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RockWell Automation Allen Bradley Hardware CompactLgix Controller and Modules
ControlLogix Controller and Modules
Network Overview
Connecting sensors and Actuators to Modules
Controller Organizer
Tasks and Tags Types
Program and Routine
Connecting PC to PLC via Serial and Ethernet
Download and Test
Instruction Set Basic Instructions
Enhance Instructions
Tasks and Tags In Controller
Access analog I/O data
Add-on Instruction
Minor and Major Fault
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RockWell Software & Allen Bradley
Rockwell Software:
•RSLogix 500
•RSLogix 5000
•RSLink…v..v..
Allen – Bradley Hardware:
Programmable Controller
HMI (Human Machine
Interface)
I/O ….v…v…
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ControlLogix System.
CompactLogix System.
FlexLogix System.
Allen Bradley Hardware
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COMPACTLOGIX OVERVIEW
CompactLogix Controller
CompactLogix is designed to provide a Logix Solution for
machine-level control applications with I/O modules, motion and
network requirements.
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Some CompactLogix Controllers
COMPACTLOGIX OVERVIEW
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COMPACTLOGIX OVERVIEW
Complex CompactLogix System
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PLC OVERVIEW
Ethernet
ControlNet
DeviceNet
Etc…
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COMPACTLLOGIX MODULES
1769-IQ32 Sinking/Sourcing 24V DC Input
On state:
Min voltage: 10V, I = 2mA
Max voltage: 30V, I=10mA
OFF state
Max voltage 5V.
Max current: 1,5mA.
Time to change from ON and OFF
state is 8ms.
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1769-IQ32 Sinking/Sourcing 24V DC Input
COMPACTLLOGIX MODULES
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1769-IA16 Module Input Wiring (AC Input)
COMPACTLLOGIX MODULES
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1769-IQ32 Sinking/Sourcing 24V DC Input
COMPACTLLOGIX MODULES
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CONTROLLOGIX MODULE
ControlLogix DC (10..30V) diagnostic Input Module
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CONTROLLOGIX MODULE
ControlLogix AC ( 74..132V) Input Module
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Connectiong sensor with digital output to input digital module Ex1: Connecting sensors with PNP output to Input module
COMPACTLOGIX MODULES
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Connecting sensors with digital output (PNP) to DC input Ex1: Answer
COMPACTLOGIX MODULES
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Connecting sensors with digital output (PNP) to AC input Ex1: Answer
COMPACTLOGIX MODULES
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Connecting sensors to input digital module Ex2: Connecting sensors with NPN output to Input module
COMPACTLOGIX MODULES
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Connecting sensors with digital output (PNP) to DC input Ex2: Answer
COMPACTLOGIX MODULES
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Connecting sensors with digital output (NPN) to AC input Ex2: Answer
COMPACTLOGIX MODULES
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1769-OB32 Current Sourcing 24V DC Output
Min Voltage: 20,4V DC, I = 1mA
Max Voltage: 26,4V DC, I = 1A
32 digital Outputs
COMPACTLLOGIX MODULES
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1769-OB32 Current Sourcing 24V DC Output
COMPACTLLOGIX MODULES
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1769-OB32 Current Sourcing 24V DC Output
COMPACTLLOGIX MODULES
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ControlLogix DC diagnostic Output Module
CONTROLLOGIX MODULES
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ControlLogix AC diagnostic Output Module
CONTROLLOGIX MODULES
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Connecting Actuators to output digital module Ex3: Connecting DC Output to control a three phase motor
COMPACTLOGIX MODULES
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Connecting Actuators to output digital module Ex3: Connecting DC Output to control a three phase motor
COMPACTLOGIX MODULES
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Connecting Actuators to output digital module Ex3: Connecting AC Output to control a three phase motor
COMPACTLOGIX MODULES
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Connecting Actuators to output digital module Ex4: Connecting DC Output to control M420 inverter
COMPACTLOGIX MODULES
C
P
U
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Connecting Actuators to output digital module Ex4: Connecting DC Output to control M420 inverter
COMPACTLOGIX MODULES
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Connecting Actuators to output digital module Ex4: Connecting DC Output to control inverter
COMPACTLOGIX MODULES
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Connecting Actuators to output digital module Ex5: Connecting DC Output to control FC50N inverter
COMPACTLOGIX MODULES
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Connecting Actuators to output digital module Ex5: Connecting DC Output to control Panasonic inverter
COMPACTLOGIX MODULES
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• Bộ nhớ: 750kbytes.
• 1 port Ethernet/IP, 1 port RS-232.
• EtherNet/IP, DeviceNet.
• Relay Ladder, FBD, Structured text,
Sequential function block.
• Số module mở rộng: 16.
• Thẻ nhớ: 1784 CF64, - CF128.
• 1769 Lithium battery.
COMPACTLOGIX L32E
COMPACTLOGIX CONTROLLER
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• Bộ nhớ: 2MB.
• 1 port Ethernet/IP, 1 port RS-232.
• EtherNet/IP,Controlnet, DeviceNet.
• Relay Ladder, FBD, Structured text,
Sequential function block.
• Số module mở rộng: 18.
• Lithium battery.
CONTROLLOGIX L61
CONTROLLOGIX CONTROLLER
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CONTROLLER ORGANIZER
Task_1
Task_2
Task_n
Program_1
Program_2
Program_n
Program_tag
Main routine
Subroutine_1
……
Subroutine_n
Program_tag
Main routine
Subroutine_1
……
Subroutine_n
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There are two types of tag: Controller tag and local tag
TAGS IN CONTROLLER
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Controller Tags & Program Tag
TAGS IN CONTROLLER
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Using Controller tags or Program tags
TAGS IN CONTROLLER
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Tag is a data variable in a controller
TAGS IN CONTROLLER
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Type of Tag defines how the tag operates within a project, There
are four types of tag: Base, Alias, Produced and Consumed
TYPE TAG IN CONTROLLER
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Rslogix programs
32 programs in a task
one main routine and many subroutines in a program
Main routine is executed from program, sub must be called to run
PROGRAM AND ROUTINE IN RSLOGIX
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A Subroutine is called by another routine
SUBROUTINE
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SFC, Structure Text, Ladder and FB
Ladder Diagram
SFC
FB
Structure Text
PROGRAMMING LANGUAGE
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Ladder logic
–Rungs.
–Instructions.
–Branches.
PROGRAMMING LANGUAGE
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Function Block Diagram: Function Block. Input Reference. Output Reference. Wire.
PROGRAMMING LANGUAGE
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Sequential Function Chart (SFC):
PROGRAMMING LANGUAGE
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Structure Text: Use statements to define what to execute.
PROGRAMMING LANGUAGE
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Rslogix 5000: Programming for compactLogix and controlLogix.
Rslink: Communicating between RSLogix 5000 and
controllers.
Rsnetwork for Devicenet: Configuring Devicenet
Network
Rsnetwork for Controlnet: Configuring Controlnet
Network
RSview32, Factory Talk: Designing Scada Systems
ROCKWELL SOFTWARE
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RSlink
PLC
RSLOGIX500
RSLINK
ROCKWELL SOFTWARE
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COMPACTLOGIX TRAINING KIT
Slot0 Slot1 Slot2 Slot3 Slot4 Slot5
Except the CPU, all modules can be changed their position
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CONTROLLOGIX TRAINING KIT
Slot0 Slot1
Slot2
Slot3
Slot4
Slot5
CPUs and modules can be placed in any slot of chassis
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PROGRAMMING Working with a project
1. Connecting hardware
2. Configuring CPU and I/O module by Rslogix 5000
3. Create Tags(Program Tags or Controller Tags)
4. Alias Tags to represent another tag
5. Write logic
6. Download to CPU by Rslinx via Rs232 or Ethernet
7. Run and check
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Configure hardware for commpactLogix: L32E
Open Rslogix 500, Create a new
project, slelect a appropriate CPU
and Revision, enter project name
and save.
Notice:
CPU type must be matched with
real CPU.
For controllogix, CPU can be
placed in any slot of chassis 20
HARDWARE CONFIGURATION
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Configure hardware for commpactLogix: Adding Dnet module HARDWARE CONFIGURATION
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Configure hardware for commpactLogix: Adding Input module HARDWARE CONFIGURATION
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Configure hardware for commpactLogix: Similar to others modules
EX7:
Participants configure hardware for compactLogix and ControlLogix as above.
Save results as with names are Compact_hardwar1 and control_hardware1
CompactLogix hardware ControlLogix hardware
HARDWARE CONFIGURATION
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Create Tags(Program Tags)
CREATE TAGS AND WRITE LOGIC
Write Logic
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Connect to the CPU via the Ethernet port
DOWNLOAD PROGRAM TO CONTROLLER
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192.168.1.20
255.255.255.0 192.168.1.21
255.255.255.0 192.168.1.24
255.255.255.0 192.168.1.25
255.255.255.0
Connect to the CPU via the Ethernet port
Each device must has a different address
DOWNLOAD PROGRAM TO CONTROLLER
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Configure the Ethernet driver via RSlinx
From communication tab in Rslink, choose configure Driver,
Ethernet/IP Driver, enter an appropriate name
DOWNLOAD PROGRAM TO CONTROLLER
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Configure the Ethernet driver via RSlinx
Choose Network connection
and IP address
DOWNLOAD PROGRAM TO CONTROLLER
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Select the Controller Path to download to the CPU: Open a project,
choose Who Active then choose CPU to download via ethernet
1
2
3
DOWNLOAD PROGRAM TO CONTROLLER
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Directly connect to the CPU via the serial port
DOWNLOAD PROGRAM TO CONTROLLER
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Configure the serial driver via RSlinx
From communication tab in Rslink, choose configure Driver,
Rs232 DF1 devices, enter an appropriate name
DOWNLOAD PROGRAM TO CONTROLLER
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Configure the serial driver via RSlinx
Setup parameters for
Configure RS 232 DF1
Devices dialogs
DOWNLOAD PROGRAM TO CONTROLLER
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Select the Controller Path to download to the CPU: Open a
project, choose Who Active then choose CPU to download
1
2
3
DOWNLOAD PROGRAM TO CONTROLLER
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The controller supports three type of tasks
Continuous Tasks: Runs all the time, a project has only a
continuous task
Periodic Task: Performs function at a specific time, whenever the
time for periodic task expires.
Event Task: Performs a function only when a specific event occurs.
Characteristic of Tasks
The controller executes only one Task at one time
A Task can interrupt a different task that is executing and take
control if it has high priority
In any given Task, only one program executes at one time.
MANAGE TASKs
Tag is a memory (data variable ) in controller, includes controller tag and local tag
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This example depicts execution of a project with tasks
MANAGE TASKs
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Priority Periodic and Event Tasks: The priority of each task tells the controller
what to do
MANAGE TASKs
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Create a Periodic Task, Put an appropriate name, select Task Type, Periodic
and Priority, create a program and write a logic program
PROGRAM FOR PERIODIC TASKS
Create a Periodic Task, enter an appropriate name
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PROGRAM FOR PERIODIC TASKS
Select Task Type, Periodic and Priority
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PROGRAM FOR PERIODIC TASKS
Create a new Program with appropriate name and a new routine
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PROGRAM FOR PERIODIC TASKS
Select Main Routine for writing logic program
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PROGRAM FOR PERIODIC TASKS
Select Main Routine for writing a Program
Add Instruction will executed one every 1000ms
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MANAGE EVENT TASKS
Choose the Trigger for an Event Task
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MANAGE EVENT TASKS
Module Input Data State Change Trigger
Event Task is trigged whenever data from input change
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MANAGE EVENT TASKS
Choose Trigger for Module Input State
Event Task is trigged whenever data from input change
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Create a Event Task, enter an appropriate name, Select Task Type, event
And Priority, create a Program and write a logic program
PROGRAM FOR EVENT TASKS
Create a Event Task, enter an appropriate name, Type of Task , Trigger and
Priority
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PROGRAM FOR EVENT TASKS
Create a new Program with appropriate name and a new routine
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PROGRAM FOR EVENT TASKS
Select Main Routine in Event Task to write logic program
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PROGRAM FOR EVENT TASKS
Select Main Routine in Event Task to write a Program
Add Instruction will executed whenever Event Task is Called
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PROGRAM FOR EVENT TASKS
Use Trigger Event Instruction to call Event_Task
Trigger Task Instruction is placed in another Task.
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MANAGE TASKs Tasks Organizer in P& G Project
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Tasks Organizer in P& G Project MANAGE TASKs
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Tasks Organizer in P& G Project MANAGE TASKs
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Tasks and Rountine in P& G Project MANAGE TASKs
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Tasks and Rountine in P& G Project MANAGE TASKs
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2.1.Creating Continuous Task, Preodic Task, Event Task,
main_routine, Sub_routine
PRACTICE ON TASKs and ROUTINEs
1 2
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2.2 Calling Sub_routine from main_routine or other
Sub_routine
PRACTICE ON TASKs and ROUTINEs
Each sub_routine reads one peripheral input
and sends data to Output module
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Bit instructions: Bit_sbr BASIC INSTRUCTION
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Compare instructions: Compare_Sbr BASIC INSTRUCTION
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Math instructions: Mat_sbr BASIC INSTRUCTION
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1769-IF4 Analog Input
Configure input voltage range
-10V…10V DC
0…10V DC
0 …5V DC
1…5V DC
Configure input current range
0…20mA
4…20mA
ANALOG MODULES
1
2
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Connecting voltage and current Sensors
ANALOG MODULES
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Configure input voltage range
-10V…10V DC
0…10V DC
0 …5V DC
1…5V DC
Analog Input Module, connecting voltage sensors
ANALOG MODULES
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Analog Input Module, connecting current sensors
Configure input current range
0…20mA or 4…20mA.
ANALOG MODULES
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3.1: Connecting a pressure sensor with voltage output to input analog module
ANALOG INPUT CONNECTION
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3.2 Connecting an Ultrasonic sensor with current output to input analog module
ANALOG INPUT CONNECTION
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Valid Input Data
ANALOG VALUE REPRESENTATION
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Valid Input Data
ANALOG VALUE REPRESENTATION
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Valid Input Data
ANALOG VALUE REPRESENTATION
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Configure and input data ANALOG MODULE
1 2
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Calculating Pressure ANALOG MODULE
0 volt
100
1 5
kpa kpa
0 ADC Value
100
6243 31206
P
data volt
P
(P-0)/(100-0)=(data-6243)/(31206-6243)
P=((data-6243)/(31206-6243))*100
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Calculating Distance value ANALOG MODULE
60 mA
500
4 20
mm mm
60 ADC Value
500
6243 31206
D
data X
D
(D-60)/(500-60)=(data-6243)/(31206-6243)
D=(((data-6243)/(31206-6243))*(500-60)) + 60
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1769-OF2 Analog Output
Configure input voltage range
-10V…10V DC
0…10V DC
0…5V DC
1…5V DC.
Configure input current range
0…20mA
4…20mA
1
2
ANALOG MODULES
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Connecting Actuators to current and voltage Output
ANALOG MODULES
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Calculating value to output volt or mA at analog module output
ANALOG MODULES
DAC Value
5
DAC Value
10
0 31206 data
V
volt
0 31206 data
V
volt
1
6243
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Program to output Votage (10V) at out0. Connecting an potentiometer to Input0 and program to output I(mA) at Iou. Connecting Iout1 to Iin1 and program to calculate I(mA) at in1
AO
CPU
FC105
AI
Vout0
ANLG Com
Vin0+
ANLG 10V
ANLG Com
Iout1
4-20mA
In1
ANLG
PRACTISE ON I/O ANALOG MODULE
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Connecting analog output module to change inverter frequency
CONTROLLOGIX MODULES
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Connecting analog output module to change inverter frequency
CONTROLLOGIX MODULES
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Connecting Actuators to output digital module Ex5: Connecting DC Output to control Panasonic inverter
COMPACTLOGIX MODULES
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Add-on Instruction introduction
Custom Instruction
Reuse code
Provide an easier to understand interface
Protect intellectual property
You can export an Add-On Instruction
Simplify maintenance
ADD-ON INSTRUCTION
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ADD-ON INSTRUCTION Add-on Instruction introduction
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Add-on Instruction introduction in P&G Project
ADD-ON INSTRUCTION
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Creating an new Add-on Instruction
ADD-ON INSTRUCTION
1
2
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Creating a parameters and local tags if necesarry
ADD-ON INSTRUCTION
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Creating logic for the add-on instruction
ADD-ON INSTRUCTION
Using CPT instruction to calculate pressure value
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Adding add-on instruction to use
ADD-ON INSTRUCTION
Adding add-on instruction from add ladder element or group add-on
1
2
Data
storaged
tags
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Read pressure value using add-on instruction
ADD-ON INSTRUCTION
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Export the add-on Instructions
ADD-ON INSTRUCTION
1
2
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Import the add-on Instructions
ADD-ON INSTRUCTION
1 2
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Creating name and member within a User defined data type USER DEFINED DATA TYPE
2 1
Members within Oil_Tank user defined
type data
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Creating tags to use in the program USER DEFINED DATA TYPE
2
1
3
4
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Write logic using user defined data type
USER DEFINED DATA TYPE
2
1
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Minor Fault: CPU does not go in stop mode with fault
Periodic Task overlap.
Load from nonvolatile memory.
Problem with serial port.
Low battery…..
MINOR AND MAJOR FAULT
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Minor Fault: CPU does not go in stop mode with fault
MINOR AND MAJOR FAULT
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Major Fault: CPU goes in stop mode with fault
The CPU powered on in run mode.
A required I/O module connection failed.
Configuration fault occurred…..
MINOR AND MAJOR FAULT
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Major Fault: CPU goes in stop mode with fault
MINOR AND MAJOR FAULT
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MINOR FAULT CODES
Handle Minor Fault
EX: Arithmetic overflow, result of arithmetic instruction is out of range(
Type =4, code =4)
Create a tag, named source with real type and another named
Destination with integer type .
Write an instruction to increase data of source tag.
Write an instruction to move data from Source tag to Destination
tag
Download program to the CPU, run CPU
Slect the CPU/ Properties and minor fault to view Type and Code.
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MINOR FAULT CODES Ex: Arithmetic overflow, result of arithmetic instruction is out of range(
Type =4, code =4)
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MINOR FAULT CODES
Monitor Minor Fault
EX: Periodic task overlap, Task scheduled again before it finished executing(Type =6,
code =2)
Create a tag, named CPT with data type is real, two tag named
Source(real) and Destination(Sint).
Create a Periodic Task with period 1ms and a routine
Use CPT instruction to multi Source tag and Destination tag, the
result is placed in CPT tag.
Download program to the CPU, run CPU
Slect the CPU/ Properties and minor fault tab to view Type and
Code.
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MINOR FAULT CODES EX: Periodic task overlap, Task scheduled again before it finished executing(Type
=6, code =2)
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MAJOR FAULT CODES Example about Major Fault: Timer with a negative value preset for its Pre
( Type =04, code =34)
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MAJOR FAULT CODES Example about Major Fault: JMP to a label that do not exits ( Type =04, code =42)
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MAJOR FAULT CODES Example about Major Fault: Task watchdog expired( Type =06, code =01)
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Create a Data Type to Store the fault information.
HANDLE FAULTs
To access system information, use GSV(Get System Value) and SSV(Set System
Value) Instruction.
For status information about a program, access the program Objects.
For fault information, access these attribute of the program Object
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Get the fault Type and Code.
HANDLE FAULTs
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Choose Where To Place The Fault Routine .
HANDLE FAULTs
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Choose Where To Place The Fault Routine .
HANDLE FAULTs
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Example: Check and clear the fault when CPU powered in run mode: Type =1,
Code = 1.
Create a Data type to store fault information of program
Use GSV instruction to read MAJORFAULTRECORD attribute of the program
Check specific fault code of Type and Code and clear
Use SSV instruction to write new value to MAJORFAULTRECORD attribute of
the program.
HANDLE FAULTs
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Create a Data Type to store fault information of program
HANDLE FAULTs
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Create a tag to store MAJORFAUTRECORD of the program
HANDLE FAULTs
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Create a routine in Controller Fault Handler and write a program as following
HANDLE FAULTs
Handle fault when configure a wrong module?????