Rockwell Automation Allen-Bradley Logix 5000 Series Owner's manual

Programming Manual
Logix 5000 Controllers Tasks, Programs, and Routines
1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix,
1789 SoftLogix, 5069 CompactLogix, 5069 Compact GuardLogix, Studio 5000 Logix Emulate

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: 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.
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-PM005H-EN-P - February 2018 3
Summary of changes
This manual contains new and updated information. There are a number of minor
changes throughout this publication that were made to clarify existing
information. The major changes are listed in the following table.
Change Topic
Updated the list of supported controllers. Cover
Updated screen shots. Throughout

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 5
Table of contents
Studio 5000 environment....................................................................................................7
Additional resources.............................................................................................................7
Legal notices ...........................................................................................................................8
Chapter 1
Introduction........................................................................................................................ 11
Select Controller Tasks..................................................................................................... 11
Use Caution in the Number of Tasks That You Use......................................... 13
Prioritize Periodic and Event tasks................................................................................. 13
Additional Considerations....................................................................................... 14
Example ........................................................................................................................ 15
Leave Enough Time for Unscheduled Communication............................................ 16
Avoid Overlaps ................................................................................................................... 17
Manually Check for Overlaps.................................................................................. 18
Programmatically Check for Overlaps................................................................... 19
Configure Output Processing for a Task....................................................................... 21
Manually Configure Output Processing ............................................................... 23
Programmatically Configure Output Processing ................................................ 24
Inhibit a Task...................................................................................................................... 25
Manually Inhibit or Uninhibit a Task................................................................... 25
Programmatically Inhibit or Uninhibit a Task .................................................... 26
Create a Task....................................................................................................................... 27
Create a Periodic Task............................................................................................... 29
Language Switching ................................................................................................... 30
Adjust the System-overhead Time Slice ........................................................................ 31
Configure the System-overhead Time Slice.......................................................... 32
Adjust the System Watchdog Time ............................................................................... 34
Adjust the Watchdog Timer for a Task................................................................. 34
Chapter 2
Introduction........................................................................................................................ 37
Choose the trigger for an event task............................................................................... 37
Module Input Data State Change Trigger.................................................................... 40
How an I/O Module Triggers an Event Task...................................................... 40
Make Sure Your Module Can Trigger an Event Task........................................ 43
Checklist for an Input Event Task.......................................................................... 43
Example – Input Event Task ................................................................................... 45
Estimate Throughput................................................................................................ 46
Example - Estimate Throughput............................................................................. 47
Additional Considerations....................................................................................... 48
Motion Group Trigger...................................................................................................... 49
Preface
Manage Tasks
Manage Event Tasks

Table of contents
6Rockwell Automation Publication 1756-PM005H-EN-P - February 2018
Checklist for a Motion Group Task....................................................................... 51
Axis Registration Trigger.................................................................................................. 51
Checklist for an Axis Registration Task ................................................................ 52
Example - Axis Registration Trigger....................................................................... 53
Axis Watch Trigger............................................................................................................ 55
Checklist for an Axis Watch Task.......................................................................... 56
Example - Axis Watch Trigger................................................................................. 56
Consumed Tag Trigger..................................................................................................... 59
Maintain the Integrity of Data ................................................................................ 61
Synchronize multiple controllers............................................................................ 62
Checklist for the Producer Controller................................................................... 62
Checklist for the Consumer Controller................................................................ 63
Example - Producer Controller and Consumer Controller .............................. 64
Producer Controller .................................................................................................. 64
Produced Tag Properties................................................................................... 65
Ladder Logic........................................................................................................ 65
Consumer Controller................................................................................................ 65
Event Task Properties........................................................................................ 65
Ladder Diagram in the Event Task................................................................. 66
EVENT Instruction Trigger............................................................................................ 67
Programmatically Determine if EVENT Instruction Triggered Task............ 68
Checklist for an EVENT Instruction Task .......................................................... 68
Example – EVENT Instruction Trigger................................................................ 69
Event Task Properties........................................................................................ 69
Ladder Diagram in Program_A....................................................................... 69
Ladder Diagram in Program_B ....................................................................... 69
Define a Timeout Value for an Event Task .................................................................. 70
Assign a Timeout Value to an Event Task ............................................................ 71
Programmatically Configure a Timeout................................................................ 72
Programmatically determine if a timeout occurs................................................. 72
Index

Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 7
Preface
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 that is 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.
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.
Studio 5000 environment
Additional resources

Preface
8Rockwell Automation Publication 1756-PM005H-EN-P - February 2018
You can view or download publications at
http://www.rockwellautomation.com/literature. To order paper copies of
technical documentation, contact your local Rockwell Automation distributor or
sales representative.
Copyright notice
Copyright © 2018 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.
Other 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 can be located at their respective web site(s).
You may alternately obtain complete Corresponding Source code by contacting
Rockwell Automation via our Contact form on the Rockwell Automation
website: http://www.rockwellautomation.com/global/about-
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
Legal notices

Preface
Rockwell Automation Publication 1756-PM005H-EN-P - February 2018 9
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, CodeMeter, CodeMeter Control Center, and
WIBU are trademarks of WIBU-SYSTEMS AG in the United States and/or
other countries. Microsoft is a registered trademark of Microsoft Corporation in
the United States and/or other countries. ControlNet is a trademark of
ControlNet International. DeviceNet is a trademark of the Open DeviceNet
Vendors Association (ODVA). Ethernet/IP is a trademark of ControlNet
International under license by ODVA.
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,
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.

Preface
10 Rockwell Automation Publication 1756-PM005H-EN-P - February 2018
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 Automation
Customer Support Telephone — 1.440.646.3434
Online Support — http://www.rockwellautomation.com/support/