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