Grafcet Controllogix

CTE/GS1
CT
TECHNICAL SPECIFICATION
PROGRAMMING METHOD FOR THE A-B LOGIX PLATFORM

Date application
01/03/2004
Cancels and replaces

11397-00395-GS1
Approved on: by
CTE/GS1/Q
Signatur e
Revision: a Work group

Last/ First Name
BATY Fabien BONY Nicolas CHAZEAU Laurent HOLMIERE Patrick LOVATO Marius MITCHELL Allan MILLERET Mathieu POUILHE J.Bernard VINCENT Gilles
Entity
GS1/AT GS1/EC GS1/EX GS1/AI GS1 / TR CTA/GS1 GS1/AP GS1/MX SEAM
RECORD OF REVISIONS
DATE 06/2002 17/07/02 16/02/04
Rev.
TYPE OF MODIFICATIONS
Document creation Formatting Formatting
PARAGRAPHS MODIFIED
AUTHOR P.Holmire
a b
All 0-0-0-0-0-0-0
P.Holmire P.Holmire
MANUFACTURE FRANAISE DES PNEUMATIQUES MICHELIN - CLERMONT-FERRAND Proprit exclusive MICHELIN Reproduction interdite
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Programming Method for Logix Family of Controllers
Technical specification
SUMMARY 1. 2. 3. 4. 5. PURPOSE SCOPE REFERENCE DOCUMENTS DEFINITIONS OF TERMS USED PRESENTATION OF RSL5000 ARCHITECTURE
5.1. The Main differences with PLC5 and SLC500:
4 4 4 5 6
7
6. 7.
OBJECTIVE: RFLECTIONS:
7.1. PORTABILITY: 7.2. GAIN IN TIME AND LENGTH OF DEVELOPMENT: 7.3. HOMOGENEITY OF DEVELOPMENT IN THE GS1 GROUPS. 7.4. LEGIBILITY IN DEVELOPMENT:
8 8
8 9 10 10
7.5. ANALYSIS OF TECHNICAL PERFORMANCE (DEVELOPMENT PART) OF PRODUCTS IN THE LOGIX RANGE: 10 7.6. RESPECT OF THE LOGIX FAMILY OF PRODUCTS (Development): 10 10
7.7. RESPECT OF EVOLUTIONS OF THE LOGIX FAMILY OF PRODUCTS (Development): 7.8. MODULARITY: 7.9. LINK WITH FUNCTIONAL ANALYSIS: 7.10. ELIMINATION OF THE WORD DOCUMENTATION FOR THE GRAFCET: 10 11 11
8.
TASKS /PROGRAMS/ROUTINES STRUCTURE.

8.1. TASK STRUCTURE. 8.2. PROGRAM STRUCTURE. 8.3. STRUCTURE OF ROUTINES
12
12 14 15
9.
GLOBAL AND LOCAL DATA STRUCTURE

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9.1. DEFINITIONS: 9.2. REMINDER: 9.3. Rules. 9.4. Data distribution. 9.5. Summary of data distribution.
19 19 21 22 28
10. DATA WRITE CONVENTION:

10.1. 10.2. 10.3. Rule: Global data (Controller tags): Local data ( Program_Tags ).
30
30 30 32
11. ENCODING RELATED TO THE GRAFCET:

11.1. 11.2. Rules: Digital outputs:
33
33 50
12. DIRECTOR GRAPH:

12.1. 12.2. Consequences of different types of stop. Principle of functional decoupage director (master) graph.
51
51 52
13. ROUTINE CALLS IN A PROGRAM:

Routine calls in the Common Part program. 13.2. Routine calls in the Functional decoupage program.
54
54 55
14. PROCESSING OF DIAGNOSTIC:

14.1. 14.2. Operator assistance Maintenance assistance.
56
56 56
15. SUMMARY:
15.1. 15.2. The main differences between ST395 Revb and ST395 Reva are as follows: Recommendations for utilisation of languages as follows:
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PURPOSE
This specification proposes a programming method for the Logix family of products (ControlLogix, FlexLogix, CompactLogix). We take into account the development limits imposed by the least performing product. The programming method proposed in this document takes into consideration languages such as function blocks, grafcet, structured text. We must point out that this method was developed from theoretical data and is not based on actual experience. It is, in consequence, capable of changing after we develop applications. This document is intended for persons who followed the ControlLogix programming course.
SCOPE
Programming processes for automation engineers. This specification applies to conversions of applications (PLC/SLC to ControlLogix) and to developments with products of the Logix platform.
REFERENCE DOCUMENTS
Document title
Allen Bradley PLC5 programming method (ST265). Programming method available for ControlLogix (ST395 Rev-) Programming method available for ControlLogix (ST395 Reva) Implementation of ControlLogix axis commands.
Identification
10000.00265.GS1 10000.00395.GS1 10000.00395.GS1 10000.00439.GS1
The documents identified above in bold are available at GS1/AI/A and on the GS1 intranet Web site: Technical Support/Technical Specifications/CTE GS1/Electricity Automation. The Rockwell documents are also available on the internet site ( http://www.theautomationbookstore.com/public.html). The previous revisions are available under SGDT.
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DEFINITIONS OF TERMS USED

- Work bits: - Bit resulting from a test (combination inputs/outputs, calculations...) which can be used in several programs. - Partial output summary bit: - In a grafcet, this bit is written in the step actions which activate an output. - In a combination, this bit is the summary of the information commanding a single output. - Coupler (Analog and - Input/output Card other than digital I/O (example: basic cards, axis cards, Intelligent I/O Cards ): communications cards...). - Functional Decoupage : - Transports, transforms or provides an added value to the product. In a functional decoupage one can find several subsets, called post, stations or modules or elements. - Black Box Function: - Reserved for calculations and outside of the scope of machine animation. Not very significant in terms of development. It will be repetitive. This black box is represented by a routine to which we transmit input parameters and receive return parameters using a JSR instruction. These parameters may be independent or grouped in a structure. - Portability: - A program or a routine will be portable if they are capable of functioning without major modification in different applications (projects). - Structure: - A set of variables of different types (Boolean, integer, double integer...). Each variable may be identified by a distinct tag name. - Array (Table): - A set of variables of different types (Boolean, integer, double integer,etc). An array may have 1, 2 or 3 dimensions. All the variables are identified by the tag name under which the array is declared. -HMI - Human Machine Interface (Operator terminal)
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PRESENTATION OF RSL5000 ARCHITECTURE
The structure opposite shows : A program structure organized as follows: Under Tasks, the possibility of configuring 32 Tasks (1 continuous task, 31 periodic and eventrelated tasks), for the ControlLogix. The lowest-performance CompactLogix CPU only allows configuration of 4 tasks (1 continuous task, 4 periodic and event-related tasks). Under each of the tasks: the possibility of configuring 32 programs. Under each program, it is possible to configure as many routines as the available memory will allow.
A data structure organised as follows: Under Controller Unit_Centrale_1, a global database (Controller Tags) common to all the tasks and therefore to all the programs. Under each program: a database (Program Tags) specific to it. The data is expressed in mnemonics.
Controller Controller Tags Controller Fault Handler Power up Handler Tasks Program Program Tags Routine Unscheduled program Trends Data Types I/O Configuration
- Represents the project (the UC). The project and the controller share the same name. - Global database (the data is expressed in the form of mnemonics) - Fault manager - Powering up manager - Set of tasks (up to 32) including 1 continuous and the others periodic - Entity composed of routines and of a database - Local databases (the data is expressed in the form of mnemonics) - Program logic file - Unscanned program - Tracing curves (graphs) of data variables. - List of data types - Configuration of Inputs/Outputs and Intelligent Modules.
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The Main differences with PLC5 and SLC500:

We cite below the main differences which will have an influence on the choice of programming method.
Data Structure : There are two data levels: The global data or Controller Tags which are accessible to all tasks and to all programs. Program data or Program Tags which are accessible only to all routines within a specified program.
Data characterisation : The data is characterised by: - A Tag name (mnemonic) which may consist of 40 characters maximum. - A type (BOOL, INT, DINT, TIMER, STRUCTURE, ARRAY, etc). - A description (direct reading is not available in structured text).
The link between data: Alias tag for: Tag name which refers to memory defined by a tag name which is the basic tag. Tasks: Number: 32 including 1 continuous, 31 periodic and event-type. Priority: 15 levels
The aSynchronizm of the input refreshing in relation to the scanning of the program : Unlike the PLC5 or SLC500, the inputs are not updated synchronously upon program scanning. Analysis of processor fault status (Status): You must use the GSV instruction (Get System Value) to enter system values and the SSV instruction to define system values.
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OBJECTIVE:
The search for the Revb programming method is performed around the following points: - PORTABILITY: - GAIN IN DEVELOPMENT TIME. - HOMOGENEITY IN GS1 FILES. - LEGIBILITY - ANALYSIS OF TECHNICAL PERFORMANCE OF LOGIX PRODUCT. - RECOVERY OF THE PAST. - COMPLIANCE WITH LOGIX RANGE (Development Part). - COMPLIANCE WITH DEVELOPMENTS IN THE LOGIX RANGE (Development Part). - MODULARITY. - LINK WITH FUNCTIONAL ANALYSIS OF AUTOMATION. - ELIMINATION OF WORD DOCUMENTATION.
REFLECTIONS:
PORTABILITY:
Reminder of the definition: A task, program, a routine will be portable if they are capable of operation without major modification in different applications (projects). The elements capable of portability: A task(Task). A program (program). One or more routines. Implementation: To minimise modifications on an element, it must be made autonomous and linked with external elements via input and output interfaces. This requires "linking" the element with data. The Contraints : In the Logix context, only the local data (Program Tag) is linked to the program (program). For the other elements, tricks such as writing conventions must be used, which will allow creating a "link".
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In the Logix system, the elements are carried via a (copy/paste). The data is identified by tag names arranged in order of ASCII weighting. Consequently, it is indispensable to declare all the data under a common root to obtain a contiguous arrangement, which will favour the copy/paste and create a link with the element to which it is related.
Limits of portability: They apply to: - Functional decoupage - Functions: - Black Box-type Function: - Machine control function GAIN IN TIME AND LENGTH OF DEVELOPMENT: The tools Function library: It is used to reuse the functions already developed. The functions may be arranged in a project called Function Library and recovered as needed. Multiprogram Organisation: This is used to work with several programmers on the same CPU. In the development phase, each programr can work autonomously, the assembly of the different programs will be performed at the end.
Utilisation of Tag alias: This is used to develop, in particular, without knowing the physical addresses of the inputs/outputs of the application.
Black Box-type Function: This optimises the development and the tests.
Portability: This optimises the development and the tests.
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HOMOGENEITY OF DEVELOPMENT IN THE GS1 GROUPS. This results in a common choice on: Program functions. Data distribution. Writing convention.
LEGIBILITY IN DEVELOPMENT: It involves: An organisation of Programs. An organisation of Routines. The definition of a writing convention (Programs, routines, data). ANALYSIS OF TECHNICAL PERFORMANCE (DEVELOPMENT PART) OF PRODUCTS IN THE LOGIX RANGE: Utilisation of multitasks. Utilisation of local and global data. Utilisation of Structures. Utilisation of Tables (Array). RESPECT OF THE LOGIX FAMILY OF PRODUCTS (Development): The software workshop is common to the products of the Logix family. The only element that we took into consideration is the number of Tasks authorised by the least performing CompactLogix CPU, i.e. 4. RESPECT OF EVOLUTIONS OF THE LOGIX FAMILY OF PRODUCTS (Development): The ST 395 Rev.b integrates future developments. MODULARITY: This is facilitated by the possibilities offered by the Logix system (32 Tasks, 32 Programs, a number of routines limited only by the size of the memory).
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Programming Method for Logix Family of Controllers LINK WITH FUNCTIONAL ANALYSIS:
The organisation of programs and routines will take account of the automation functional analysis. ELIMINATION OF THE WORD DOCUMENTATION FOR THE GRAFCET: The grafcet, structured text languages and their related documentation tools (commentaries, post-it, description) will enable development of both programming and documentation.
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TASKS /PROGRAMS/ROUTINES STRUCTURE.

TASK STRUCTURE. The Logix range permits the use of several tasks. In the applications, they will be limited to four (constraint related to the least performing CPU of the Logix family).
Three types of task were identified to respond to our applications: - A Task A : reserved for processing such as servocontrol. - A Task B : reserved for machine control. - A Task C: reserved for processing such as diagnostic, fault display, dialogue with a supervisor The Logix system offers several possibilities for the implementation of this execution hierarchy. The Logix system delivers 31 periodic and event-type tasks related to 15 priority levels whose periodicity is configurable (see example below).
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Solutions
Type of task Task A: Task B: Task C:
Task priority 1 5 Continuous
Periodicity (ms) 5 30 Continuous
Task A: Task B: Task C:
1 Continuous 5
5 Continuous 100
Task A: Task B: Task C:
1 5 10
5 30 100
Task A: Task B = Task C
1 Continuous
5 Continuous
Advantages and disadvantages:

Solutions Advantages - The slow actions are non priority and removed from machine animation to be executed in task C. - Execution of task B (machine animation) is periodic and not penalised by the slow actions. Disadvantages - Requirement for adjusting periodicity of execution of task B . - Take a margin on execution time of task B. - Time sharing in contradiction with functional decoupage. - The execution time of task B is extended when task C is executed. - Time sharing in contradiction with functional decoupage. - Need to adjust the periodicity of all tasks. - Take a margin on execution time of all tasks. - Time sharing in contradiction with functional decoupage. - Slow actions are integrated to machine animation.
- The execution of task B (machine animation) is executed as soon as the CPU resource is available. 2
3 4
- The slow actions are non priority and removed from machine animation. - Execution of task B (machine animation) is periodic and not penalised by the slow actions. - No adjustment of periodicity. - Compliance with functional decoupage.
Note: The majority of cases will be covered by solution 4.
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PROGRAM STRUCTURE. Reminder: Under one task (regardless of type A or B or C) you can configure up to 32 programs (program). Each program consists of routines whose number is limited only by the size of the memory size of the Controller.
Three types of program are defined: 1) One program for the Common Part. 2) One Program for a Functional Decoupage (Machine Animation, director graph). 3) A Program for an Automation Function (external to machine animation, exple: Recipe processing, curing control...). The scanning and program display order is performed by configuration (see figure below).
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Programming Method for Logix Family of Controllers STRUCTURE OF ROUTINES
The structure of routines is realised using the requirements of a type B task (machine control). However, the other tasks will be based on this structure.
To order the list of routines, it is necessary to assign them a designation whose root will begin by R followed by 2 to 3 numerical characters. See the Figure below.
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Structure and function of routines in the Common Part Program:
DESCRIPTION R000_ Principal R001_ Initialization
R002_Working bits Combinational R003_ Surveillance Combinational Logic R004_ Stop Grafcet R005_ Machine Mode Grafcet R006_ Outputs Combinational Logic R007_ Diagnostic Combinational Logic R009_ Synchronization grafcet of the different axis cards. R010_ Management of data
FUNCTION Call routines in the common part Initializes the general data of the different programs and of the common part. (The local data for each program is initialized within the program). The initialization is achieved when power is turned on and Controller is switched to run, or on demand. It is not possible to use the Power up handler, since it cannot be activated on request Result of a test (combination inputs/outputs, calculations...) which can be used by several routines. Monitors general information (PLC voltage,..) and Information on the common part Controls the stops of all machine control programs. This routine is not always used. Controls the operating modes of all machine control programs. This routine is not always used. Activates the outputs validated in the grafcets or combination of the common part. Diagnostics the faults on the outputs generated in routine R006 Ensures Synchronization of the different axis cards for a group of axes. Manages general data to/from cards (exple: General reset of cardr, overall initialization of the card.). All the other data related to the card is covered in the user program of this card. (Acquisition of the value of an input...)
R011_ Communication with data (intelligent ) I/O cards R012_ Graph Images R020_ Management of the HMI data R021 R02x_ Communication avec IHM R030_ Gestion des donnes non IHM R031 R03x Communication hors IHM. Rxxx_ Graphes ou Combinatoire (hors animation machine)
Monitors development of graphs. Prepares HMI (Human Machine Interface) commun data (out of decoupage) (example: PLC fault, general parameters, time.). Controls only transmission and reception to HMI by functional decoupage or by HMI. Prepares transmission tables, transfers tables received to working tables. Manages only transmission to systems external to CPU (other CPU, Level 2...). By functional decoupage or by network.
Structure and function of routines in the Functional Decoupage Program:

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FUNCTION Call of routines of the program. Initialises the local (program) data to the program. The initialization is achieved when power is turned on and Controller is switched to run, or on demand. It is not possible to use the Power up handler, since it cannot be activated on request.
R002_ Working bits Combinational Logic R003_ Surveillance Combinational Logic R004_ Stop Grafcet
Monitors program information (decoupage powered, inputs powered).
Manages stop modes as a whole of all machine animation programs. This routine is not always used. R005_ Machine Mode Graph Manages run modes as a whole of all machine animation programs. This routine is not always used. R006_ Outputs Combinational Logic Activates the outputs validated in the grafcets or program combination. R007_ Diagnostic Combinational Logic Diagnoses the faults on the outputs generated in routine R006 R010_ Management of data Acquisition of data related to the cards.(Acquisition of the value of an (Intelligent) I/O Cards input...) R012_ Graph Images Monitors development of graphs. R020_ HMI data management Prepares HMI data for decoupage R030_ Non HMI data management Prepares transmission tables, transfers tables received into working tablesof the decoupage. R040_ Axis Management Graph Controls the entire axis card, speed drive, brake and overtravels R041_ Movement Control in auto Initiates the movements of the axis according to status of axis operation of an axis. management graph. Rxxx_ Graphs or Combinational (out of machine control)
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Structure and function of routines in the Automation Function Program:
FUNCTION Call-up of program routines Initializes the lmocal data of the program. The initialization is achieved when power is turned on and Controller is switched to run, or on demand. It is not possible to use the Power up handler, since it cannot be activated on request.
Rxxx_ Graphs or Combinations
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GLOBAL AND LOCAL DATA STRUCTURE

DEFINITIONS: Declared data: Data created in the Controller Tags or in the Program Tags. Written Data: Data written via instructions (setting to one of a bit , setting to a value of a word...). Read Data: Data read via instructions (state of a bit, value of a word, comparison of word values).
REMINDER: - Global or Controller tag data: they are accessible (in read and write) to all the tasks, therefore, to all the programs.
The Logix system imposes the following constraints: - All the data from or toward a system external to the Controller (physical I/O, Level 2 information) must be declared in the global data. Two exceptions, the Panel View + operator terminal and RSView access to the local data. - All the data read by several tasks or programs, must be declared in the global data. - Local or Program tag data: They are attached to a program and are accessible (in read and in write) only to the routines of this program.
- Data characterisation: They are characterised by a name tag (mnemonic) consisting of 40 characters maximum, a type (BOOL, INT, DINT, TIMER...), a description . Alias for: Any data created capable of becoming an alias for must be created in the same type as the basic data to which it will be linked (see Fig. 1, p. 20). The 'Alias for' cannot be created from elements making up a structure (predefined or user defined) (see Fig 2, p. 20). The alias for cannot be created from a table (Array) or another table ( see Fig. 2, p. 20) Also, the alias for may be created between two tag names of a single Program tag. It can also be created from a tag name of the Program Tag to a tag name of the Controller Tag (but not the reverse).
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Tag name 1 (Basic data) Local 1:I.Data.0 (type Bool) Alias for
Tag name 2 R01_ BP_valid_cycle (type Bool)
Memory address Fig. 1
Tableau
No alias for
Structure User defined
Pas dalias for
Fig. 2
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Rules. The distribution was performed according to the constraints imposed by the Logix system (see previous chapter) and observing the following rules: The written data in a program is declared in the Program Tags (local data). The data written in a program and read by several programs is declared in the Program Tags and in the Controller Tags. The link between the data declared in the Program Tags and the data declared in the Controller Tags is created by an "alias for" or via a COPY instruction if the alias for is impossible (Table). The other programs read the global data directly. Never use an alias of an alias.
Task xxx
Prog.xxx Global data Data written by the Prog.xxx and read by other programmes Local data Written data Routines
Prog.yyy
Symbolises an alias tag Symbolises a reading Symbolises a writing
Routines
Task yyy Prog.zzz
Routines
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Programming Method for Logix Family of Controllers Data distribution. Family of Controller Tags data (global data): -
Digital Inputs/Outputs data, Analog, axes. Data from or toward another system (Level 1, Level 2, HMI...) Data read by several tasks or several programs.
Family of Program Tags data (local data): Digital Inputs/Outputs data, Analog... Data produced in the program.
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Physical Input/Output Data and Physical Input/Output Alias Data:
Statement: They are declared automatically by the system in the global data, at the end of the input module configuration or output module configuration under the I/O configuration menu. Local data is declared by the programmer according to a write convention (see 0 p 32) and related to the corresponding global data by an alias tag for.
Task xxx
Prog.xxx Global data Data E. TOR /ana /axes Data S. TOR /ana /axes Local data Data alias E. physical Data alias S. physical Routines Symbolises an alias tag Symbolisesa reading Symbolises a writing Local data Data alias E. physical Data alias S. physical Routines Routines Prog.yyy Routines
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Programming Method for Logix Family of Controllers Example 1 of declaration of Inputs/Outputs.
Alias for
Operating mode: It is recommended to declare first the inputs and the outputs in the Program Tags ( I_ BP_validation, O_HL_valide) using them in the routine(s) of the Program then, linking them to the inputs/outputs (Local:1.I , Local:2.O) using "alias for".
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Example 2 of Input/Output declaration
Comment
Visualisation with PC mouse
Note: In a grafcet, the commentary is indispensable if you wish to indicate permanently the alias for.
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Data from or toward another system: Statement: They are declared by the programr as per a write convention that we will cover in the next chapter.
Task xxx
Prog.xxx Local data Global data Data from another system (Niv.1, Niv.2, HMI,.) Data written in the prog. and read by another system . Routines Symbolizes an alias tag Symbolizes a read operation Symbolizes a writing Local data Data written in the prog. and read by another system . Routines Prog.yyy
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Data read by several tasks or several programs and data written in the program. For the common part program, there must be an exception to the rule stated in chapter 9.3. The common part program can produce much data which will be consumed by several programs hence a risk of heaviness if it necessary to declare the data produced in the program tags and use the alias for to link them to the controller tags data.
Task xxx
Common part programming Global data Data read by several tasks or several programmes Local data Data written in the prog. and read in the prog..
Routines
Symbolizes an alias tag Symbolizes a reading Symbolizes a writing Symbolizes a writing and a reading Local data Data written in the prog. and read in the Prog. Data written in the prog. and read by other tasks or prog.
Functional decoupage prog.
Routines
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Summary of data distribution. Common Part Program
Task 1
Common part prog. Global data Data E. physical Data S. physical Data from another system (Lev. 1, lev.2, HMI..) Data read by several tasks or several programmes Local data Data alias E. physical Data alias S. physical Data written in the prog. and read by another system . Data written in the prog. and read .and red in the Prog.
Symbolizes an alias tag Symbolizes a reading readingconsommation Symbolizes a writing Symbolizes a writing and a reading
Routines
Functional decoupage Prog.1 Routines Automation Function Prog. 1 Routines Prog.XXX
Fig.1
Routines
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Programming Method for Logix Family of Controllers Functional Decoupage Program
Task 1 Common part prog. Routines
Functional decoupage prog. 1 Global data Data E. physical Data S. physical Data from another system (Lev. 1, lev.2, HMI..) Data read by several tasks or several programmes Local data
Data alias E. physical Data alias S. programme Data written in the prog. and read by another system . Data written in the prog. and read by other tasks or prog. Data written in the prog and read in the Prog.
Symbolizes an alias tag Symbolizes a reading Symbolizes a writing Routines Symbolizes a writing and a reading Automation Function Prog. 1 Routines
Fig.2
Prog.XXX Routines
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DATA WRITE CONVENTION:

Rule: Order the tag names both in the global data and in the local data. The tag name will be the main source of data information. The commentary and the description will come in addition to the information. The length of the tag name will be limited to the strict requirement to ensure proper comprehension. Each type of process must establish its glossary of mnemonics. Global data (Controller tags): 1- Inputs/outputs: - The ControlLogix inputs/outputs are declared automatically by the system, at the end of the configuration of the I/O modules under the I/O configuration menu. Their writing is in the form: Local:X.I , Local:Y.O (with X and Y for Slot no.). - The Flex I/O RIO offset input/outputs on ControlNet are designated by a mnemonic the choice of which is left to the initiative of the programr.
2- Data from another system (Lv.1, Lv.2, HMI...): The tag names will have for root: Exch_Source_Destination The mnemonic representation of the source and destination is left to the initiative of the programr.
3- Data written in a program and by several tasks or several programs: The tag names will have for root: - PC_ :designates the Common Part program. - XXX_: designates the functional decoupage or automation functions.(exple: ENR_ for take up). The choice of mnemonic(s) which follow the root is left to the initiative of the programmer.
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For example:
Notes: With
1- Data from another system (Exchanges with HMI). 2- inputs/outputs (not offset). 3- Written Data from another program. 4- Remote Physical inputs/outputs.
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Local data ( Program_Tags ).
}Alias~ Input/Output physical data: The tag name of alias physical Digital inputs will have for root: I_ The tag name of the physical Digital outputs will have for root: O_ The tag name of the physical analogue input data will have for root: IA_ The tag name of the physical analogue output data will have for root: OA_
The choice of mnemonic(s) which follow the root is left to the initiative of the programr.
Data written in the program.
Tag name root RXX_B_ RXX_BS_ RXX_BD_ RXX_BI_ RXX_BO_ RXX_GE _Grafcet name_ RXX_GA_Grafcet name RXX_GT_Grafcet name RXX_T_ RXX_TD_ RXX_C_ RXX_R_ RXX_V_ Notes:
Designation Work bits Synthesis Bits of Digital outputs Diagnostic Bits Operating assistance bits Edge bits Grafcet Step Table Grafcet Action Table Grafcet Transition Table Time delay Diagnostic time delay Counters Control register Values
- RXX designates the routine in which the data is produced. - The type of data element of grafcet step tables is DINT. - The type of data element of grafcet transition tables is BOOL. - The type of data bits (RXX_B, RXX_BS_ , RXXBD_.) can be BOOL, DINT, table, structureL - The type of data RXX_V_ can be DINT, REAL.. The choice of mnemonic(s) which follow the root is left to the initiative of the programr and will be as explicit as possible.
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ENCODING RELATED TO THE GRAFCET:

Rules: The grafcet language available currently on the range of Logix products will not be built from the autonaming proposed by RSL5000 software. A grafcet will be defined by the following elements: - A table of the type SFC_STEP for the steps. - A table of the type SFC_ACTION for the action. A table of the type BOOL for the transitions. Each table will be sized as required. For example: Take Up Grafcet with 4 steps and 11 actions. The BOOL table which defines the transitions is automatically sized to 32 by RSL5000.
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Also, certain steps written by a program may be read by other programs and by an operator terminal to display the status of the grafcet. We will apply the rule of chapter 0. You must therefore create in the global data a correspondence of the status of the different steps of the different grafcets. - To do so, by grafcet, in the local data a word of the DINT type is created (Rxx_GEImage_ Nom du grafcet) with xx N of the grafcet routine. This word will take the value of the No. of the active step of the grafcet (see example p38 and 39). If the grafcet contains several steps capable of bieng active simultaneously, then as many words as active steps are created simultaneously (Rxx_GEImage0_ Grafcet name, Rxx_GEImage1_ Grafcet name,etc). In the global data an array of correspondence in two dimensions is created (Pxx_GE[yy,zz]) with xx N of program, yy N of grafcet routine, zz N of image word. _ Dimension 0 of the array contains the highest No. of grafcet routines in the program. _ Dimension 1 of the array contains the highest No. of image words in the program grafcets.
Task xxx
Prog. P01_Machine1 Global data P01_GE[50,0] P01_GE[50,1] P01_GE[51,0] P01_GE[52,0] Local data R50_GEImage0_Cut R50_GEImage1_Cut
R50 Cut Routine R51
R51_GEImage_ Take up
Take up Routine R52
Symbolizes an alias tag Symbolizes a reading Symbolizes a writing
R52_GEImage_Let off
Let off Routine
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For example:
Note: You declare as many words as steps capable of being activated simultaneously. In the example above two steps can be activated simultaneously in the cutter graph hence the declaration in the local data of two words "R50_GEImage0_Coupe" and "R50_GEImage1_Coupe". In the global data, the correspondence table P01_GE has: _ As dimension 0 the value 90 (highest N of grafcet routine in program P01). _ For dimension 1 the value 02 (highest number of image words in the Grafcets of program P01.
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Note: The image words (R50_GEImage0_Coupe and R50_GEImage1_Coupe) will take the value of the step number
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Programming Method for Logix Family of Controllers Main operations for the grafcet. _ _ _ _ _ _ _ _
Choice of execution mode. Initialization of graphs. Exclusivity in the divergences in OU. Commands on steps. Synchronization of graphs. Calling up of graphs to be Synchronized. Step validation on a modification on line. Instruction for writing of language of Structured Text.
Choice of execution mode: Performed using properties of Controller under tab SFC Execution. The options selected are as follows: Execute current active steps only / Restart at initial Step or Restart at most recently executed step / Automatic reset. Choice of restart (at initial step or at most recently executed step) is let to the programr. This will depend on the process to be treated. Reminder: The execution mode is activated in the CPU when switching from prog. mode to run mode.
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Initialization of Graphs: Reminder: The Initialization is performed upon powering up, at the PLC run, or on request. It is not possible to use the Power up handler, since it cannot be activated on request.
Each program will perform Initialization of its graphs.
Example of writing of an overall Initialization of the graphs of a program: - The SFR instruction is used.
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Exclusivity in the divergences in OU.
If transitions of the divergence are true simultaneously by default, RSL5000 gives priority to the left to right transitions starting from the most leftward transition. This can be modified by configuration, the starting transition can be positioned on any branch of the divergence.
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Programming Method for Logix Family of Controllers Commands on steps: There are two cases: _ The commands are Digital outputs. (see 0 p.50 )
_ The commands are not Digital outputs. They are written in the actions of the graph (see Figure below).
Qualifier
Note: To the commands on steps you must relate an action qualifier. Among the available qualifiers, three will be mainly used. That is to say: - P1: Pulse (Falling edge). The related commands will be validated to the leading edge of the action. - N : Non Stored. The related commands will be validated during the entire length of the action validation. - P0 : Pulse (Rising edge). The related commands will be validated to the falling edge of the action.
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Programming Method for Logix Family of Controllers Synchronization of graphs:
In our applications, we distinguish two types of Synchronization:
1A level n graph at a given step X, activates a level n-1 graph which represents the content of step X. To designate this level n-1 graph we sometimes use the term of macro step.
For example:
level n-1 Level n
Graph 1 : G1 Graph 2 : G2
E.1
E.20
V.G2
E.2
Validation Graph 2 (V.G2)
E.21
F.G2
E.3
E.22
End Graph 2 (F.G2) /V.G2
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Programming Method for Logix Family of Controllers 2-
Two graphs develop in parallel and synchronize as per their state of advancement.
For example:
Graph 1: G1 Graph 2: G2
E.1
E.20
V.G2
E.2
Validation Graph 2 (V.G2)
E.21
E.x
Validation En+1 Graph 1 (V.En+1)

FS
E.n
V.En+1 E.n+1
Validation End Synchro (FS)
E.y
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Calling up of graphs to be Synchronized: Reminder: A grafcet routine contains one and only one graph. It contains no Ladder language. - The calls to grafcet routines are performed via JSR instructions. They may be performed using the combination written in a ladder routine or from a written step in a grafcet routine.
- In the Automatic-Reset mode and Restart at initial Step mode, the call is made in a step and not memorised, the deactivation of the step entails a reinitialization of the graph called; the latter is no longer scanned.
There are three cases: 1_ Graphs G1 and G2 are scanned on the same conditions. 2_ Graph G2 is called by graph G1. 3_ Graph G2 is called by several graphs G1, G11.
In any case, the calling of grafcet routines will be performed from only one routine i.e. R00_Principale Call examples:
R00
R50
R90
R51
R90
R52
R90
The conditions for calls of routine R90 common to routines R50, R51, R52 will be in the call routine of highest hierarchical level, i.e. R00, in the configuration above. This ensures a single execution of routine R90 by scanning.
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Programming Method for Logix Family of Controllers Example of writing in routine Main R00:
Note: In parallel with the call conditions of the different routines appears /R90_GE_Commun[0].X which represents the status of step 0 of graph "R90_ Graphe _Commun". This enables holding the call until the end of execution of graph R90_Graphe_Commun (even if the call conditions are not maintained).
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Programming Method for Logix Family of Controllers Step validation on a modification on line:
Currently, regardless of the modification (addition or deletion of step, transition condition, commands in action) on line of the grafcet., when switching to Test or Untest, the grafcet starts at the initial step. To compensate for this problem, the following solution will be implemented: Case 1: The graph has no divergence in ET: - On the leading edge of the initial step, validate the SFR instruction which enables the reference to the step memorised by the word Rxx_GE_Imagex_xxx, before the switching to test or untest (see Fig1 below). - On the trailing edge of the last step of the grafcet, set the value 0 in Rxx_GE_Imagex_xxx (see Fig2 p 46).
Fig.1
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Fig.2
This solution does not cover the case of a modification of the grafcet structure. A modification of the grafcet structure will always be performed offline.
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Case 2: The graph contains a divergence in ET: The divergence in ET must count only one step per branch. If the branch requires several steps, a grafcet routine will be created and called by the step on the branch. Also, the divergence in ET must be preceded by a dead step to be followed by an always true transition (see Fig2 p 48). This step, dead during a modification, will be validated on the leading edge of the initial step by the SFR instruction (see Fig1 below).
Fig.1
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Dead step
Fig.2
This solution does not cover the case of a modification of the grafcet structure. A modification of the grafcet structure will always be performed offline. Also, there is a risk of dysfunction, until a return in the memorised step. The actions of the memorised steps are no longer validated for one to two scanning turns.
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Programming Method for Logix Family of Controllers Instruction for writing of language of Structured Text.
- To facilitate understanding it is recommended: To minimisein the grafcet steps the development in Structured Text language, but if necessary the rule of indentation must be observed (offset, breaking step) see example below: IF condition 1 THEN Action 1 ELSE Action 2 END-IF
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Digital outputs: The activation of Digital outputs is performed in the output combination R006 of the relevant functional decoupage. Synthesis bits must be used. The synthesis bits are written: - Using the steps of a graph. - From a combination. In this case, they are written directly either in the combination of outputs R006, or in the combination of work bits R002. Example of writing of a synthesis bit of an action validated by several steps of a graph.
Bit de synthse
Note: In routine R06, in series with the synthesis bit are inserted safeties (anticollision, circuit breaker, mechanical safeties.).
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DIRECTOR GRAPH:
Consequences of different types of stop. (Please note French and English terms co-exist in this paragraph.)
ARRET IMMEDIAT [IMMEDIATE STOP ] TOTAL PARTIAL: AIT AIP Un ou tous les actionneurs HORS EN ENERGIE ENERGIE dun ensembleintgr lentit logicielle. [W/O [WITH [One or all actuators of a ENERGY] ENERGY] sub-assembly integrated to
the software entity]
AITHE
AITEE
ARRET DIFFERE [DEFERRED STOP] TOTAL PARTIAL: ADT ADP DEBUT DU Aprs un dlai, EN FIN (Fin de CYCLE MOUVEMENT SEQUENCE mouvement ou SUIVANT de squence). COURANTE. [START OF [After a delay, NEXT [WITH [END (End of movement or CYCLE] CURRENT CURRENT sequence ]. MOVEMENT] SEQUENCE] ADT1 ADT2 ARRETS TRAITES DANS LA SEQUENCE CONCERNEE [STOPS COVERED IN RELEVANT SEQUENCE ]
Ne concerne que les dysfonctionnements dont les squences sont sans danger pour la mcanique. [Concerns only problems whose consequences are without danger for the machine and for people.]
ARRET HORS ENERGIE [STOP W/O ENERGY]

Pour la zone concerne; cas des scurits locales [For the relevant zone; case of local safeties]
Note: Hors Energie : Lalimentation des cartes est coupe. [Without Energy: The power to the cards is removed.] En Energie : Lalimentation des cartes est conserve, mais les sorties sont coupes par programme. [With energy: The power to the cards is preserved, but outputs are cut off by program]
AITHE: Arrt Immdiat Total Hors Energie. [Total Immediate Stop W/O Energy] AITEE: Arrt Immdiat Total En Energie. [Total Immediate Stop With Energy] ADT : Arrt Diffr Total (1 ou 2). [Total Deferred Stop (1 or 2)]. AIP : Arrt Diffr Partiel [Partial Immediate Stop].
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Principle of functional decoupage director (master) graph. The master graph of a functional decoupage consists in fact of two graphs: - A stop graph. - An Operating or Working Graph (Mode de Marche).
Stop Graph
No energy Energy OK
Graphe de Operating Graph

0 1
=1
Initializatio n End of initialization

Ready Condition
Stop Condition Initialisation request And no fault
From any step Req. mode 2./ADT1

Additional Mode 2
Restart 2 without initialising And no fault 3
Overriding graph Operat. in step 1

=1
Req. Mode 1./ADT1
Req. Mode 3
Additional Mode 3
Req. Mode 4 7 Maintenance

Mode
5 Operating Condition
Additional Mode 1
/Mode 2
AITHE
/Mode 1
/Mode 3
Operator stop of AITEE ou ADT2 Req. production 3 Production Mode
/Mode 4 or maintenance
AITHE = Total Immediate stop - No Energy AITEE = Total Immediate stop with Energy ADT = Total deferred stop (1 or 2) ADP = Partial deferred stop AIP = Partial Immediate stop Dmd = Request (Demand) 9 ADP + AIP Production 8 Mode In any Case
Acknowledge
/Production
End of production End of production
Note: Depending on circumstances, the terms production request and /production can be assimilated to cycle request and /cycle, step 8 being preserved or not.
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Programming Method for Logix Family of Controllers Rules:
- The common part can include a director graph. - Any functional decoupage covering machine control will have its own director graph. - The different operating modes will be validated by a combination of graph operating steps and step 3 of the stop graph (except for maintenance mode). - The stop graph controls the stop conditions of the entity (only step 3 authorises operation). - The operating graph controls the operating modes of the entity. - The utilisation of different steps of these graphs is recommended while keeping the number assigned on the model. However, certain steps may be eliminated or duplicated as required by the process or the application. - The additional operations are distinguished by their output points ( production, standby state or Initialization). These modes can be, for example: . Set-up or reglage modes. . Preparation modes. . Size change modes. . . - The additional steps, in relation to the proposed model, will carry a number higher than 9.
Example of operation graph adapted to requirement:
S.0
S.1
With: S.5 Loading operations. S.10 Maintenance operations. S.10 Emptying operations.
S.2
S.5
S.10
S.11
S.3
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ROUTINE CALLS IN A PROGRAM:

Routine calls in the Common Part program.
Commune Part Prog.
R000 JSR R001 R011 Initialization Communication with Intelligent I/O
JSR
JSR
R021 R02X
Communication with HMI
JSR JSR JSR JSR JSR JSR JSR JSR JSR JSR JSR
R009 R031 R03X R002 R003 R004 R005 RXXX R012 R006 R010 R007
Synchro. Graph for different axis cards Communication other than HMI Working bits Surveillance bits Stop Graph Run mode Grafcet Grafcets or animation combinational Graph Image
Digital Output Management of Intelligent I/O Diagnostic Combinational Logic
JSR JSR
R020 R030
Management of HMI Data
Management of non-HMI Data
Note: The writing of the calls will be ordered as above.
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Programming Method for Logix Family of Controllers Routine calls in the Functional decoupage program.
Prog. Functional decoupage
R000
JSR JSR JSR JSR JSR
R001 R002 R003 R004 R005 R040 R041 RXXX R012 R006 R010 R007 R020
Initialization Working bits Combinational Logic Surveillance bits Stop Graph Run mode Grafcet Axis Management Graph Axis Auto Operation Command
JSR JSR JSR JSR JSR JSR JSR JSR
Grafcets or animation combinational Graph Image Digital Output
Management of Intelligent I/O Diagnostic Combinational Logic
Management of HMI Data Management of non-HMI Data
JSR
R030
Notes:
- The writing of the calls will be ordered as above.
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PROCESSING OF DIAGNOSTIC:
There are two types of diagnostic: - Assistance to the operator. - Assistance to the maintainer.
A diagnostic must be developed for each functional decoupage. Operator assistance

We distinguish:
- Information:
Information given to the operator on the state of the machine, on the operations in progress or future operations (exple: Pose product x in progress). Information awaiting operator intervention during machine cycle (exple: Waiting operator restart ).
- Warrnings (or alarms):

These are standby warnings for action required to ensure normal continuation of production (exple: Min. tank level) This does not correspond to a failure.
Remark : The way in which to process information is not specified in this document. For the warnings, a list will be drawn up with a bit corresponding to each warning. The control assistance bits are designated by RXX_BI_.
Maintenance assistance. This type of diagnostic corresponds to a failure situation called a fault. There are three levels for repair assistance: _ The Where : What is the overall situation of the functional decoupage? . _ The Why: What is the missing condition for correct operation? (This missing condition may be synchronous or asynchronous to the machine cycle). _ The How: Which procedure to follow to restart? .
Note: Depending on customer requirements, the programmer will be led to develop appropriate assistance for repair. It may be simply necessary to provide the Where, or to provide simultaneously the Where, the Why, the How, or any other combination.
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Programming Method for Logix Family of Controllers How to handle the question Where.
What is the overall situation of the functional decoupage? To obtain a view of the overall situation of the functional decoupage you must take a photograph of the active step bits of the functional decoupage. To do so, we will use the global data PXX_ GE_Graph name (see p 33). How to treat question Why. What is (are) the missing condition(s) for correct operation? Sevral events may be the source of a failure: Triggering of circuit breakers, emergency stops, movement sensors, safety sensors, absence of air, overtravels, cycle time too long, out of tolerances,...
These events may be of two types: 1- Unexpected events: They are purely random and are capable of altering or interrupting the operation of the machine. They are not related to the sequences of the cycle or the operating mode of the machine. 2- Expected events: They are related to a given command, are expected and do not occur when an unexpected event has come to disturb the command in progress. This is a double malfunction: Command/Command report. The absence of this type of event enables diagnosis of a failure. To detect that unexpected events have occurred, or that expected events did not occur, you must implement: A surveillance routine for unexpected events which is active permanently, so as to monitor a status of the machine required for correct operation. A surveillance routine for expected events which verifies the commands and their execution. This routine is not necessarily active permanently, it may be activated after a period, beyond which the expected event did not occur.
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Programming Method for Logix Family of Controllers Fault Classification. Faults are classified according to their effects. Seven classes of fault are determined: 1 - Total immediate stop without energy 2 - Total immediate stop with energy 3 - Partial immediate stop without energy 4 - Total Deferred stop 1 5 - Total Deferred stop 2 6- Partial deferred stop 7- No stop
AITHE AITEE AIP ADT1 ADT2 ADP
These different fault classes (1, 2, 3, 4, 5 and 6) will influence the behaviour of the master graph (as defined in chapter master graph). However, the master graph does not analyse individually any fault of each class capable of appearing. You must therefore define the concept of synthesis fault bit by class.
Diagnostic data: It is produced in the program ( functional decoupage) therefore assigned to the local data in the form Rxx_BD_ . They are related to the global data via an "alias tag for". They are grouped in the global data in a table under the designation XXX_BD_. XXX_: designates the functional decoupage in which the diagnostic bits are produced. The fractioning of this table according to the different fault classes is left to the initiative of the designer.
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Programming Method for Logix Family of Controllers For example:
The DINT PC_BD [1] to PC_BD[5] The DINT PC_BD [6] to PC_BD[10] The DINT PC_BD [11] to PC_BD[12] The DINT PC_BD [13] to PC_BD[15] The DINT PC_BD [15] to PC_BD[17] The DINT PC_BD [18] to PC_BD[19]
reserved to the faults of type: AITHE reserved to the faults of type: AITEE reserved to the faults of type: ADT1 reserved to the faults of type: ADT2 reserved to the faults of type: AIP reserved to the faults of type: ADP
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The synthesis bits are written in routine R03_Combination for monitoring:
These synthesis bits will be taken in R03_BD_[0]. i.e. R03_BD_[0] :

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4
ADT2
3
ADT1
2
AITEE
1
AITHE
0
Synthesi s
ADP
They are written if their corresponding zone in PC_BD is different from zero.
Programming of unexpected event monitoring. For a given program, the monitoring of these events is permanent and must be performed in routine R03_Combination_ for_monitoring.
Programming of expected event monitoring.
Monitoring is performed outside of grafcet routines.
This monitoring is based on the following principle: - If command (actuator) present & report of end of movement absent after period Then fault. - If command (actuator) absent & report of end of movement absent after period Then fault.
Note: This method requires holding of the commands during verification.
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Two solutions for completion are proposed: Solution 1: Validation of the actuator is performed in routine R006_Combination of outputs The diagnostic is performed in routine R007_ Combination for diagnostic. For example: 1- Writing in R06:
R50_BS_Action4 0 R51_BS_Action4 R06_BS_Action4
R06_BS_Action4 1
I_Securite1 I_Securite2 <Local:1:I.Data.1> <Local:1:I.Data.2> / /
O_EV_Action4
2- Writing in R07:
Note: routine R07 is called permanently.

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Solution 2: A time envelope is related to a grafcet routine RXX_ . This time envelope represents the time spent in a step of the grafcet routine. It may be: - Fixed and adjusted on the length of the longest step. - Variable and adjusted at each step. The diagnostic is performed in routine R07_ Diagnostics Combinational Logic. This routine is called up only if the time envelope related to the graph is exceeded. For example: 1- Writing in R00. The call of routine R07_ DiagnosticsCombinational Logic is triggered by all the time delays of the graphs which make up the program.
0 JSR Jump To Subroutine Routine Name R10_Gestion_des_donnes_coupleurs
R50_TD_G_Coupe.DN
Note: 1
Jump To Subroutine Time delays R40_TD_G_Cut, R41_TD_G_Take up, R42_TD_G_Let off represent the time Routine Name R07_Combinatoire_de_diagnostic envelopes related respectively to graphs Cut, Take up, Let off. R51_TD_G_Enroulage.DN R52_TD_G_Deroulage.DN
JSR
JSR Jump To Subroutine Routine Name R20_Gestion_des_donnes_IHM
JSR Jump To Subroutine Routine Name R30_Gestion_des_donnees_non_IHM
Note: Time delays R50_TD_G_Cut, R51_TD_G_Take up, R52_TD_G_Let off represent the time envelopes related respectively to graphs Cut, Take up, Let off.
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2 - Writing in routine R12: Association of a time envelope.
EQU Equal Source A R51_GEImage0_Enroulage 0 Source B R51_GE0_Comparaison 0
TON Timer On Delay Timer R51_TD_G_Enroulage Preset 30000 Accum 0
EN DN
3-
NEQ Not Equal Source A R51_GEImage0_Enroulage 0 Source B R51_GE0_Comparaison 0 Writing in routine R06:
MOV Move Source R51_GEImage0_Enroulage 0 Dest R51_GE0_Comparaison 0
3 - Writing in routine R06:
R50_BS_Action4 0 R51_BS_Action4
R06_BS_Action4
R06_BS_Action4 1
I_Securite1 I_Securite2 <Local:1:I.Data.1> <Local:1:I.Data.2> / /
O_EV_Action4
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Programming Method for Logix Family of Controllers 4 - Writing in routine R07:

R50_TD_G_Coupe.DN 0 R51_TD_G_Enroulage.DN R06_BS_Action4
I_Securite1 <Local:1:I.Data.1> I_Securite2 <Local:1:I.Data.2>
R07_BD_Securite1 L R07_BD_Securite2 L
R50_TD_G_Coupe.DN 1 R51_TD_G_Enroulage.DN
R06_BS_Action4
I_Securite1 I_Securite2 I_CR_Action4 <Local:1:I.Data.1> <Local:1:I.Data.2> <Local:6:I.Data.4> / / /
R07_BD_PasAction4 L
R50_TD_G_Coupe.DN 2 R51_TD_G_Enroulage.DN
R06_BS_Action4 /
I_CR_Action4 <Local:6:I.Data.4>
R07_BD_Action4 L
Note: It is essential to condition all the diagnostic equations by the results of the related time delay(s) (time envelope) ( R50_TD_G_Cut, in the example above). Routine R07 is common to all diagnostics, if this precaution is not taken it is possible to declare faults on movements in progress related to graphs other than the one causing the fault. Monitoring is performed in grafcet routines. Some cases cannot be processed by the method proposed in the previous paragraph. For example, monitoring of Synchronization faults, monitoring of product passing, product presence. The proposed solution is as follows: In a given grafcet routine RXX_.
E.0
E.1
Order Product advance Start surveillance timer Fault absence Product End surveill. timer Rxx_TD_ .DN
Product passage detection
I_
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Programming Method for Logix Family of Controllers Latching and clearing of fault bits.
To reset to zero (Raz) the faults latched, two non exclusive solutions are proposed: Solution 1: An operator reset command (PB, operator key HMI,.) independent of the director (master) graph.
Solution 2: An operator reset command (PB, operator key HMI,.) related to development of the director (master) graph.
Note: The Reset is performed on global data.
For example:
How to treat question How. Which procedure for restarts? Display a clear and precise procedure enabling the operator to reset the machine to operating condition.
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SUMMARY:
The main differences between ST395 Revb and ST395 Reva are as follows: _ Integration of SFC language and Structured Text. The data writing conventions and Grafcet encoding were preserved. _ Calling of routines all grouped in main routine R00. _ Modification of processing the diagnostic grafcet in the monitoring of the development time of a graph (creation of routine R12). _ Reservation of Axis routine number (R09, R40, R41).
Recommendations for utilisation of languages as follows: _ SFC language ( Sequential Function Chart) used for programming sequential. _ TXT language (Structured Text) used for programming actions and transitions related to grafcets and algorithms (processing on tables with iteration). _ FBD Language (Function Block) used for programming regulation loops (PID). _ Ladder language used for programming combination (combination for outputs, diagnostics, monitoring).
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Grafcet Controllogix

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CTE/GS1

PROGRAMMING METHOD FOR THE A-B LOGIX PLATFORM

Cancels and replaces

Revision: a Work group

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Programming Method for Logix Family of Controllers

TASKS /PROGRAMS/ROUTINES STRUCTURE.

GLOBAL AND LOCAL DATA STRUCTURE

Programming Method for Logix Family of Controllers

10. DATA WRITE CONVENTION:

11. ENCODING RELATED TO THE GRAFCET:

12. DIRECTOR GRAPH:

13. ROUTINE CALLS IN A PROGRAM:

14. PROCESSING OF DIAGNOSTIC:

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Programming Method for Logix Family of Controllers

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Programming Method for Logix Family of Controllers

DEFINITIONS OF TERMS USED

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Programming Method for Logix Family of Controllers

PRESENTATION OF RSL5000 ARCHITECTURE

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Programming Method for Logix Family of Controllers

The Main differences with PLC5 and SLC500:

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Programming Method for Logix Family of Controllers

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Programming Method for Logix Family of Controllers

Portability: This optimises the development and the tests.

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Programming Method for Logix Family of Controllers

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Programming Method for Logix Family of Controllers

TASKS /PROGRAMS/ROUTINES STRUCTURE.

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Programming Method for Logix Family of Controllers

Type of task Task A: Task B: Task C:

Task priority 1 5 Continuous

Periodicity (ms) 5 30 Continuous

Task A: Task B: Task C:

Task A: Task B: Task C:

Task A: Task B = Task C

Advantages and disadvantages:

Note: The majority of cases will be covered by solution 4.

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Programming Method for Logix Family of Controllers

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Programming Method for Logix Family of Controllers STRUCTURE OF ROUTINES

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Programming Method for Logix Family of Controllers

Structure and function of routines in the Common Part Program:

DESCRIPTION R000_ Principal R001_ Initialization

Structure and function of routines in the Functional Decoupage Program:

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Programming Method for Logix Family of Controllers

DESCRIPTION R000_ Principal R001_ Initialization

Monitors program information (decoupage powered, inputs powered).

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Programming Method for Logix Family of Controllers

Structure and function of routines in the Automation Function Program: