
Specify a non-retentive assignment.......................................................................511
Assign an ASCII character to a string data member .........................................512
Structured Text Components: Expressions................................................................513
Use arithmetic operators and functions ..............................................................514
Use bitwise operators...............................................................................................516
Use logical operators................................................................................................516
Use relational operators ..........................................................................................517
Structured Text Components: Instructions...............................................................519
Structured Text Components: Constructs.................................................................520
Character string literals...................................................................................................521
String Types...............................................................................................................522
CASE_OF .........................................................................................................................523
FOR_DO...........................................................................................................................525
IF_THEN..........................................................................................................................527
REPEAT_UNTIL...........................................................................................................530
WHILE_DO ....................................................................................................................533
Structured Text Attributes.............................................................................................535
Function Block Attributes
Structured Text
Programming

Table of contents
Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 13
Chapter 11
Common Attributes........................................................................................................537
Math Status Flags .............................................................................................................537
Immediate values..............................................................................................................540
Data Conversions.............................................................................................................541
Elementary data types......................................................................................................545
LINT data types ...............................................................................................................548
Floating Point Values ......................................................................................................548
Index Through Arrays.....................................................................................................551
Bit Addressing...................................................................................................................552
Function Block Faceplate Controls..............................................................................552
Faceplate Control Properties Dialog - General Tab .................................................553
Faceplate Control Properties Dialog - Display Tab..................................................554
Faceplate Control Properties Dialog - Font Tab.......................................................555
Faceplate Control Properties Dialog - LocaleTab.....................................................556
ASCII Character Codes..................................................................................................557
ASCII character codes.....................................................................................................557
Common Attributes for
Advanced Process Control
and Drives Instructions
Index

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 15
Preface
This manual provides a programmer with details about the available General,
Motion, Process, and Drives instruction set for a Logix-based controller.
If you design, program, or troubleshoot safety applications that use GuardLogix
controllers, refer to the GuardLogix Safety Application Instruction Set Safety
Reference Manual, publication 1756-RM095.
This manual is one of a set of related manuals that show common procedures for
programming and operating Logix 5000 controllers.
For a complete list of common procedures manuals, refer to the Logix 5000
Controllers Common Procedures Programming Manual, publication 1756-
PM001 .
The term Logix 5000 controller refers to any controller based on the Logix 5000
operating system.
The Studio 5000 Automation Engineering & Design Environment® combines
engineering and design elements into a common environment. The first element is
the Studio 5000 Logix Designer® application. The Logix Designer application is
the rebranding of RSLogix 5000® software and will continue to be the product to
program Logix 5000™ controllers for discrete, process, batch, motion, safety, and
drive-based solutions.
The Studio 5000® environment is the foundation for the future of
Rockwell Automation® engineering design tools and capabilities. The Studio 5000
environment is the one place for design engineers to develop all elements of their
control system.
Studio 5000 environment

Preface
16 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
These documents contain additional information concerning related Rockwell
Automation products.
Resource Description
Industrial Automation Wiring and Grounding Guidelines ,
publication 1770-4.1
Provides general guidelines for installing a Rockwell
Automation industrial system.
Product Certifications webpage, available
at http://ab.rockwellautomation.com
Provides declarations of conformity, certificates, and other
certification details.
View or download publications
at http://www.rockwellautomation.com/literature . To order paper copies of
technical documentation, contact the local Rockwell Automation distributor or
sales representative.
This manual provides a programmer with details about each available instruction
for a Logix-based controller. This manual also gives you guidance and examples to
use equipment phase instructions to transition to different state, handle faults, set
up break points, and so forth.
Copyright Notice
Copyright © 2019 Rockwell Automation Technologies, Inc. All Rights Reserved.
Printed in USA.
This document and any accompanying Rockwell Software products are
copyrighted by Rockwell Automation Technologies, Inc. Any reproduction
and/or distribution without prior written consent from Rockwell Automation
Technologies, Inc. is strictly prohibited. Please refer to the license agreement for
details.
End User License Agreement (EULA)
You can view the Rockwell Automation End-User License Agreement ("EULA")
by opening the License.rtf file located in your product's install folder on your hard
drive.
Open source licenses
The software included in this product contains copyrighted software that is
licensed under one or more open source licenses. Copies of those licenses are
included with the software. Corresponding Source code for open source packages
included in this product are located at their respective web site(s).
Alternately, obtain complete Corresponding Source code by contacting Rockwell
Automation via the Contact form on the Rockwell Automation
website: http://www.rockwellautomation.com/global/about-
Additional resources
Purpose of this manual
Legal Notices

Preface
Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 17
us/contact/contact.page
Please include "Open Source" as part of the request text.
A full list of all open source software used in this product and their corresponding
licenses can be found in the OPENSOURCE folder included with the Release
Notes. The default installed location of these licenses is C:\Program Files
(x86)\Common
Files\Rockwell\Help\<Product>\ReleaseNotes\OPENSOURCE\index.htm.
Trademark Notices
Allen-Bradley, ControlBus, ControlFLASH, Compact GuardLogix, Compact
I/O, ControlLogix, CompactLogix, DCM, DH+, Data Highway Plus,
DriveLogix, DPI, DriveTools, Explorer, FactoryTalk, FactoryTalk Administration
Console, FactoryTalk Alarms and Events, FactoryTalk Batch, FactoryTalk
Directory, FactoryTalk Security, FactoryTalk Services Platform, FactoryTalk
View, FactoryTalk View SE, FLEX Ex, FlexLogix, FLEX I/O, Guard I/O, High
Performance Drive, Integrated Architecture, Kinetix, Logix5000, Logix 5000,
Logix5550, MicroLogix, DeviceNet, EtherNet/IP, PLC-2, PLC-3, PLC-5,
PanelBuilder, PowerFlex, PhaseManager, POINT I/O, PowerFlex, Rockwell
Automation, RSBizWare, Rockwell Software, RSEmulate, Historian,
RSFieldbus, RSLinx, RSLogix, RSNetWorx for DeviceNet, RSNetWorx for
EtherNet/IP, RSMACC, RSView, RSView32, Rockwell Software Studio 5000
Automation Engineering & Design Environment, Studio 5000 View Designer,
SCANport, SLC, SoftLogix, SMC Flex, Studio 5000, Ultra 100, Ultra 200,
VersaView, WINtelligent, XM, SequenceManager are trademarks of Rockwell
Automation, Inc.
Any Rockwell Automation logo, software or hardware product not mentioned
herein is also a trademark, registered or otherwise, of Rockwell Automation, Inc.
Other Trademarks
CmFAS Assistant, CmDongle, CmStick, CodeMeter, CodeMeter Control
Center, and WIBU are trademarks of WIBU-SYSTEMS AG in the United States
and/or other countries.
All other trademarks are the property of their respective holders and are hereby
acknowledged.
Warranty
This product is warranted in accordance with the product license. The product’s
performance may be affected by system configuration, the application being
performed, operator control, maintenance, and other related factors. Rockwell
Automation is not responsible for these intervening factors. The instructions in
this document do not cover all the details or variations in the equipment,

Preface
18 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
procedure, or process described, nor do they provide directions for meeting every
possible contingency during installation, operation, or maintenance. This
product’s implementation may vary among users.
This document is current as of the time of release of the product; however, the
accompanying software may have changed since the release. Rockwell Automation,
Inc. reserves the right to change any information contained in this document or
the software at any time without prior notice. It is your responsibility to obtain the
most current information available from Rockwell when installing or using this
product.
Environmental Compliance
Rockwell Automation maintains current product environmental information on
its website at http://www.rockwellautomation.com/rockwellautomation/about-
us/sustainability-ethics/product-environmental-compliance.page
Contact Rockwell
Customer Support Telephone — 1.440.646.3434
Online Support — http://www.rockwellautomation.com/support/

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 19
Chapter 1
Process
The Process Control instructions include these instructions:
Available Instructions
Ladder Diagram
Not available
Function Block and Structured Text
ALM SCL PIDE RMPS POSP SRTP LDLG FGEN
TOT DEDT D2SD D3SD IMC CC MMC
If you want to Use this instruction
Provide alarming for any analog signal. ALM
Control discrete devices, such as solenoid valves, pumps, and motors, that
have only two possible states (e.g., on/off, open/closed, etc.).
D2SD
Control discrete devices, such as high/low/off feeders that have three
possible states (e.g., fast/slow/off, forward/stop/reverse, etc.).
D3SD
Perform a delay of a single input. You select the amount of deadtime
delay.
DEDT
Convert an input based on a piece-wise linear function. FGEN
Provide a phase lead-lag compensation for an input signal. LDLG
Regulate an analog output to maintain a process variable at a certain
setpoint, using a PID algorithm.
PIDE
Raise/lower or open/close a device, such as a motor-operated valve, by
pulsing open or close contacts.
POSP
Provide for alternating ramp and soak periods to follow a temperature
profile.
RMPS
Convert an unscaled input value to a floating point value in engineering
units.
SCL
Process Control
Instructions

Chapter 1
Process Control Instructions
20 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Take the 0-100% output of a PID loop and drive heating and cooling
digital output contacts with a periodic pulse.
SRTP
Provide a time-scaled accumulation of an analog input value, such as a
volumetric flow.
TOT
Control a single process variable by maintaining a single controller output. IMC
Control a single process variable by manipulating as many as three
different control variables.
CC
Control two process variables to their setpoints using up to three control
variables.
MMC
See also
Filter Instructions on page 319
Logical and Move Instructions on page 401
Drives Instructions on page 263
Select/Limit Instructions on page 349
Statistical Instructions on page 381
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The ALM instruction provides alarming for any analog signal.
Available Languages
Ladder Diagram
This instruction is not available in ladder diagram logic.
Alarm (ALM)