ControlLogix系统培训手册



ControlLogix
基 础 培 训 手 册


罗克韦尔动化
动控制信息产品集团

中国北京
2002年10月ControlLogix根底培训手册

目 录

1 常工具
11 通讯理工具RSLinx
12 模块升级工具ControlFLASH
2 ControlLogix编程指南
21 ControlLogix台简介
22 Logix5000编程软件快速入门
221 安装控制器
222 创立载工程
2221 创立工程
2222 添加模块
2223 改变模块属性
2224 查IO
2225 创立标签(Tag)
2226 利名标签(Alias Tag)记录IO
2227 输入梯形图程序
2228 载工程
223 查程序扫描时间
224 查控制器存情况
23 梯形图常指令
24 功块图编程程控制
3 ControlNet组态软件〔RSNetworx for CN〕
31 ControlNet根知识
32 RSNetworx for CN操作步骤
4 DeviceNet组态软件〔RSNetworx for DN〕
41 DeviceNet根知识
42 RSNetworx for DN操作步骤
5 流程监控软件RSView



1 常工具
11 通讯理工具RSLinx
RSLinx罗克韦尔动化公司户提供通讯理软件运行Windows操作系统计算机
户需选择种该计算机工业控制网络模块通讯方式通该软件建立起工业控制网络设备通讯
RSLinx操作举例〔计算机Logix处理器串口连接〕：
1) 户选择计算机网络通讯方式：串口方式
2) 户检查计算机相关通讯卡件否已安装连接电缆否正确：1756CP3连接计算机处理器
3) 点击RSLinxcommunication(通讯)〞拉菜单中Configure Drivers(配置驱动方式)〞选项

4) available drivers〔驱动方式〕〞中选择RS232 DF1 devices〞点击add new〞选项选择OK


5) 弹出Configure RS232 DF1 devices〞菜单中点击autoconfigure(动配置)〞等运行结果选择OK

6) 点击RSLinxcommunication(通讯)〞拉菜单中RSWho〞选项会弹出整工业控制网络树状浏览画面〔见列图〕注：户点击浏览画面中〞进步浏览延伸网段

7)
12 模块升级工具ControlFLASH：
罗克韦尔动化公司新代控制台中局部模块置微处理器＋功软件〔firmware〕〞智模块功软件〔firmware〕均存储重复刷新存储器中户需新版ControlFLASH软件模块进行刷新实现模块升级保证客户采购模块长时间新技术增强功相适应
ControlFLASH单独运行Windows操作系统计算机嵌Logix5000控制编程软件中
户通RSLinx建立起计算机升级模块通讯通道运行该软件软件中户根画面提示次选择设备目录号新功软件版号〔firmware revision〕
ControlFLASH操作举例〔Logix5555处理器版10升级版11〕：
1) 准备工作：通RSLinx建立起计算机模块串口通讯处理器置Program〔编程〕〞模式
2) 运行ControlFLASH软件画面选择Next(步)〞弹出窗口中选择相应处理器目录号

3) 产品目录号选择相应模块点击next〔步〕〞弹出Superwho〞控制网络浏览窗口该窗口中户应网络路径延伸选择刷新模块

4) 点击next〔步〕〞弹出Firmware Revision〔功软件版〕〞选择窗口请选择相应版号点击OK〞
5) 果关刷新文件缺省安装目录中弹出文件目录浏览窗口〞便户选择文件目录点击OK〞
6) 点击next〔步〕〞弹出Summary〞窗口户点击Finish〞会开始模块刷新处理
考前须知：进行ControlFLASH操作前应停止控制系统运行果处理器进行升级需保证应程序已作备份
整模块刷新程中允许掉电者通讯中断
2 ControlLogix编程指南
21 ControlLogix台简介
实现工厂动化工程师面PLC伺服控制器等种动化子系统需时掌握种专业化软硬件开发维护着年动化水断普提高种情况越越成制约工厂开展瓶颈〞问题：动化设备越越动化技术越越复杂工厂技术员精力时间相限单控制台实现全厂范围控制务〞成广阔户迫切求
助电子通信控制领域中断开展新技术应求全球领先罗克韦尔动化公司提出全功控制台〞设计理念根底发布ControlLogix产品
高速离散控制复杂程控制伺服控制高速传动控制等种应助单ControlLogix台户需掌握种编程软件根应求选择标准模块选择标准工业网络总线需控制系统控安连锁系统伺服控制系统分布式控制系统〔DCS〕高速传动控制系统数采集监控系统〔SCADA〕等
ControlLogix台仅技术领先烟草消费品制造冶金电力石化油气输送造纸水处理铁矿山汽车等行业中许成功应
ControlLogix台特点：
Ø 模块均带电插拔
Ø 户通软件刷新实现包括处理器种模块升级
Ø 功强Logix处理器
o 处理器具高速程序数处理力1K指令仅需006毫秒
o 单处理器支持：128000开关量4000模拟量
o 户需更换处理器通换更容量存扩充系统处理力
o 身提供电池备机架取出处理器保持数丧失
o IEC11313全面支持
o 实时务系统核：达32务包括1连续务31周期务15优先级选保证重务优先务中编制32程序分拥单独数区
System Task
Motion Task
Fault Task
User Task
Password
Configuration
Status
User Task
Password
Configuration
Status
User Task
Watchdog
Configuration
Status
Program
Program
Program
Program
IO Data
array[x]
float
int
struct
struct array[x]
Global Data
struct array[x]
array[xyz]
Program
Program
Fault Routine
if A12 then B
subroutine
| |( )
subroutine
| |( )
subroutine
| |( )
subroutine
| |( )
Local Data
Main Routine
Logix5000 Controller















o 完全标签变量编程方式采动态存理技术需户进行存分配理没定时器计数器等数强行限制支持数类型动转换
o 支持维数组标准数结构户定义数结构
Ø 创新性设计机架背板：制造者消费者〔Producer Consumer〕技术源数总线
o 机架中处理器存实现分布式运算
o 机架中配置意通讯模块实现网络延伸网络间路
o 需处理器干预现场输入信号〔作Producer tag〕时直接送网络智设备处理器效劳器〔作Consumer tags〕等防止传统现场信息先站存储序转发〞程提供通讯效率
o 通ControlNet扩展现场IO站现场站中输入输出模块根实际应响应快慢求分设置相应通讯时间：逢变报〔COS〕定周期发送〔RPI〕保证工业控制实时性确定性
Ø 支持ControlNetDeviceNet FF H1等国际标准工业现场总线兼容Hart程仪表总线协议时提供类第三方控制系统广泛接口
Ø 支持开放100Mbps EtherNetIP网络控制系统位机组成完全意义效劳器客户机模式实时监控系统
Ø EtherNetIPControlNetDeviceNet层网络中采统CIP协议该协议实现实时控制数非实时监视组态数区保证工业控制实时性确定性时保证系统中层设备象定义统网络效劳统实现网络间数完全透明保证户需次培训建立起EtherNetIPControlNetDeviceNet网络设备通讯功完整认识
Ø 模块包括IO模块均智化模块：
o 输入输出模块提供断线等类诊断功提供时间标记数该模块动生成标签变量程序直接引
o 模拟量输入输出模块模块身实现工程单位转换高低高高低低报警运算该模块动生成标签变量程序直接引
o 提供带电子熔断保护功开关量输出模块回路短路障排通软件复位恢复需设置更换保险丝

22 Logix5000编程软件快速入门




23 梯形图常指令





























字符串处理指令
字符串拟〔见前述拟指令局部：等EQU等NEQGRT等GEQLES等LEQ表达式拟CMP〕
STOD String to DINT conversion (ACI)
DTOS DINT to String conversion (AIC)
STOR String to Real conversion
RTOS Real to String conversion
CONCAT String concatenate (ACN)
MID String middle extract (AEX)
FIND String search (ASC)
DELETE String delete
INSERT String Insert
LEFTRIGHTMIDLOWERUPPERREPEAT
ASCII串口操作指令
ACL – ASCII Clear Receive andor Send Buffer
ACB – ASCII Number of characters in buffer
ABL – ASCII Test for Buffer Line
AHL – ASCII Handshake Line
ARD – ASCII Read
ARL – ASCII Read Line
AWA – ASCII Write with append
AWT – ASCII Write
外超30条专伺服控制指令






24 功块图编程程控制

中36条常逻辑指令：
简单算术指令
• Add
• Subtract
• Multiply
• Divide
• Square
• Negation
• Absolute Value
高级算术指令
• Modulo Divide
• Truncate
• X to Power of Y
• Logarithm
• Natural Log
三角函数指令
• Sine
• Arcsine
• Cosine
• Arccosine
• Tangent
• Arctangent





位指令
• One Shot Rising
• One Shot Falling
定时计数指令
• Timer On w Reset
• Timer Off wReset
• Retentive Timer On wReset
• Count UpDown wReset



转换指令
• Radians
• Degrees
• BCD To Decimal
• Decimal to BCD

拟指令
• Equal
• Greater Than or Equal
• Greater Than
• Less Than or Equal
• Less Than
• Not Equal
• Masked Equal
• Limit







42条程控制传动指令：
滤器指令
• HighPass Filter
• LowPass Filter
• Notch Filter
• SecondOrder LeadLag
• Derivative
统计指令
• Moving Average
• Moving Standard Deviation
• Minimum Capture
• Maximum Capture










逻辑指令
• Boolean And
• Boolean Or
• Boolean Exclusive Or
• Boolean NOT
• D Flip Flop
• JK Flip Flop
• Set Dominant
• Reset Dominant
程指令
• Alarm
• Enhanced PID
• RampSoak
• Scale
• Position Proportional
• Split Range Time Proportional
• LeadLag
• Function Generator
• Totalizer
• Deadtime
• Discrete 2State Device
• Discrete 3State Device






















传动指令
• Pulse Multiplier
• SCurve
• PI
• Integrator
• SecondOrder Controller
• UpDown Accumulator
选择限制指令
• Select
• Enhanced Select
• Selected Summer
• Selectable Negate
• Multiplexer
• HL Limit
• Rate Limiter














3 ControlNet组态软件〔RSNetworx for CN〕
31 ControlNet根知识

作IEC61158国际标准高速工业现场总线ControlNet种面实时控制进行优化设计网络特适合严格实时控制求场合开放高速确定重复性特点
5Mbps数传输率会网络距离延伸衰减通轴电缆达6KM〔通光纤延伸达30KM〕ControlNet提供冗余网络安型网络供户根需进行选择
ControlNetProducerConsumer通讯模式提供网络效率点确定性点〔Multicast〕数传输功网络点数步控制器间实时联锁变简单ControlNet实时IO数非实时性信息优先级区户根控制务需预先设定IO信息通讯响应时间甚逢变报〞〔COS〕输入响应方式实现正确实时IO控制时户方便进行网络化组态程序维护实现网络设备〔包括控制器位机等〕间量数传递
· 正确开放性
作国际标准IEC61158ControlNet工业现场总线ROCKWELL AUTOMATION公司早开发公开工业动化领域标准网络该总线现独立 Control International组织协会负责理成员包括许知名工业动化产品制造公司计算机控制器操作员接口设备传动装置IO模块种智设备方便集成ControlNet
· 快速响应确定性
5MbpsControlNet数传输率会网络距离延伸降通轴电缆达6KM〔通光纤延伸达30KM〕
ControlNet实时IO数非实时性信息优先级区户根控制务需预先规划IO通讯响应时间甚逢变报〞〔COS〕输入响应方式实现正确实时IO控制时户方便进行网络化组态程序维护实现网络设备〔包括控制器位机等〕间量数传递
考虑工业控制实时性求特点助生产者消费者(ProducerConsumer)技术智化输入模板设备作现场信息生产者Producer现场信号变化时动相关处理器传送刷新智化输出模板设备户指定刷新时间处理器前输出指定彻底防止传统处理器站周期扫描者播送通知IO模块站方式带弊病
· 完全符合工业现场求
支持星型树型总线型环形等种拓扑方式
支持轴电缆光纤通中继器传输距离达30公里
提供符合类工业现场需轴电缆光纤铠装埋高柔性屏蔽电缆等
提供网络冗余网络站点配置两网络通道冗余网络间需编程够根网络信号质量动选择通讯正常良链路
提供安型网络延伸直接符合安求远程IO延伸防爆区域
· 先进网络模式
生产者消费者(ProducerConsumer)技术
· 快速响应确定性
· 高效率先进网络模式
ControlNet生产者消费者(ProducerConsumer)技术传统源目传送模式质者发送信息需确定源目址数包采生产者消费者模式网络需单独源目址代数标识消费者〔信息接收者〕根数标识时接收生产者〔信息产生者〕信息果某信息需忽略处理需信息ControlNet实现苛刻IO控制控制器间实时联锁实现数包信息交换包括程序载载网络化参数组态等等
Scheduled unscheduled
Connection
Nodes distance& Repeaters
NUT
RPI
API


32 RSNetworx for CN操作步骤

4 DeviceNet组态软件〔RSNetworx for DN〕
41 DeviceNet根知识

Multiple data exchange methods including Polled Cyclic and Change of State (COS)

If Polled and COS〞 or Polled and Cyclic〞 is used the adapter receives the IO from the polled messages It transmits its Logic Status and Feedback in COS or Cyclic messages Other data is transmitted in Polled messages

Polled Polled Rate Change of State Heartbeat Rate Cyclic Send Rate

IO Messaging




Explicit Messaging
Important There must be a request message and a response message for all Explicit Messages whether you are reading or writing data
Devicenet Object Model
Class (Object type)
Instance of Class (Object ID)
Service (Service Code available services depend on the class and instance that you are using)
Attribute of Class or Instance (Object Attribute)





Explicit and UCMM (Unconnected Message Manager) Messages













42 RSNetworx for DN操作步骤
Scanlist
Mapping
Slave device Parameter


Cyclic and Polled data exchanges are configured in the scanner COS data exchange must be configured in both the adapter and the scanner

Using IO Messaging Some types of IO messaging allow a parameter value to be changed without using an Explicit Message When you use them to change a value the values are not written to the NonVolatile Storage (NVS) They should be used for frequently changed parameters in program



Using Explicit Messages
Typically Explicit Messages may write parameter data to NonVolatile Storage (NVS) Do not create a program that uses Explicit Messages to write parameter data to NVS (When frequently written the NVS will quickly exceed its life cycle and cause the drive to malfunction)

For MSG Path
The path includes the following
Name of the DeviceNet scanner
Communication port on the front of the 1756DNB scanner Always 2
Node address of the DeviceNet adapter This is set with switches or parameters in the DeviceNet adapter
43 DeviceNet设备编程：1756DNB& PF707007000 变频器
ATTENTION Risk of injury or equipment damage exists Only
personnel familiar with drive and power products and the associated
machinery should plan or implement the installation startup
configuration and subsequent maintenance of the product using a
DeviceNet adapter Failure to comply may result in injury andor
equipment damage
ATTENTION Risk of injury or death exists The PowerFlex drive
may contain high voltages that can cause injury or death Remove all
power from the PowerFlex drive and then verify power has been
removed before installing or removing a DeviceNet adapter
ATTENTION Risk of injury or equipment damage exists DPI or
SCANport host products must not be directly connected together via
1202 cables Unpredictable behavior due to timing and other internal
procedures can result if two or more devices are connected in this
manner
ATTENTION Risk of injury or equipment damage exists If the
DeviceNet adapter is transmitting control IO to the drive the drive may
fault when you reset the adapter Determine how your drive will
respond before resetting an adapter
ATTENTION Risk of injury or equipment damage exists
Parameters 10 [Comm Flt Action] 11 [Idle Flt Action] and 34
[Peer Flt Action] let you determine the action of the adapter and
connected PowerFlex drive if communications are disrupted By
default these parameters fault the PowerFlex drive You can set these
parameters so that the PowerFlex drive continues to run Precautions
should be taken to ensure that the settings of these parameters do not
create a hazard of injury or equipment damage
ATTENTION Hazard of injury or equipment damage exists When a
system is configured for the first time there may be unintended or
incorrect machine motion Disconnect the motor from the machine or
process during initial system testing
ATTENTION Hazard of injury or equipment damage exists The
examples in this publication are intended solely for purposes of
example There are many variables and requirements with any
application Rockwell Automation does not assume responsibility or
liability (to include intellectual property liability) for actual use of the
examples shown in this publication

Userdefined fault actions
Faulted node recovery

Parameters in the drive and adapter can be edited with RSNetWorx The adapter parameters are appended to the list of drive parameters The drive has 387 parameters so parameter 388 is the first adapter parameter
the adapter Data Rate switch is set to PGM〞
1756DNB模块输出类Tag中：Commandregisterrun置1
Using IO Messaging
using Explicit Messages

Basics
a Changes to switch settings on some adapter parameters require that you reset the adapter before the new settings take effect
Parameter 09 [Reset Module] 0 Ready (Default) 1 Reset Module 2 Set Defaults

b IO include Logic Command (output) Status (input) Reference (output) Feedback (input) and Datalink AD inputs and outputs Actual CommandStatus data size is 16bit others data size can be 16bit or 32bit which is set in the drive
For CommandStatus see attached
Reference Feedback 16bit 32768 to 32767 32bit 2147483648 to 2147483647
For example Ref Value16bit Desired FrequencyX32767 Pr 55 [Maximum Freq]
Datalinks allow a parameter value to be changed without using an Explicit Message Parameter settings in the drive determine the data passed through the Datalink mechanism Datalinks do not write to NVS and should be used for frequently changed parameters and the value is stored in volatile memory and lost when the drive loses power
When 32bit parameter using 16bit Datalinks typically both Datalinks (A1&A2B1&B2C1& C2D1&D2) are set to the 32bit parameter Regardless of the Datalink combination x1 will always contain the LSW and x2 will always contain the MSW

c




1 Parameter 13 [DPI IO Config] IO configuration x x x x x x x x x x x 0 0 0 0 0 (1Enabled 0Disabled)
Bit 15 determines the type of data as belows sent to the drive
0 Logic CommandReference (Default)
1 Datalink A
2 Datalink B
3 Datalink C
4 Datalink D
Note Logic Command (output) Status (input) Reference (output) Feedback (input)
需Reset the adapter


2 MasterSlave hierarchy an adapter exchanges data with a scanner
PeertoPeer hierarchy an adapter can exchange data with one or more DeviceNet adapter(s) that have similar data structures (same data sizes 16bit or 32bit)
Parameter 25 [MS Input] x x x x x x x x x x x 0 0 0 0 0 (1Enabled 0Disabled)
Bit 15 determines the data transmitted from the scanner to the drive
0 Logic CommandReference (Default)
1 Datalink A input
2 Datalink B input
3 Datalink C input
4 Datalink D input
Parameter 26 [MS Output] The same as P 25
Bit 15 determines the data transmitted from the drive to the scanner
0 Logic StatusFeedback (Default)
1 Datalink A output
2 Datalink B output
3 Datalink C output
4 Datalink D output
需Reset the adapter


3 After enabled CommandReference you should set as following保证CommandReference传递 and verify that the mask parameters
For example
Set Parameter 90 [Speed Ref A Sel] in a PowerFlex 70 or 700 drive to DPI Port 5 so that the drive uses the Reference from the adapter
Parameter 276 [Logic Mask]) in the drive are configured to receive the desired logic from the adapter


4 After enabled one or more Datalinks you should configure the drive to determine the source and destination of data in the Datalink(s) Also ensure that the DeviceNet adapter is the only adapter using the enabled Datalink(s)

5IO messaging

6Explict messaging
ControlLogix scanners accommodate both downloading Explicit Message Requests and uploading Explicit Message Responses
Identity Object
Connection Object
Register Object
Parameter Object
Parameter Group Object
PCCC Object
DPI Device Object
DPI Parameter Object
DPI Fault Object
DPI Alarm Object
DPI Time Object

Additional
1 COS You should configure the scanner and you should set bits in the COS Status or Feedback trigger messages
Parameter 27 [COS Status Mask] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Parameter 28 [COS Fdbk Change] 0~ 4294967295
Set the amount of change to the Feedback that is required to trigger a COS message

2 PeertoPeer hierarchy
















Example of an IO image with 16bit







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