1785-6.1, PLC-5 Programmable Controllers Instruction Set Reference

1785-6.1, PLC-5 Programmable Controllers Instruction Set Reference 1 Important User Information 2 PLC-5 Instruction Set Alphabetical Listing 3 Summary of Changes 5 New Information Added to thisManual 5 6 5 9 5 12 5 13 5 14 5 14 5 16 5 16 5 16 5 16 5 Preface 7 Table of Contents 9 1 - Relay-Type Instructions XIC, XIO, OTE, OTL, OTU, IIN, IOT, IDI, IDO 19 Using Relay-Type Instructions 19 Examine On (XIC) 21 Examine Off (XIO) 21 Energize (OTE) 22 Latch (OTL) 22 Unlatch (OTU) 23 Immediate Input (IIN) 24 Immediate Output (IOT) 25 Immediate Data Input (IDI) 26 Immediate Data Output (IDO) 26 Using IDI and IDO Instructions 27 2 - Timer instructions TON, TOF, RTO Counter Instructions CTU, CTD Reset RES 29 Using Timers and Counters 29 Entering Parameters 30 Timer Accuracy 31 Timer On Delay (TON) 32 Timer Off Delay (TOF) 35 Retentive Timer On (RTO) 38 Using Counters 41 Count Up (CTU) 43 Count Down (CTD) 45 Timer and Counter Reset (RES) 48 3 - Compare Instructions CMP, EQU, GEQ, GRT, LEQ, LES, LIM, MEQ, NEQ 49 Using Compare Instructions 49 Using Arithmetic Status Flags 50 Compare (CMP) 50 Equal to (EQU) 53 Greater than or Equal to (GEQ) 53 Greater than (GRT) 54 Less than or Equal to (LEQ) 54 Less than (LES) 55 Limit Test (LIM) 55 Mask Compare Equal to (MEQ) 57 Not Equal to (NEQ) 58 4 - Compute Instructions CPT, ACS, ADD, ASN, ATN, AVE, CLR, COS, DIV, LN, LOG, MUL, NEG, SIN, SRT, SQR, STD, SUB, TAN, XPY 59 Using Compute Instructions 59 Using Arithmetic Status Flags 60 Data Types and the ComputeInstruction 61 Using Floating Point Data Types 62 Compute (CPT) 63 Arc Cosine (ACS) (Enhanced PLC-5 Processors Only) 69 Addition (ADD) 70 Arc Sine (ASN) (Enhanced PLC-5 Processors Only) 71 Arc Tangent (ATN) (Enhanced PLC-5 Processors Only) 72 Average File (AVE) (Enhanced PLC-5 Processors Only) 73 Clear (CLR) 75 Cosine (COS) (Enhanced PLC-5 Processors Only) 76 Divide (DIV) 77 Natural Log (LN) (Enhanced PLC-5 Processors Only) 78 Log to the Base 10 (LOG) (Enhanced PLC-5 Processors Only) 79 Multiply (MUL) 80 Negate (NEG) 81 Sine (SIN) (Enhanced PLC-5 Processors Only) 82 Square Root (SQR) 83 Sort File (SRT) (Enhanced PLC-5 Processors Only) 84 Standard Deviation (STD) (Enhanced PLC-5 Processors Only) 86 Subtract (SUB) 89 Tangent (TAN) (Enhanced PLC-5 Processors Only) 90 X to the Power of Y (XPY) (Enhanced PLC-5 Processors Only) 91 5 - Logical Instructions AND, NOT, OR, XOR 93 Using Logical Instructions 93 AND Operation (AND) 94 NOT Operation (NOT) 95 OR Operation (OR) 96 Exclusive OR Operation (XOR) 97 6 - Conversion Instructions FRD and TOD, DEG and RAD 99 Using the Conversion Instructions 99 Convert to BCD (TOD) 100 Convert from BCD (FRD) 100 Degree (DEG) (Enhanced PLC-5 Processors Only) 101 Radian (RAD) (Enhanced PLC-5 Processors Only) 102 7 - Bit Modify and Move nstructions BTD, MOV, MVM 103 Using Bit Modify and Move Instructions 103 Bit Distribute (BTD) 104 Move (MOV) 105 Masked Move (MVM) 106 8 - File Instruction Concepts 109 Concepts of File Operation 109 Entering Parameters 109 Using the Control Structure 110 Manipulating File Data 111 Choosing Modes of Block Operation 113 All Mode 113 Numerical Mode 114 Incremental Mode 115 Special Case, Numerical Mode with Words Per Scan = 1 116 9 - File Instructions FAL, FSC, COP, FLL 117 Using File Instructions 117 File Arithmetic and Logic (FAL) 118 FAL Copy Operations 121 FAL Arithmetic Operations 123 FAL Logic Operations 128 FAL Convert Operations 130 File Search and Compare (FSC) 130 FSC Search and Compare Operations 133 File Copy (COP) 135 File Fill (FLL) 136 10 - Diagnostic Instructions FBC, DDT, DTR 139 Using Diagnostic Instructions 139 File Bit Comparison (FBC) and Diagnostic Detect (DDT) 140 Data Transitional (DTR) 146 11 - Shift Register Instructions BSL, BSR, FFL, FFU, LFL, LFU 149 Applying Shift Registers 149 Using Bit Shift Instructions 150 Using FIFO and LIFO Instructions 153 12 - Sequencer Instructions SQO, SQI, SQL 159 Applying Sequencers 159 Using Sequencer Instructions 160 13 - Program Control Instructions MCR, JMP, LBL, FOR, NXT, BRK, JSR, SBR, RET, TND, AFI, ONS, OSR, OSF... 169 Selecting Program Flow Instructions 169 Master Control Reset (MCR) 170 Jump (JMP) and Label (LBL) 171 For Next Loop (FOR, NXT), Break(BRK) 173 Jump to Subroutine (JSR), Subroutine (SBR), and Return(RET) 176 Temporary End (TND) 181 Always False (AFI) 181 One Shot (ONS) 182 One Shot Rising (OSR) (Enhanced PLC-5 Processors Only) 183 One Shot Falling (OSF) (Enhanced PLC-5 Processors Only) 184 Sequential Function Chart Reset (SFR) (Enhanced PLC-5 Processors Only) 185 End of Transition (EOT) 186 User Interrupt Disable (UID) (Enhanced PLC-5 Processors Only) 187 User Interrupt Enable (UIE) (Enhanced PLC-5 Processors Only) 188 14 - Process Control Instruction PID 189 Using PID 189 Using PID Equations 190 Setting Input/Output Ranges 193 Implementing Scaling to Engineering Units – Integer File Type 193 Setting the Dead Band 194 Selecting the Derivative Term (Acts on PV or Error) 195 Setting Output Alarms 195 Using Output Limiting 195 Feedforward or Output Biasing 197 Resume Last State 197 PID Instruction 198 Using an Integer Data File Type for the Control Block 202 Using a PD File Type for the ControlBlock (Enhanced PLC-5 Processors Only) 206 Programming Considerations 213 Loop Considerations 214 Descaling Inputs 215 PID Examples 217 Integer Block (N) Examples 217 PD Block Examples 221 PID Theory 228 15 - Block-Transfer Instructions BTR and BTW ControlNet I/O Transfer Instruction CIO 231 Using Block Transfer and ControlNet I/O Transfer Instructions 231 Using Block Transfer Instructions 231 Block-Transfer Read (BTR) and Block-Transfer Write (BTW) 233 Using Status Bits 236 Using the Control Block 238 Selecting Continuous Operation 240 Selecting Non-Continuous Operation 242 Block Transfer Timing – Classic PLC-5 Processors 243 Block Transfer Timing – Enhanced PLC-5 Processors 244 Programming Examples 245 ControlNet I/O Transfer (CIO) Instruction 252 Using the CIO Instruction 253 Using Status Bits 254 16 - Message Instruction MSG 257 Using the Message Instruction 257 Message (MSG) 257 Entering Parameters 258 Using the Message Instruction for Ethernet Communications 261 Using the Message Instruction for PLC-5 Ethernet Interface Module Communications 263 Configuring an Ethernet Multihop MSGInstruction 265 Using the Message Instruction for ControlNet Communications 266 Configuring a ControlNet Multihop MSGInstruction 267 Using Status Bits 268 Using the Control Block 269 Entering Parameters 270 Monitoring a Message Instruction 273 Selecting Continuous Operation 274 Selecting Non-Continuous Operation 275 MSG Timing 276 Error Codes 278 17 - ASCII Instructions ABL, ACB, ACI, ACN, AEX, AIC, AHL, ARD, ARL, ASC, ASR, AWA, AWT 281 Using ASCII Instructions Enhanced PLC-5 Processors Only 281 Test Buffer for Line (ABL) 284 Number of Characters in Buffer (ACB) 285 ASCII String to Integer (ACI) 286 ASCII String Concatenate (ACN) 287 ASCII String Extract (AEX) 287 ASCII Set or Reset Handshake Lines (AHL) 288 ASCII Integer to String (AIC) 289 ASCII Read Characters (ARD) 290 ASCII Read Line (ARL) 292 ASCII String Search (ASC) 294 ASCII String Compare (ASR) 295 ASCII Write with Append (AWA) 295 ASCII Write (AWT) 297 18 - Custom Application Routine Instructions SDS, DFA 301 Chapter Objectives 301 Smart Directed Sequencer (SDS) Overview 302 Diagnostic Fault Annunciator (DFA) Overview 303 A - Instruction Timing and Memory Requirements 305 Instruction Timing and Memory Requirements 305 Timing for Enhanced PLC-5 Processors 306 Timing for Classic PLC-5 Processors 314 Program Constants 321 Direct and Indirect Elements – Enhanced PLC-5 Processors 321 Direct and Indirect Elements – Classic PLC-5 Processors 322 Indirect Bit or Elements Addresses – Classic PLC-5 Processors 323 Additional Timing Considerations – Classic PLC-5 Processors 324 B - SFC Reference 325 Appendix Objectives 325 SFC Status Information in the Processor Status File 325 Memory Allocation 327 Dynamic Constraints – Classic PLC-5 Processors Only 329 Scanning Sequences 331 Run Times – Classic PLC-5 Processors 336 C - Valid Data Types for Instruction Operands 343 Appendix Objectives 343 Instruction Operands and Valid Data Types 343 Index 359 Allen-Bradley Publication Problem Report 369 Customer Support 371 Back Cover 372